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Code Issues Releases Activity

OP-1685 - Implement OneShot on F1

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This commit is contained in:
Alessio Morale 2015-02-08 17:35:36 +01:00
parent 544b0357c7
commit f290d6d89d
2 changed files with 96 additions and 23 deletions
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105
flight/pios/stm32f10x/pios_servo.c
View File

@ -40,8 +40,10 @@
static const struct pios_servo_cfg *servo_cfg;
// determine if the related timer will work in synchronous (or OneShot/OneShot125) One Pulse mode.
// static uint8_t pios_servo_bank_mode[PIOS_SERVO_BANKS] = { 0 };
static uint8_t pios_servo_bank_mode[PIOS_SERVO_BANKS] = { 0 };
// used to skip updates when pulse length is higher than update cycle
static uint16_t pios_servo_bank_next_update[PIOS_SERVO_BANKS] = { 0 };
static uint16_t pios_servo_bank_max_pulse[PIOS_SERVO_BANKS] = { 0 };
// timer associated to each bank
static TIM_TypeDef *pios_servo_bank_timer[PIOS_SERVO_BANKS] = { 0 };
@ -49,7 +51,7 @@ static TIM_TypeDef *pios_servo_bank_timer[PIOS_SERVO_BANKS] = { 0 };
static uint8_t *pios_servo_pin_bank;
#define PIOS_SERVO_TIMER_CLOCK 1000000
#define PIOS_SERVO_SAFE_MARGIN 50
/**
* Initialise Servos
*/
@ -91,6 +93,12 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg *cfg)
pios_servo_pin_bank[j] = bank;
}
}
pios_servo_bank_timer[bank] = chan->timer;
TIM_ARRPreloadConfig(chan->timer, ENABLE);
TIM_CtrlPWMOutputs(chan->timer, ENABLE);
TIM_Cmd(chan->timer, ENABLE);
bank++;
}
@ -113,10 +121,6 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg *cfg)
TIM_OC4PreloadConfig(chan->timer, TIM_OCPreload_Enable);
break;
}
TIM_ARRPreloadConfig(chan->timer, ENABLE);
TIM_CtrlPWMOutputs(chan->timer, ENABLE);
TIM_Cmd(chan->timer, ENABLE);
}
return 0;
@ -166,37 +170,106 @@ void PIOS_Servo_Set(uint8_t servo, uint16_t position)
return;
}
/* Update the position */
const struct pios_tim_channel *chan = &servo_cfg->channels[servo];
uint16_t val = position;
uint16_t margin = chan->timer->ARR / 50; // Leave 2% of period as margin to prevent overlaps
if (val > (chan->timer->ARR - margin)) {
val = chan->timer->ARR - margin;
}
uint8_t bank = pios_servo_pin_bank[servo];
if (pios_servo_bank_max_pulse[bank] < val) {
pios_servo_bank_max_pulse[bank] = val;
}
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_SetCompare1(chan->timer, position);
TIM_SetCompare1(chan->timer, val);
break;
case TIM_Channel_2:
TIM_SetCompare2(chan->timer, position);
TIM_SetCompare2(chan->timer, val);
break;
case TIM_Channel_3:
TIM_SetCompare3(chan->timer, position);
TIM_SetCompare3(chan->timer, val);
break;
case TIM_Channel_4:
TIM_SetCompare4(chan->timer, position);
TIM_SetCompare4(chan->timer, val);
break;
}
}
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) {
// a pulse to be generated is longer than cycle period. skip this update.
if (TIM_GetCounter((TIM_TypeDef *)timer) > (uint32_t)(pios_servo_bank_next_update[i] + PIOS_SERVO_SAFE_MARGIN)) {
TIM_GenerateEvent((TIM_TypeDef *)timer, TIM_EventSource_Update);
pios_servo_bank_next_update[i] = pios_servo_bank_max_pulse[i];
}
}
pios_servo_bank_max_pulse[i] = 0;
}
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;
}
}
}
*/
}
void PIOS_Servo_SetBankMode(__attribute__((unused)) uint8_t bank, __attribute__((unused)) uint8_t mode) {}
void PIOS_Servo_SetBankMode(uint8_t bank, uint8_t mode)
{
PIOS_Assert(bank < PIOS_SERVO_BANKS);
pios_servo_bank_mode[bank] = mode;
if (pios_servo_bank_timer[bank]) {
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];
/* 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;
}
}
}
// Setup the timer accordingly
TIM_SelectOnePulseMode(pios_servo_bank_timer[bank], TIM_OPMode_Repetitive);
TIM_Cmd(pios_servo_bank_timer[bank], ENABLE);
}
}
uint8_t PIOS_Servo_GetPinBank(uint8_t pin)
{

10
shared/uavobjectdefinition/actuatorsettings.xml
View File

@ -3,11 +3,11 @@
<description>Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType</description>
<field name="BankUpdateFreq" units="Hz" type="uint16" elements="6" defaultvalue="50"/>
<field name="BankMode" type="enum" units="" elements="6" options="PWM,OneShot,OneShot125" defaultvalue="PWM"
limits="%0401NE:OneShot:OneShot125,%0402NE:OneShot:OneShot125; \
%0401NE:OneShot:OneShot125,%0402NE:OneShot:OneShot125; \
%0401NE:OneShot:OneShot125,%0402NE:OneShot:OneShot125; \
%0401NE:OneShot:OneShot125,%0402NE:OneShot:OneShot125; \
%0401NE:OneShot:OneShot125,%0402NE:OneShot:OneShot125; \
limits="; \
; \
; \
; \
; \
%0401NE:OneShot:OneShot125,%0402NE:OneShot:OneShot125;"
/>
<field name="ChannelMax" units="us" type="int16" elements="12" defaultvalue="1000"/>