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Code Issues Releases Activity

Flight/Servo Fix Servo driver buffer overflow, was messing up the I2C and altitude readings, now working fine. Servo index used to be 1-8 but the Servo driver was indexing a buffer out of bounds. Changed everything to use index 0-7 for servo outputs.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1061 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis 2010-07-11 01:54:43 +00:00 committed by vassilis
parent 3896baa908
commit 9f2a01a78a
3 changed files with 18 additions and 18 deletions
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4
flight/OpenPilot/Modules/Actuator/actuator.c
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@ -147,7 +147,7 @@ static void actuatorTask(void* parameters)
// Update servo outputs // Update servo outputs
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n) for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{ {
PIOS_Servo_Set( n+1, cmd.Channel[n] ); PIOS_Servo_Set( n, cmd.Channel[n] );
} }
// Update output object // Update output object
@ -269,7 +269,7 @@ static void setFailsafe()
// Update servo outputs // Update servo outputs
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n) for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{ {
PIOS_Servo_Set( n+1, cmd.Channel[n] ); PIOS_Servo_Set( n, cmd.Channel[n] );
} }
// Update output object // Update output object

12
flight/OpenPilot/System/openpilot.c
View File

@ -246,6 +246,8 @@ static void TaskServos(void *pvParameters)
/* Used to test servos, cycles all servos from one side to the other */ /* Used to test servos, cycles all servos from one side to the other */
for(;;) { for(;;) {
/*xDelay = 250 / portTICK_RATE_MS; /*xDelay = 250 / portTICK_RATE_MS;
PIOS_Servo_Set(0, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(1, 2000); PIOS_Servo_Set(1, 2000);
vTaskDelay(xDelay); vTaskDelay(xDelay);
PIOS_Servo_Set(2, 2000); PIOS_Servo_Set(2, 2000);
@ -260,11 +262,7 @@ static void TaskServos(void *pvParameters)
vTaskDelay(xDelay); vTaskDelay(xDelay);
PIOS_Servo_Set(7, 2000); PIOS_Servo_Set(7, 2000);
vTaskDelay(xDelay); vTaskDelay(xDelay);
PIOS_Servo_Set(8, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(8, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(7, 1000); PIOS_Servo_Set(7, 1000);
vTaskDelay(xDelay); vTaskDelay(xDelay);
PIOS_Servo_Set(6, 1000); PIOS_Servo_Set(6, 1000);
@ -278,10 +276,13 @@ static void TaskServos(void *pvParameters)
PIOS_Servo_Set(2, 1000); PIOS_Servo_Set(2, 1000);
vTaskDelay(xDelay); vTaskDelay(xDelay);
PIOS_Servo_Set(1, 1000); PIOS_Servo_Set(1, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(0, 1000);
vTaskDelay(xDelay);*/ vTaskDelay(xDelay);*/
xDelay = 1 / portTICK_RATE_MS; xDelay = 1 / portTICK_RATE_MS;
for(int i = 1000; i < 2000; i++) { for(int i = 1000; i < 2000; i++) {
PIOS_Servo_Set(0, i);
PIOS_Servo_Set(1, i); PIOS_Servo_Set(1, i);
PIOS_Servo_Set(2, i); PIOS_Servo_Set(2, i);
PIOS_Servo_Set(3, i); PIOS_Servo_Set(3, i);
@ -289,10 +290,10 @@ static void TaskServos(void *pvParameters)
PIOS_Servo_Set(5, i); PIOS_Servo_Set(5, i);
PIOS_Servo_Set(6, i); PIOS_Servo_Set(6, i);
PIOS_Servo_Set(7, i); PIOS_Servo_Set(7, i);
PIOS_Servo_Set(8, i);
vTaskDelay(xDelay); vTaskDelay(xDelay);
} }
for(int i = 2000; i > 1000; i--) { for(int i = 2000; i > 1000; i--) {
PIOS_Servo_Set(0, i);
PIOS_Servo_Set(1, i); PIOS_Servo_Set(1, i);
PIOS_Servo_Set(2, i); PIOS_Servo_Set(2, i);
PIOS_Servo_Set(3, i); PIOS_Servo_Set(3, i);
@ -300,7 +301,6 @@ static void TaskServos(void *pvParameters)
PIOS_Servo_Set(5, i); PIOS_Servo_Set(5, i);
PIOS_Servo_Set(6, i); PIOS_Servo_Set(6, i);
PIOS_Servo_Set(7, i); PIOS_Servo_Set(7, i);
PIOS_Servo_Set(8, i);
vTaskDelay(xDelay); vTaskDelay(xDelay);
} }
} }

20
flight/PiOS/STM32F10x/pios_servo.c
View File

@ -150,42 +150,42 @@ void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
/** /**
* Set servo position * Set servo position
* \param[in] Servo Servo number (1-8) * \param[in] Servo Servo number (0-7)
* \param[in] Position Servo position in milliseconds * \param[in] Position Servo position in milliseconds
*/ */
void PIOS_Servo_Set(uint8_t Servo, uint16_t Position) void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
{ {
#ifndef PIOS_ENABLE_DEBUG_PINS #ifndef PIOS_ENABLE_DEBUG_PINS
/* Make sure servo exists */ /* Make sure servo exists */
if (Servo <= PIOS_SERVO_NUM_OUTPUTS && Servo > 0) if (Servo < PIOS_SERVO_NUM_OUTPUTS && Servo >= 0)
{ {
/* Update the position */ /* Update the position */
ServoPosition[Servo] = Position; ServoPosition[Servo] = Position;
switch(Servo) switch(Servo)
{ {
case 1: case 0:
TIM_SetCompare1(TIM4, Position); TIM_SetCompare1(TIM4, Position);
break; break;
case 2: case 1:
TIM_SetCompare2(TIM4, Position); TIM_SetCompare2(TIM4, Position);
break; break;
case 3: case 2:
TIM_SetCompare3(TIM4, Position); TIM_SetCompare3(TIM4, Position);
break; break;
case 4: case 3:
TIM_SetCompare4(TIM4, Position); TIM_SetCompare4(TIM4, Position);
break; break;
case 5: case 4:
TIM_SetCompare1(TIM8, Position); TIM_SetCompare1(TIM8, Position);
break; break;
case 6: case 5:
TIM_SetCompare2(TIM8, Position); TIM_SetCompare2(TIM8, Position);
break; break;
case 7: case 6:
TIM_SetCompare3(TIM8, Position); TIM_SetCompare3(TIM8, Position);
break; break;
case 8: case 7:
TIM_SetCompare4(TIM8, Position); TIM_SetCompare4(TIM8, Position);
break; break;
} }