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Code Issues Releases Activity

OP-1683 - Implement an update skip strategy in single pulse mode when pulse period is higher than the update cycle

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This commit is contained in:
Alessio Morale 2015-02-02 02:58:22 +01:00
parent a7caee7bc4
commit 752f3447d2
2 changed files with 22 additions and 6 deletions
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2
flight/modules/Actuator/actuator.c
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@ -807,7 +807,7 @@ static void actuator_update_rate_if_changed(const ActuatorSettingsData *actuator
clock[i] = ACTUATOR_ONESHOT125_CLOCK; // Setup an 8MHz timer clock
break;
case ACTUATORSETTINGS_BANKMODE_ONESHOT:
freq[i] = (PIOS_SENSOR_RATE + PIOS_SENSOR_RATE / 10); // use Sensor rate + a 10% margin to prevent missing updates.
freq[i] = 100;
clock[i] = ACTUATOR_PWM_CLOCK;
break;
default: // PWM

26
flight/pios/stm32f4xx/pios_servo.c
View File

@ -41,7 +41,9 @@ static const struct pios_servo_cfg *servo_cfg;
// determine if the related timer will work in synchronous (or OneShot/OneShot125) One Pulse mode.
static uint8_t pios_servo_bank_mode[PIOS_SERVO_BANKS] = { 0 };
// used to skip updates when pulse length is higher than update cycle
static uint16_t pios_servo_bank_next_update[PIOS_SERVO_BANKS] = { 0 };
static uint16_t pios_servo_bank_max_pulse[PIOS_SERVO_BANKS] = { 0 };
// timer associated to each bank
static TIM_TypeDef *pios_servo_bank_timer[PIOS_SERVO_BANKS] = { 0 };
@ -49,7 +51,7 @@ static TIM_TypeDef *pios_servo_bank_timer[PIOS_SERVO_BANKS] = { 0 };
static uint8_t *pios_servo_pin_bank;
#define PIOS_SERVO_TIMER_CLOCK 1000000
#define PIOS_SERVO_SAFE_MARGIN 50
/**
* Initialise Servos
*/
@ -123,7 +125,6 @@ void PIOS_Servo_SetBankMode(uint8_t bank, uint8_t mode)
for (uint8_t i = 0; (i < servo_cfg->num_channels); i++) {
if (pios_servo_pin_bank[i] == bank) {
const struct pios_tim_channel *chan = &servo_cfg->channels[i];
/* Set up for output compare function */
switch (chan->timer_chan) {
case TIM_Channel_1:
@ -141,6 +142,11 @@ void PIOS_Servo_SetBankMode(uint8_t bank, uint8_t mode)
}
}
}
if (mode != PIOS_SERVO_BANK_MODE_PWM) {
// TIM_UpdateDisableConfig(pios_servo_bank_timer[bank], ENABLE);
} else {
// TIM_UpdateDisableConfig(pios_servo_bank_timer[bank], DISABLE);
}
// Setup the timer accordingly
TIM_SelectOnePulseMode(pios_servo_bank_timer[bank], TIM_OPMode_Repetitive);
TIM_Cmd(pios_servo_bank_timer[bank], ENABLE);
@ -153,7 +159,12 @@ void PIOS_Servo_Update()
for (uint8_t i = 0; (i < PIOS_SERVO_BANKS); i++) {
const TIM_TypeDef *timer = pios_servo_bank_timer[i];
if (timer && pios_servo_bank_mode[i] == PIOS_SERVO_BANK_MODE_SINGLE_PULSE) {
TIM_GenerateEvent((TIM_TypeDef *)timer, TIM_EventSource_Update);
// a pulse to be generated is longer than cycle period. skip this update.
if (TIM_GetCounter((TIM_TypeDef *)timer) > (uint32_t)(pios_servo_bank_next_update[i] + PIOS_SERVO_SAFE_MARGIN)) {
TIM_GenerateEvent((TIM_TypeDef *)timer, TIM_EventSource_Update);
pios_servo_bank_next_update[i] = pios_servo_bank_max_pulse[i];
pios_servo_bank_max_pulse[i] = 0;
}
}
}
for (uint8_t i = 0; (i < servo_cfg->num_channels); i++) {
@ -210,7 +221,6 @@ void PIOS_Servo_SetHz(const uint16_t *speeds, const uint32_t *clock, uint8_t ban
} else {
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / new_clock) - 1;
}
TIM_TimeBaseStructure.TIM_Period = ((new_clock / speeds[i]) - 1);
TIM_TimeBaseInit((TIM_TypeDef *)timer, &TIM_TimeBaseStructure);
}
@ -229,6 +239,7 @@ void PIOS_Servo_Set(uint8_t servo, uint16_t position)
return;
}
/* Update the position */
const struct pios_tim_channel *chan = &servo_cfg->channels[servo];
uint16_t val = position;
@ -236,6 +247,11 @@ void PIOS_Servo_Set(uint8_t servo, uint16_t position)
if (val > (chan->timer->ARR - margin)) {
val = chan->timer->ARR - margin;
}
uint8_t bank = pios_servo_pin_bank[servo];
if (pios_servo_bank_max_pulse[bank] < val) {
pios_servo_bank_max_pulse[bank] = val;
}
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_SetCompare1(chan->timer, val);