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Fix PWM failsafe by monitoring for missing pwm rise/fall signal events.

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This commit is contained in:
Dominic Clifton 2014-08-20 01:32:27 +01:00
parent aa719dfe4f
commit c0a349ed60
2 changed files with 26 additions and 2 deletions
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26
src/main/drivers/pwm_rx.c
View file

@ -58,6 +58,7 @@ typedef struct {
captureCompare_t rise; captureCompare_t rise;
captureCompare_t fall; captureCompare_t fall;
captureCompare_t capture; captureCompare_t capture;
uint32_t largeCounter;
const timerHardware_t *timerHardware; const timerHardware_t *timerHardware;
} pwmInputPort_t; } pwmInputPort_t;
@ -212,6 +213,25 @@ static void ppmEdgeCallback(uint8_t port, captureCompare_t capture)
} }
} }
static uint8_t pwmChannelsReceived = 0;
#define MAX_MISSED_PWM_EVENTS 10
#define MAX_MISSED_PWM_EVENT_COUNTER (MAX_MISSED_PWM_EVENTS * PWM_TIMER_PERIOD)
extern uint16_t debug[4];
static void pwmOverflowCallback(uint8_t port, captureCompare_t capture)
{
pwmInputPort_t *pwmInputPort = &pwmInputPorts[port];
pwmInputPort->largeCounter += capture;
if (pwmInputPort->largeCounter > MAX_MISSED_PWM_EVENT_COUNTER) {
if (pwmInputPort->state == 0) {
captures[pwmInputPort->channel] = PPM_RCVR_TIMEOUT;
}
pwmInputPort->largeCounter = 0;
}
}
static void pwmEdgeCallback(uint8_t port, captureCompare_t capture) static void pwmEdgeCallback(uint8_t port, captureCompare_t capture)
{ {
pwmInputPort_t *pwmInputPort = &pwmInputPorts[port]; pwmInputPort_t *pwmInputPort = &pwmInputPorts[port];
@ -231,6 +251,8 @@ static void pwmEdgeCallback(uint8_t port, captureCompare_t capture)
// switch state // switch state
pwmInputPort->state = 0; pwmInputPort->state = 0;
pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising); pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
pwmChannelsReceived |= (1 << pwmInputPort->channel);
pwmInputPort->largeCounter = 0;
} }
} }
@ -267,6 +289,8 @@ void pwmInConfig(const timerHardware_t *timerHardwarePtr, uint8_t channel)
{ {
pwmInputPort_t *p = &pwmInputPorts[channel]; pwmInputPort_t *p = &pwmInputPorts[channel];
p->state = 0;
p->largeCounter = 0;
p->channel = channel; p->channel = channel;
p->mode = INPUT_MODE_PWM; p->mode = INPUT_MODE_PWM;
p->timerHardware = timerHardwarePtr; p->timerHardware = timerHardwarePtr;
@ -275,7 +299,7 @@ void pwmInConfig(const timerHardware_t *timerHardwarePtr, uint8_t channel)
pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising); pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
timerConfigure(timerHardwarePtr, PWM_TIMER_PERIOD, PWM_TIMER_MHZ); timerConfigure(timerHardwarePtr, PWM_TIMER_PERIOD, PWM_TIMER_MHZ);
configureTimerCaptureCompareInterrupt(timerHardwarePtr, channel, pwmEdgeCallback, NULL); configureTimerCaptureCompareInterrupt(timerHardwarePtr, channel, pwmEdgeCallback, pwmOverflowCallback);
} }
#define UNUSED_PPM_TIMER_REFERENCE 0 #define UNUSED_PPM_TIMER_REFERENCE 0

2
src/main/rx/rx.c
View file

@ -242,7 +242,7 @@ void processRxChannels(void)
bool shouldCheckPulse = true; bool shouldCheckPulse = true;
if (feature(FEATURE_FAILSAFE | FEATURE_RX_PPM)) { if (feature(FEATURE_FAILSAFE) && feature(FEATURE_RX_PPM)) {
shouldCheckPulse = isPPMDataBeingReceived(); shouldCheckPulse = isPPMDataBeingReceived();
resetPPMDataReceivedState(); resetPPMDataReceivedState();
} }