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Code Issues Releases Activity

Support for Led Outputs as actuator channels 9&10.

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Added the ARMING LED  and INFO LED option for actuator channel
This commit is contained in:
a*morale 2012-09-11 00:23:49 +02:00 committed by James Cotton
parent 316e02612e
commit cf7aea6499
3 changed files with 96 additions and 29 deletions
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119
flight/Modules/Actuator/actuator.c
View File

@ -565,28 +565,82 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSet
static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSettingsData * actuatorSettings)
{
switch(actuatorSettings->ChannelType[mixer_channel]) {
case ACTUATORSETTINGS_CHANNELTYPE_PWMALARMBUZZER: {
case ACTUATORSETTINGS_CHANNELTYPE_PWMALARMBUZZER:
case ACTUATORSETTINGS_CHANNELTYPE_ARMINGLED:
case ACTUATORSETTINGS_CHANNELTYPE_INFOLED:
{
// This is for buzzers that take a PWM input
static uint32_t currBuzzTune = 0;
static uint32_t currBuzzTuneState;
uint32_t bewBuzzTune;
// Decide what tune to play
if (AlarmsGet(SYSTEMALARMS_ALARM_BATTERY) > SYSTEMALARMS_ALARM_WARNING) {
bewBuzzTune = 0b11110110110000; // pause, short, short, short, long
} else if (AlarmsGet(SYSTEMALARMS_ALARM_GPS) >= SYSTEMALARMS_ALARM_WARNING) {
bewBuzzTune = 0x80000000; // pause, short
} else {
bewBuzzTune = 0;
}
static uint32_t currArmingTune = 0;
static uint32_t currArmingTuneState;
// Do we need to change tune?
if (bewBuzzTune != currBuzzTune) {
currBuzzTune = bewBuzzTune;
currBuzzTuneState = currBuzzTune;
}
static uint32_t currInfoTune = 0;
static uint32_t currInfoTuneState;
uint32_t newTune = 0;
if(actuatorSettings->ChannelType[mixer_channel] == ACTUATORSETTINGS_CHANNELTYPE_PWMALARMBUZZER)
{
// Decide what tune to play
if (AlarmsGet(SYSTEMALARMS_ALARM_BATTERY) > SYSTEMALARMS_ALARM_WARNING) {
newTune = 0b11110110110000; // pause, short, short, short, long
} else if (AlarmsGet(SYSTEMALARMS_ALARM_GPS) >= SYSTEMALARMS_ALARM_WARNING) {
newTune = 0x80000000; // pause, short
} else {
newTune = 0;
}
// Do we need to change tune?
if (newTune != currBuzzTune) {
currBuzzTune = newTune;
currBuzzTuneState = currBuzzTune;
}
}
else // ACTUATORSETTINGS_CHANNELTYPE_ARMINGLED || ACTUATORSETTINGS_CHANNELTYPE_INFOLED
{
uint8_t arming;
FlightStatusArmedGet(&arming);
//base idle tune
newTune = 0x80000000; // 0b1000...
// Merge the error pattern for InfoLed
if(actuatorSettings->ChannelType[mixer_channel] == ACTUATORSETTINGS_CHANNELTYPE_INFOLED)
{
if (AlarmsGet(SYSTEMALARMS_ALARM_BATTERY) > SYSTEMALARMS_ALARM_WARNING)
{
newTune |= 0b00000000001111111011111110000000;
}
else if(AlarmsGet(SYSTEMALARMS_ALARM_GPS) >= SYSTEMALARMS_ALARM_WARNING)
{
newTune |= 0b00000000000000110110110000000000;
}
}
// fast double blink pattern if armed
if (arming == FLIGHTSTATUS_ARMED_ARMED)
newTune |= 0xA0000000; // 0b101000...
// Do we need to change tune?
if(actuatorSettings->ChannelType[mixer_channel] == ACTUATORSETTINGS_CHANNELTYPE_ARMINGLED)
{
if (newTune != currArmingTune) {
currArmingTune = newTune;
// note: those are both updated so that Info and Arming are in sync if used simultaneously
currArmingTuneState = currArmingTune;
currInfoTuneState = currInfoTune;
}
}
else
{
if (newTune != currInfoTune) {
currInfoTune = newTune;
currArmingTuneState = currArmingTune;
currInfoTuneState = currInfoTune;
}
}
}
// Play tune
bool buzzOn = false;
@ -595,17 +649,30 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSet
portTickType dT = 0;
// For now, only look at the battery alarm, because functions like AlarmsHasCritical() can block for some time; to be discussed
if (currBuzzTune) {
if(thisSysTime > lastSysTime)
dT = thisSysTime - lastSysTime;
buzzOn = (currBuzzTuneState&1); // Buzz when the LS bit is 1
if (dT > 80) {
// Go to next bit in alarm_seq_state
currBuzzTuneState >>= 1;
if (currBuzzTuneState == 0)
currBuzzTuneState = currBuzzTune; // All done, re-start the tune
lastSysTime = thisSysTime;
}
if (currBuzzTune||currArmingTune||currInfoTune) {
if(thisSysTime > lastSysTime)
dT = thisSysTime - lastSysTime;
if(actuatorSettings->ChannelType[mixer_channel] == ACTUATORSETTINGS_CHANNELTYPE_PWMALARMBUZZER)
buzzOn = (currBuzzTuneState&1); // Buzz when the LS bit is 1
else if(actuatorSettings->ChannelType[mixer_channel] == ACTUATORSETTINGS_CHANNELTYPE_ARMINGLED)
buzzOn = (currArmingTuneState&1);
else if(actuatorSettings->ChannelType[mixer_channel] == ACTUATORSETTINGS_CHANNELTYPE_INFOLED)
buzzOn = (currInfoTuneState&1);
if (dT > 80) {
// Go to next bit in alarm_seq_state
currArmingTuneState >>=1;
currInfoTuneState >>= 1;
currBuzzTuneState >>= 1;
if (currBuzzTuneState == 0)
currBuzzTuneState = currBuzzTune; // All done, re-start the tune
if (currArmingTuneState == 0)
currArmingTuneState = currArmingTune;
if (currInfoTuneState == 0)
currInfoTuneState = currInfoTune;
lastSysTime = thisSysTime;
}
}
PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel],
buzzOn?actuatorSettings->ChannelMax[mixer_channel]:actuatorSettings->ChannelMin[mixer_channel]);

