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OP-932 Adds a semaphore to PPM input to signal when a new frame has been received. This can be used to process a new frame with as low a latency as possible.

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This commit is contained in:
Brian Webb 2013-06-06 18:08:45 -07:00
parent ac75af55c1
commit 7c10623615
5 changed files with 126 additions and 6 deletions
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32
flight/pios/common/pios_rcvr.c
View File

@ -113,6 +113,38 @@ int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel)
return rcvr_dev->driver->read(rcvr_dev->lower_id, channel);
}
/**
* @brief Get a semaphore that signals when a new sample is available.
* @param[in] rcvr_id driver to read from
* @param[in] channel channel to read
* @returns The semaphore, or NULL if not supported.
*/
xSemaphoreHandle PIOS_RCVR_GetSemaphore(uint32_t rcvr_id, uint8_t channel)
{
// Publicly facing API uses channel 1 for first channel
if (channel == 0) {
return NULL;
} else {
channel--;
}
if (rcvr_id == 0) {
return NULL;
}
struct pios_rcvr_dev *rcvr_dev = (struct pios_rcvr_dev *)rcvr_id;
if (!PIOS_RCVR_validate(rcvr_dev)) {
/* Undefined RCVR port for this board (see pios_board.c) */
PIOS_Assert(0);
}
if (rcvr_dev->driver->get_semaphore) {
return rcvr_dev->driver->get_semaphore(rcvr_dev->lower_id, channel);
}
return NULL;
}
#endif /* PIOS_INCLUDE_RCVR */
/**

3
flight/pios/inc/pios_ppm_priv.h
View File

@ -31,9 +31,6 @@
#ifndef PIOS_PPM_PRIV_H
#define PIOS_PPM_PRIV_H
#include <pios.h>
#include <pios_stm32.h>
struct pios_ppm_cfg {
TIM_ICInitTypeDef tim_ic_init;
const struct pios_tim_channel *channels;

2
flight/pios/inc/pios_rcvr.h
View File

@ -34,10 +34,12 @@
struct pios_rcvr_driver {
void (*init)(uint32_t id);
int32_t (*read)(uint32_t id, uint8_t channel);
xSemaphoreHandle (*get_semaphore)(uint32_t id, uint8_t channel);
};
/* Public Functions */
extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
extern xSemaphoreHandle PIOS_RCVR_GetSemaphore(uint32_t rcvr_id, uint8_t channel);
/*! Define error codes for PIOS_RCVR_Get */
enum PIOS_RCVR_errors {

49
flight/pios/stm32f10x/pios_ppm.c
View File

@ -32,14 +32,19 @@
#ifdef PIOS_INCLUDE_PPM
#include "pios_ppm_priv.h"
#include <pios_stm32.h>
#include "pios_ppm_priv.h"
/* Provide a RCVR driver */
static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel);
static xSemaphoreHandle PIOS_PPM_Get_Semaphore(uint32_t rcvr_id, uint8_t channel);
const struct pios_rcvr_driver pios_ppm_rcvr_driver = {
.read = PIOS_PPM_Get,
.read = PIOS_PPM_Get,
#if defined(PIOS_INCLUDE_FREERTOS)
.get_semaphore = PIOS_PPM_Get_Semaphore
#endif
};
#define PIOS_PPM_IN_MIN_NUM_CHANNELS 4
@ -76,6 +81,10 @@ struct pios_ppm_dev {
uint8_t supv_timer;
bool Tracking;
bool Fresh;
#ifdef PIOS_INCLUDE_FREERTOS
xSemaphoreHandle new_sample_semaphores[PIOS_PPM_IN_MIN_NUM_CHANNELS];
#endif /* PIOS_INCLUDE_FREERTOS */
};
static bool PIOS_PPM_validate(struct pios_ppm_dev *ppm_dev)
@ -93,6 +102,11 @@ static struct pios_ppm_dev *PIOS_PPM_alloc(void)
return NULL;
}
// Initialize the semaphores to 0.
for (uint8_t i = 0; i < PIOS_PPM_IN_MIN_NUM_CHANNELS; ++i) {
ppm_dev->new_sample_semaphores[i] = 0;
}
ppm_dev->magic = PIOS_PPM_DEV_MAGIC;
return ppm_dev;
}
@ -199,6 +213,28 @@ out_fail:
return -1;
}
#if defined(PIOS_INCLUDE_FREERTOS)
static xSemaphoreHandle PIOS_PPM_Get_Semaphore(uint32_t rcvr_id, uint8_t channel)
{
struct pios_ppm_dev *ppm_dev = (struct pios_ppm_dev *)rcvr_id;
if (!PIOS_PPM_validate(ppm_dev)) {
/* Invalid device specified */
return 0;
}
if (channel >= PIOS_PPM_IN_MAX_NUM_CHANNELS) {
/* Channel out of range */
return 0;
}
if (ppm_dev->new_sample_semaphores[channel] == 0) {
vSemaphoreCreateBinary(ppm_dev->new_sample_semaphores[channel]);
}
return ppm_dev->new_sample_semaphores[channel];
}
#endif /* if defined(PIOS_INCLUDE_FREERTOS) */
/**
* Get the value of an input channel
* \param[in] channel Number of the channel desired (zero based)
@ -296,6 +332,15 @@ static void PIOS_PPM_tim_edge_cb(__attribute__((unused)) uint32_t tim_id,
i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) {
ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
}
#if defined(PIOS_INCLUDE_FREERTOS)
/* Signal that a new sample is ready on this channel. */
if (ppm_dev->new_sample_semaphores[chan_idx] != 0) {
signed portBASE_TYPE pxHigherPriorityTaskWoken = pdFALSE;
if (xSemaphoreGiveFromISR(ppm_dev->new_sample_semaphores[chan_idx], &pxHigherPriorityTaskWoken) == pdTRUE) {
portEND_SWITCHING_ISR(pxHigherPriorityTaskWoken); /* FIXME: is this the right place for this? */
}
}
#endif /* USE_FREERTOS */
}
ppm_dev->Fresh = TRUE;

