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Code Issues Releases Activity

Merged in f5soh/librepilot/LP-233_OneShot42 (pull request #236)

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LP-233 Support OneShot42
This commit is contained in:
Alessio Morale 2016-05-09 10:53:12 +02:00
commit 4cbd4ea926
4 changed files with 35 additions and 17 deletions
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38
flight/modules/Actuator/actuator.c
View File

@ -61,23 +61,25 @@ static int8_t counter;
#endif
// Private constants
#define MAX_QUEUE_SIZE 2
#define MAX_QUEUE_SIZE 2
#if defined(PIOS_ACTUATOR_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_ACTUATOR_STACK_SIZE
#define STACK_SIZE_BYTES PIOS_ACTUATOR_STACK_SIZE
#else
#define STACK_SIZE_BYTES 1312
#define STACK_SIZE_BYTES 1312
#endif
#define TASK_PRIORITY (tskIDLE_PRIORITY + 4) // device driver
#define FAILSAFE_TIMEOUT_MS 100
#define MAX_MIX_ACTUATORS ACTUATORCOMMAND_CHANNEL_NUMELEM
#define TASK_PRIORITY (tskIDLE_PRIORITY + 4) // device driver
#define FAILSAFE_TIMEOUT_MS 100
#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_PULSE_SCALE 4
#define ACTUATOR_PWM_CLOCK 1000000
#define ACTUATOR_ONESHOT_CLOCK 12000000
#define ACTUATOR_ONESHOT125_PULSE_FACTOR 1.5f
#define ACTUATOR_ONESHOT42_PULSE_FACTOR 0.5f
#define ACTUATOR_MULTISHOT_PULSE_FACTOR 0.24f
#define ACTUATOR_PWM_CLOCK 1000000
// Private types
@ -938,8 +940,16 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value)
uint8_t mode = pinsMode[actuatorSettings.ChannelAddr[mixer_channel]];
switch (mode) {
case ACTUATORSETTINGS_BANKMODE_ONESHOT125:
// Remap 1000-2000 range to 125-250
PIOS_Servo_Set(actuatorSettings.ChannelAddr[mixer_channel], value / ACTUATOR_ONESHOT125_PULSE_SCALE);
// Remap 1000-2000 range to 125-250µs
PIOS_Servo_Set(actuatorSettings.ChannelAddr[mixer_channel], value * ACTUATOR_ONESHOT125_PULSE_FACTOR);
break;
case ACTUATORSETTINGS_BANKMODE_ONESHOT42:
// Remap 1000-2000 range to 41,666-83,333µs
PIOS_Servo_Set(actuatorSettings.ChannelAddr[mixer_channel], value * ACTUATOR_ONESHOT42_PULSE_FACTOR);
break;
case ACTUATORSETTINGS_BANKMODE_MULTISHOT:
// Remap 1000-2000 range to 5-25µs
PIOS_Servo_Set(actuatorSettings.ChannelAddr[mixer_channel], (value * ACTUATOR_MULTISHOT_PULSE_FACTOR) - 180);
break;
default:
PIOS_Servo_Set(actuatorSettings.ChannelAddr[mixer_channel], value);
@ -991,8 +1001,10 @@ static void actuator_update_rate_if_changed(bool force_update)
}
switch (actuatorSettings.BankMode[i]) {
case ACTUATORSETTINGS_BANKMODE_ONESHOT125:
case ACTUATORSETTINGS_BANKMODE_ONESHOT42:
case ACTUATORSETTINGS_BANKMODE_MULTISHOT:
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_ONESHOT_CLOCK; // Setup an 12MHz timer clock
break;
case ACTUATORSETTINGS_BANKMODE_PWMSYNC:
freq[i] = 100;

8
flight/targets/boards/coptercontrol/firmware/pios_board.c
View File

@ -954,7 +954,9 @@ SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook()
if ((recmode == HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT ||
flexiMode == HWSETTINGS_CC_FLEXIPORT_PPM) &&
(modes[3] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT125)) {
modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT125 ||
modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT42 ||
modes[3] == ACTUATORSETTINGS_BANKMODE_MULTISHOT)) {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;
} else {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
@ -967,7 +969,9 @@ SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook()
case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
for (uint8_t i = 0; i < ACTUATORSETTINGS_BANKMODE_NUMELEM; i++) {
if (modes[i] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125) {
modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125 ||
modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT42 ||
modes[i] == ACTUATORSETTINGS_BANKMODE_MULTISHOT) {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
}

4
flight/targets/boards/revonano/firmware/pios_board.c
View File

@ -893,7 +893,9 @@ SystemAlarmsExtendedAlarmStatusOptions RevoNanoConfigHook()
case HWSETTINGS_RM_RCVRPORT_PWM:
for (uint8_t i = 0; i < ACTUATORSETTINGS_BANKMODE_NUMELEM; i++) {
if (modes[i] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125) {
modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125 ||
modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT42 ||
modes[i] == ACTUATORSETTINGS_BANKMODE_MULTISHOT) {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
}
}

2
shared/uavobjectdefinition/actuatorsettings.xml
View File

@ -2,7 +2,7 @@
<object name="ActuatorSettings" singleinstance="true" settings="true" category="Control">
<description>Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType</description>
<field name="BankUpdateFreq" units="Hz" type="uint16" elements="6" defaultvalue="50"/>
<field name="BankMode" type="enum" units="" elements="6" options="PWM,PWMSync,OneShot125" defaultvalue="PWM"/>
<field name="BankMode" type="enum" units="" elements="6" options="PWM,PWMSync,OneShot125,OneShot42,MultiShot" defaultvalue="PWM"/>
<field name="ChannelMax" units="us" type="int16" elements="12" defaultvalue="1000"/>
<field name="ChannelNeutral" units="us" type="int16" elements="12" defaultvalue="1000"/>
<field name="ChannelMin" units="us" type="int16" elements="12" defaultvalue="1000"/>