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Code Issues Releases Activity

OP-1683 - Switch to the same schema used by cleanflight.

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Running in repetitive mode, clearing CCRx after manually triggering update event.
This commit is contained in:
Alessio Morale 2015-01-29 21:20:29 +01:00
parent 632051c0ac
commit 86571a804d
1 changed files with 45 additions and 70 deletions
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115
flight/pios/stm32f4xx/pios_servo.c
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@ -123,59 +123,27 @@ 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];
switch (mode) {
case PIOS_SERVO_BANK_MODE_SINGLE_PULSE:
/* Set up for output compare function */
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_OC1PolarityConfig(chan->timer, TIM_OCPolarity_Low);
break;
case TIM_Channel_2:
TIM_OC2PolarityConfig(chan->timer, TIM_OCPolarity_Low);
break;
case TIM_Channel_3:
TIM_OC3PolarityConfig(chan->timer, TIM_OCPolarity_Low);
break;
case TIM_Channel_4:
TIM_OC4PolarityConfig(chan->timer, TIM_OCPolarity_Low);
break;
}
/* Set up for output compare function */
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_OC1PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
case PIOS_SERVO_BANK_MODE_PWM:
/* Set up for output compare function */
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_OC1PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
case TIM_Channel_2:
TIM_OC2PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
case TIM_Channel_3:
TIM_OC3PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
case TIM_Channel_4:
TIM_OC4PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
}
case TIM_Channel_2:
TIM_OC2PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
case TIM_Channel_3:
TIM_OC3PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
case TIM_Channel_4:
TIM_OC4PolarityConfig(chan->timer, TIM_OCPolarity_High);
break;
default:
PIOS_Assert(false);
}
}
}
// Setup the timer accordingly
switch (mode) {
case PIOS_SERVO_BANK_MODE_SINGLE_PULSE:
TIM_SelectOnePulseMode(pios_servo_bank_timer[bank], TIM_OPMode_Single);
TIM_CounterModeConfig(pios_servo_bank_timer[bank], TIM_CounterMode_Up);
break;
case PIOS_SERVO_BANK_MODE_PWM:
TIM_SelectOnePulseMode(pios_servo_bank_timer[bank], TIM_OPMode_Repetitive);
TIM_Cmd(pios_servo_bank_timer[bank], ENABLE);
break;
default:
PIOS_Assert(false);
}
TIM_SelectOnePulseMode(pios_servo_bank_timer[bank], TIM_OPMode_Repetitive);
TIM_Cmd(pios_servo_bank_timer[bank], ENABLE);
}
}
@ -184,12 +152,34 @@ 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) {
TIM_Cmd((TIM_TypeDef *)timer, ENABLE);
if (timer && pios_servo_bank_mode[i] == PIOS_SERVO_BANK_MODE_SINGLE_PULSE) {
TIM_GenerateEvent((TIM_TypeDef *)timer, TIM_EventSource_Update);
}
}
for (uint8_t i = 0; (i < servo_cfg->num_channels); i++) {
uint8_t bank = pios_servo_pin_bank[i];
uint8_t mode = pios_servo_bank_mode[bank];
if (mode == PIOS_SERVO_BANK_MODE_SINGLE_PULSE) {
/* Update the position */
const struct pios_tim_channel *chan = &servo_cfg->channels[i];
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_SetCompare1(chan->timer, 0);
break;
case TIM_Channel_2:
TIM_SetCompare2(chan->timer, 0);
break;
case TIM_Channel_3:
TIM_SetCompare3(chan->timer, 0);
break;
case TIM_Channel_4:
TIM_SetCompare4(chan->timer, 0);
break;
}
}
}
}
/**
* Set the servo update rate (Max 500Hz)
* \param[in] array of rates in Hz
@ -241,26 +231,11 @@ void PIOS_Servo_Set(uint8_t servo, uint16_t position)
/* Update the position */
const struct pios_tim_channel *chan = &servo_cfg->channels[servo];
uint8_t bank = pios_servo_pin_bank[servo];
uint8_t mode = pios_servo_bank_mode[bank];
uint16_t val;
switch (mode) {
case PIOS_SERVO_BANK_MODE_PWM:
val = position;
break;
case PIOS_SERVO_BANK_MODE_SINGLE_PULSE:
// prevent overflows that causes an output to pass from max to no pulses.
if (position < chan->timer->ARR) {
val = chan->timer->ARR - position;
} else {
val = 1;
}
break;
default:
PIOS_Assert(false);
}
uint16_t val = position;
/*uint16_t margin = chan->timer->ARR / 20; // Leave 5% of period as margin to prevent overlaps
if (val > (chan->timer->ARR - margin)) {
val = chan->timer->ARR - margin;
}*/
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_SetCompare1(chan->timer, val);