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Code Issues Releases Activity

OP-924: Added a supervisor timeout to the PPM output driver. This is based on the code in the PPM input driver. A (minor) uninitialize variable bug was also fixed in the PPM input driver.

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This commit is contained in:
Brian Webb 2013-04-26 02:16:11 +01:00
parent bbb05f4ad6
commit ab926da507
2 changed files with 40 additions and 0 deletions
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1
flight/pios/stm32f10x/pios_ppm.c
View File

@ -188,6 +188,7 @@ extern int32_t PIOS_PPM_Init(uint32_t * ppm_id, const struct pios_ppm_cfg * cfg)
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0x0;
ppm_dev->supv_timer = 0;
if (!PIOS_RTC_RegisterTickCallback(PIOS_PPM_Supervisor, (uint32_t)ppm_dev)) {
PIOS_DEBUG_Assert(0);
}

39
flight/pios/stm32f10x/pios_ppm_out.c
View File

@ -59,6 +59,8 @@ struct pios_ppm_out_dev {
bool Fresh;
};
static void PIOS_PPM_Out_Supervisor(uint32_t ppm_id);
static bool PIOS_PPM_Out_validate(struct pios_ppm_out_dev *ppm_dev)
{
return (ppm_dev->magic == PIOS_PPM_OUT_DEV_MAGIC);
@ -188,6 +190,15 @@ int32_t PIOS_PPM_Out_Init(uint32_t *ppm_out_id, const struct pios_ppm_out_cfg *
TIM_SetCompare4(chan->timer, ppm_dev->triggering_period);
break;
}
// Configure the supervisor
ppm_dev->supv_timer = 0;
ppm_dev->Fresh = FALSE;
ppm_dev->Tracking = FALSE;
if (!PIOS_RTC_RegisterTickCallback(PIOS_PPM_Out_Supervisor, (uint32_t)ppm_dev)) {
PIOS_DEBUG_Assert(0);
}
return 0;
}
@ -202,6 +213,10 @@ void PIOS_PPM_OUT_Set(uint32_t ppm_out_id, uint8_t servo, uint16_t position)
position = PIOS_PPM_OUT_MIN_CHANNEL_PULSE_US;
if (position > PIOS_PPM_OUT_MAX_CHANNEL_PULSE_US)
position = PIOS_PPM_OUT_MAX_CHANNEL_PULSE_US;
// Update the supervisor tracking variables.
ppm_dev->Fresh = TRUE;
ppm_dev->Tracking = TRUE;
// Update the position
ppm_dev->ChannelValue[servo] = position;
@ -228,4 +243,28 @@ static void PIOS_PPM_OUT_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t
return;
}
static void PIOS_PPM_Out_Supervisor(uint32_t ppm_out_id) {
struct pios_ppm_out_dev *ppm_dev = (struct pios_ppm_out_dev *)ppm_out_id;
if (!PIOS_PPM_Out_validate(ppm_dev))
return;
/*
* RTC runs at 625Hz so divide down the base rate so that this loop runs at 25Hz.
*/
if(++(ppm_dev->supv_timer) < 25) {
return;
}
ppm_dev->supv_timer = 0;
if (!ppm_dev->Fresh) {
ppm_dev->Tracking = FALSE;
// Flush counter variables
for (uint8_t i = 0; i < PIOS_PPM_OUT_MAX_CHANNELS; i++)
ppm_dev->ChannelValue[i] = 1000;
}
ppm_dev->Fresh = FALSE;
}
#endif /* PIOS_INCLUDE_PPM_OUT */