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Code Issues Wiki Activity

Scheduled motor refresh rate

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This commit is contained in:
borisbstyle 2016-02-28 20:23:30 +01:00
parent 10b629c736
commit 6e96adff0d
13 changed files with 36 additions and 55 deletions
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3
src/main/config/config.c
View file

@ -134,7 +134,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
static const uint8_t EEPROM_CONF_VERSION = 127;
static const uint8_t EEPROM_CONF_VERSION = 128;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@ -485,7 +485,6 @@ static void resetConf(void)
masterConfig.motor_pwm_rate = BRUSHLESS_MOTORS_PWM_RATE;
#endif
masterConfig.servo_pwm_rate = 50;
masterConfig.force_motor_pwm_rate = 0;
masterConfig.use_oneshot42 = 0;
#ifdef CC3D
masterConfig.use_buzzer_p6 = 0;

1
src/main/config/config_master.h
View file

@ -36,7 +36,6 @@ typedef struct master_t {
uint16_t motor_pwm_rate; // The update rate of motor outputs (50-498Hz)
uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz)
uint8_t force_motor_pwm_rate; // Use fixed motor update even when oneshot enabled
uint8_t use_oneshot42; // Oneshot42
uint8_t use_multiShot; // multishot

5
src/main/drivers/pwm_mapping.c
View file

@ -31,7 +31,6 @@
void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
void pwmFixedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t useOneshot42, uint8_t useMultiShot);
void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t useOneshot42);
void pwmMultiShotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex);
void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
@ -805,9 +804,7 @@ if (init->useBuzzerP6) {
}
#endif
if (init->useOneshot) {
if (init->useFixedPWM) {
pwmFixedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse, init->useOneshot42, init->useMultiShot);
} else if (init->useMultiShot) {
if (init->useMultiShot) {
pwmMultiShotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount);
} else {
pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->useOneshot42);

1
src/main/drivers/pwm_mapping.h
View file

@ -60,7 +60,6 @@ typedef struct drv_pwm_config_s {
#endif
bool useVbat;
bool useOneshot;
bool useFixedPWM;
bool useOneshot42;
bool useMultiShot;
bool useSoftSerial;

20
src/main/drivers/pwm_output.c
View file

@ -205,26 +205,6 @@ void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motor
motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
}
void pwmFixedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse, uint8_t useOneshot42, uint8_t useMultiShot)
{
uint32_t hz;
if (useMultiShot) {
hz = MULTISHOT_TIMER_MHZ * 1000000;
motors[motorIndex] = pwmOutConfig(timerHardware, MULTISHOT_TIMER_MHZ, hz / motorPwmRate, idlePulse);
} else {
hz = ONESHOT_TIMER_MHZ * 1000000;
motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT_TIMER_MHZ, hz / motorPwmRate, idlePulse);
}
if (useOneshot42) {
motors[motorIndex]->pwmWritePtr = pwmWriteOneshot42;
} else if (useMultiShot) {
motors[motorIndex]->pwmWritePtr = pwmWriteMultiShot;
} else {
motors[motorIndex]->pwmWritePtr = pwmWriteOneshot125;
}
}
void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t useOneshot42)
{
motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT_TIMER_MHZ, 0xFFFF, 0);

6
src/main/flight/mixer.c
View file

@ -633,7 +633,7 @@ void writeServos(void)
}
#endif
void writeMotors(uint8_t useMotorPwmRate)
void writeMotors(void)
{
uint8_t i;
@ -641,7 +641,7 @@ void writeMotors(uint8_t useMotorPwmRate)
pwmWriteMotor(i, motor[i]);
if (feature(FEATURE_ONESHOT125) && useMotorPwmRate) {
if (feature(FEATURE_ONESHOT125)) {
pwmCompleteOneshotMotorUpdate(motorCount);
}
}
@ -653,7 +653,7 @@ void writeAllMotors(int16_t mc)
// Sends commands to all motors
for (i = 0; i < motorCount; i++)
motor[i] = mc;
writeMotors(0);
writeMotors();
}
void stopMotors(void)

2
src/main/flight/mixer.h
View file

@ -218,6 +218,6 @@ int servoDirection(int servoIndex, int fromChannel);
#endif
void mixerResetDisarmedMotors(void);
void mixTable(void);
void writeMotors(uint8_t useMotorPwmRate);
void writeMotors(void);
void stopMotors(void);
void StopPwmAllMotors(void);

1
src/main/io/serial_cli.c
View file

@ -550,7 +550,6 @@ const clivalue_t valueTable[] = {
{ "3d_neutral", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.neutral3d, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "3d_deadband_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_throttle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "force_motor_pwm_rate", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.force_motor_pwm_rate, .config.lookup = { TABLE_OFF_ON } },
{ "use_oneshot42", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_oneshot42, .config.lookup = { TABLE_OFF_ON } },
{ "use_multishot", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_multiShot, .config.lookup = { TABLE_OFF_ON } },
#ifdef CC3D