46
flight/pios/stm32f4xx/pios_ppm.c
View File

@ -36,9 +36,13 @@
/* Provide a RCVR driver */
static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel);
static xSemaphoreHandle PIOS_PPM_Get_Semaphore(uint32_t rcvr_id, uint8_t channel);
const struct pios_rcvr_driver pios_ppm_rcvr_driver = {
.read = PIOS_PPM_Get,
.read = PIOS_PPM_Get,
#if defined(PIOS_INCLUDE_FREERTOS)
.get_semaphore = PIOS_PPM_Get_Semaphore
#endif
};
#define PIOS_PPM_IN_MIN_NUM_CHANNELS 4
@ -72,6 +76,10 @@ struct pios_ppm_dev {
uint8_t supv_timer;
bool Tracking;
bool Fresh;
#ifdef PIOS_INCLUDE_FREERTOS
xSemaphoreHandle new_sample_semaphores[PIOS_PPM_IN_MIN_NUM_CHANNELS];
#endif /* PIOS_INCLUDE_FREERTOS */
};
static bool PIOS_PPM_validate(struct pios_ppm_dev *ppm_dev)
@ -89,6 +97,11 @@ static struct pios_ppm_dev *PIOS_PPM_alloc(void)
return NULL;
}
// Initialize the semaphores to 0.
for (uint8_t i = 0; i < PIOS_PPM_IN_MIN_NUM_CHANNELS; ++i) {
ppm_dev->new_sample_semaphores[i] = 0;
}
ppm_dev->magic = PIOS_PPM_DEV_MAGIC;
return ppm_dev;
}
@ -194,6 +207,28 @@ out_fail:
return -1;
}
#if defined(PIOS_INCLUDE_FREERTOS)
static xSemaphoreHandle PIOS_PPM_Get_Semaphore(uint32_t rcvr_id, uint8_t channel)
{
struct pios_ppm_dev *ppm_dev = (struct pios_ppm_dev *)rcvr_id;
if (!PIOS_PPM_validate(ppm_dev)) {
/* Invalid device specified */
return 0;
}
if (channel >= PIOS_PPM_IN_MAX_NUM_CHANNELS) {
/* Channel out of range */
return 0;
}
if (ppm_dev->new_sample_semaphores[channel] == 0) {
vSemaphoreCreateBinary(ppm_dev->new_sample_semaphores[channel]);
}
return ppm_dev->new_sample_semaphores[channel];
}
#endif /* if defined(PIOS_INCLUDE_FREERTOS) */
/**
* Get the value of an input channel
* \param[in] channel Number of the channel desired (zero based)
@ -286,6 +321,15 @@ static void PIOS_PPM_tim_edge_cb(__attribute__((unused)) uint32_t tim_id, uint32
i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) {
ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
}
#if defined(PIOS_INCLUDE_FREERTOS)
/* Signal that a new sample is ready on this channel. */
if (ppm_dev->new_sample_semaphores[chan_idx] != 0) {
signed portBASE_TYPE pxHigherPriorityTaskWoken = pdFALSE;
if (xSemaphoreGiveFromISR(ppm_dev->new_sample_semaphores[chan_idx], &pxHigherPriorityTaskWoken) == pdTRUE) {
portEND_SWITCHING_ISR(pxHigherPriorityTaskWoken); /* FIXME: is this the right place for his? */
}
}
#endif /* USE_FREERTOS */
}
ppm_dev->Fresh = true;