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Code Issues Releases Activity

OP-571 PIOS_PWM: Add back the PWM supervisor

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This commit is contained in:
James Cotton 2011-09-04 01:14:54 -05:00
parent 20de046292
commit 51967ae63f
1 changed files with 23 additions and 1 deletions
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24
flight/PiOS/STM32F10x/pios_pwm.c
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@ -42,6 +42,8 @@ const struct pios_rcvr_driver pios_pwm_rcvr_driver = {
};
/* Local Variables */
/* 100 ms timeout without updates on channels */
const static uint32_t PWM_SUPERVISOR_TIMEOUT = 100000;
enum pios_pwm_dev_magic {
PIOS_PWM_DEV_MAGIC = 0xab30293c,
@ -56,6 +58,7 @@ struct pios_pwm_dev {
uint16_t FallValue[PIOS_PWM_NUM_INPUTS];
uint32_t CaptureValue[PIOS_PWM_NUM_INPUTS];
uint32_t CapCounter[PIOS_PWM_NUM_INPUTS];
uint32_t us_since_update[PIOS_PWM_NUM_INPUTS];
};
static bool PIOS_PWM_validate(struct pios_pwm_dev * pwm_dev)
@ -120,7 +123,7 @@ int32_t PIOS_PWM_Init(uint32_t * pwm_id, const struct pios_pwm_cfg * cfg)
pwm_dev->CaptureState[i] = 0;
pwm_dev->RiseValue[i] = 0;
pwm_dev->FallValue[i] = 0;
pwm_dev->CaptureValue[i] = 0;
pwm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
}
uint32_t tim_id;
@ -152,6 +155,10 @@ int32_t PIOS_PWM_Init(uint32_t * pwm_id, const struct pios_pwm_cfg * cfg)
TIM_ITConfig(chan->timer, TIM_IT_CC4, ENABLE);
break;
}
// Need the update event for that timer to detect timeouts
TIM_ITConfig(chan->timer, TIM_IT_Update, ENABLE);
}
*pwm_id = (uint32_t) pwm_dev;
@ -193,6 +200,20 @@ static void PIOS_PWM_tim_overflow_cb (uint32_t tim_id, uint32_t context, uint8_t
return;
}
if (channel >= pwm_dev->cfg->num_channels) {
/* Channel out of range */
return;
}
pwm_dev->us_since_update[channel] += count;
if(pwm_dev->us_since_update[channel] >= PWM_SUPERVISOR_TIMEOUT) {
pwm_dev->CaptureState[channel] = 0;
pwm_dev->RiseValue[channel] = 0;
pwm_dev->FallValue[channel] = 0;
pwm_dev->CaptureValue[channel] = PIOS_RCVR_TIMEOUT;
pwm_dev->us_since_update[channel] = 0;
}
return;
}
@ -215,6 +236,7 @@ static void PIOS_PWM_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t cha
if (pwm_dev->CaptureState[chan_idx] == 0) {
pwm_dev->RiseValue[chan_idx] = count;
pwm_dev->us_since_update[chan_idx] = 0;
} else {
pwm_dev->FallValue[chan_idx] = count;
}