7
src/main/io/serial_msp.c
View file

@ -164,13 +164,8 @@ void setGyroSamplingSpeed(uint16_t looptime) {
#endif
masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
if (looptime < 1000) {
masterConfig.force_motor_pwm_rate = 1;
masterConfig.motor_pwm_rate = lrintf(1.0f / (gyroSampleRate * masterConfig.gyro_sync_denom * masterConfig.pid_process_denom * 0.000001f)) + 100;
masterConfig.motor_pwm_rate = lrintf(1.0f / (gyroSampleRate * masterConfig.gyro_sync_denom * masterConfig.pid_process_denom * 0.000001f));
if (!(masterConfig.use_multiShot || masterConfig.use_oneshot42)) masterConfig.motor_pwm_rate = constrain(masterConfig.motor_pwm_rate, 1000, 3800);
} else {
masterConfig.force_motor_pwm_rate = 0;
}
}
}

6
src/main/main.c
View file

@ -19,6 +19,7 @@
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "platform.h"
#include "scheduler.h"
@ -310,7 +311,6 @@ void init(void)
#endif
pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
pwm_params.useFixedPWM = masterConfig.force_motor_pwm_rate ? true : false;
if (masterConfig.use_oneshot42) {
pwm_params.useOneshot42 = masterConfig.use_oneshot42 ? true : false;
masterConfig.use_multiShot = false;
@ -321,7 +321,7 @@ void init(void)
pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
if (feature(FEATURE_3D))
pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
if (pwm_params.motorPwmRate > 500 && !masterConfig.force_motor_pwm_rate)
if (pwm_params.motorPwmRate > 500)
pwm_params.idlePulse = 0; // brushed motors
#ifdef CC3D
pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;
@ -666,6 +666,8 @@ int main(void) {
rescheduleTask(TASK_GYROPID, targetLooptime - INTERRUPT_WAIT_TIME);
setTaskEnabled(TASK_GYROPID, true);
setTaskEnabled(TASK_MOTOR, true);
rescheduleTask(TASK_MOTOR, lrintf((1.0f / masterConfig.motor_pwm_rate) * 1000000));
if(sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);
switch(targetLooptime) { // Switch statement kept in place to change acc rates in the future

28
src/main/mw.c
View file

@ -723,6 +723,20 @@ void subTasksMainPidLoop(void) {
#endif
}
void taskMotorUpdate(void) {
if (motorControlEnable) {
if (debugMode == DEBUG_CYCLETIME) {
static uint32_t previousMotorUpdateTime;
uint32_t currentDeltaTime = getTaskDeltaTime(TASK_SELF);
debug[2] = currentDeltaTime;
debug[3] = currentDeltaTime - previousMotorUpdateTime;
previousMotorUpdateTime = currentDeltaTime;
}
writeMotors();
}
}
// Function for loop trigger
void taskMainPidLoopCheck(void) {
static uint32_t previousTime;
@ -737,18 +751,6 @@ void taskMainPidLoopCheck(void) {
debug[1] = averageSystemLoadPercent;
}
if (motorControlEnable && realTimeCycle) {
if (debugMode == DEBUG_CYCLETIME) {
static uint32_t previousMotorUpdateTime, motorCycleTime;
motorCycleTime = micros() - previousMotorUpdateTime;
previousMotorUpdateTime = micros();
debug[2] = motorCycleTime;
debug[3] = motorCycleTime - targetPidLooptime;
}
writeMotors(masterConfig.force_motor_pwm_rate);
}
while (true) {
if (gyroSyncCheckUpdate() || ((currentDeltaTime + (micros() - previousTime)) >= (targetLooptime + GYRO_WATCHDOG_DELAY))) {
static uint8_t pidUpdateCountdown;
@ -765,7 +767,7 @@ void taskMainPidLoopCheck(void) {
} else {
pidUpdateCountdown = masterConfig.pid_process_denom - 1;
taskMainPidLoop();
realTimeCycle = true;
//realTimeCycle = true;
}
break;

8
src/main/scheduler.c
View file

@ -66,6 +66,7 @@ typedef struct {
} cfTask_t;
void taskMainPidLoopCheck(void);
void taskMotorUpdate(void);
void taskUpdateAccelerometer(void);
void taskHandleSerial(void);
void taskUpdateBeeper(void);
@ -103,6 +104,13 @@ static cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_REALTIME,
},
[TASK_MOTOR] = {
.taskName = "MOTOR",
.taskFunc = taskMotorUpdate,
.desiredPeriod = 1000,
.staticPriority = TASK_PRIORITY_HIGH,
},
[TASK_ACCEL] = {
.taskName = "ACCEL",
.taskFunc = taskUpdateAccelerometer,

1
src/main/scheduler.h
View file

@ -43,6 +43,7 @@ typedef enum {
/* Actual tasks */
TASK_SYSTEM = 0,
TASK_GYROPID,
TASK_MOTOR,
TASK_ACCEL,
TASK_SERIAL,
TASK_BEEPER,