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Code Issues Releases Activity

LP-233 Increase Oneshot output resolution

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This commit is contained in:
Laurent Lalanne 2016-05-01 14:10:49 +02:00
parent 32a6de6b79
commit 49107e4007
1 changed files with 15 additions and 15 deletions
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30
flight/modules/Actuator/actuator.c
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@ -61,25 +61,25 @@ static int8_t counter;
#endif #endif
// Private constants // Private constants
#define MAX_QUEUE_SIZE 2 #define MAX_QUEUE_SIZE 2
#if defined(PIOS_ACTUATOR_STACK_SIZE) #if defined(PIOS_ACTUATOR_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_ACTUATOR_STACK_SIZE #define STACK_SIZE_BYTES PIOS_ACTUATOR_STACK_SIZE
#else #else
#define STACK_SIZE_BYTES 1312 #define STACK_SIZE_BYTES 1312
#endif #endif
#define TASK_PRIORITY (tskIDLE_PRIORITY + 4) // device driver #define TASK_PRIORITY (tskIDLE_PRIORITY + 4) // device driver
#define FAILSAFE_TIMEOUT_MS 100 #define FAILSAFE_TIMEOUT_MS 100
#define MAX_MIX_ACTUATORS ACTUATORCOMMAND_CHANNEL_NUMELEM #define MAX_MIX_ACTUATORS ACTUATORCOMMAND_CHANNEL_NUMELEM
#define CAMERA_BOOT_DELAY_MS 7000 #define CAMERA_BOOT_DELAY_MS 7000
#define ACTUATOR_ONESHOT125_CLOCK 2000000 #define ACTUATOR_ONESHOT125_CLOCK 12000000
#define ACTUATOR_ONESHOT125_PULSE_SCALE 4 #define ACTUATOR_ONESHOT125_PULSE_FACTOR 1.5f
#define ACTUATOR_ONESHOT42_CLOCK 6000000 #define ACTUATOR_ONESHOT42_CLOCK 12000000
#define ACTUATOR_ONESHOT42_PULSE_SCALE 4 #define ACTUATOR_ONESHOT42_PULSE_SCALE 2
#define ACTUATOR_PWM_CLOCK 1000000 #define ACTUATOR_PWM_CLOCK 1000000
// Private types // Private types
@ -941,7 +941,7 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value)
switch (mode) { switch (mode) {
case ACTUATORSETTINGS_BANKMODE_ONESHOT125: case ACTUATORSETTINGS_BANKMODE_ONESHOT125:
// Remap 1000-2000 range to 125-250 // Remap 1000-2000 range to 125-250
PIOS_Servo_Set(actuatorSettings.ChannelAddr[mixer_channel], value / ACTUATOR_ONESHOT125_PULSE_SCALE); PIOS_Servo_Set(actuatorSettings.ChannelAddr[mixer_channel], value * ACTUATOR_ONESHOT125_PULSE_FACTOR);
break; break;
case ACTUATORSETTINGS_BANKMODE_ONESHOT42: case ACTUATORSETTINGS_BANKMODE_ONESHOT42:
// Remap 1000-2000 range to 41,666-83,333µs // Remap 1000-2000 range to 41,666-83,333µs
@ -998,11 +998,11 @@ static void actuator_update_rate_if_changed(bool force_update)
switch (actuatorSettings.BankMode[i]) { switch (actuatorSettings.BankMode[i]) {
case ACTUATORSETTINGS_BANKMODE_ONESHOT125: case ACTUATORSETTINGS_BANKMODE_ONESHOT125:
freq[i] = 100; // Value must be small enough so CCr isn't update until the PIOS_Servo_Update is triggered freq[i] = 100; // Value must be small enough so CCr isn't update until the PIOS_Servo_Update is triggered
clock[i] = ACTUATOR_ONESHOT125_CLOCK; // Setup an 2MHz timer clock clock[i] = ACTUATOR_ONESHOT125_CLOCK; // Setup an 12MHz timer clock
break; break;
case ACTUATORSETTINGS_BANKMODE_ONESHOT42: case ACTUATORSETTINGS_BANKMODE_ONESHOT42:
freq[i] = 100; freq[i] = 100;
clock[i] = ACTUATOR_ONESHOT42_CLOCK; clock[i] = ACTUATOR_ONESHOT42_CLOCK; // Setup an 12MHz timer clock
break; break;
case ACTUATORSETTINGS_BANKMODE_PWMSYNC: case ACTUATORSETTINGS_BANKMODE_PWMSYNC:
freq[i] = 100; freq[i] = 100;