4
flight/board_hw_defs/revolution/board_hw_defs.c
View File

@ -1588,7 +1588,7 @@ static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
},
.remap = GPIO_AF_TIM3,
},
// PB3 - TIM2 CH2 LED1 Ok
// PB3 - TIM2 CH2 LED1
{
.timer = TIM2,
.timer_chan = TIM_Channel_2,
@ -1605,7 +1605,7 @@ static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
},
.remap = GPIO_AF_TIM2,
},
// led PB4 - TIM3 CH1 LED2
// PB4 - TIM3 CH1 LED2
{
.timer = TIM3,
.timer_chan = TIM_Channel_1,

2
shared/uavobjectdefinition/actuatorsettings.xml
View File

@ -5,7 +5,7 @@
<field name="ChannelMax" units="us" type="int16" elements="10" defaultvalue="1000"/>
<field name="ChannelNeutral" units="us" type="int16" elements="10" defaultvalue="1000"/>
<field name="ChannelMin" units="us" type="int16" elements="10" defaultvalue="1000"/>
<field name="ChannelType" units="" type="enum" elements="10" options="PWM,MK,ASTEC4,PWM Alarm Buzzer" defaultvalue="PWM"/>
<field name="ChannelType" units="" type="enum" elements="10" options="PWM,MK,ASTEC4,PWM Alarm Buzzer,Arming led,Info led" defaultvalue="PWM"/>
<field name="ChannelAddr" units="" type="uint8" elements="10" defaultvalue="0,1,2,3,4,5,6,7,8,9"/>
<field name="MotorsSpinWhileArmed" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<access gcs="readwrite" flight="readwrite"/>