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HAL_Linux: pwmpru,HAL_Linux_RCOut code doesn't wait for magic flag to send data 

change pwmpru code to remove frequent wrong PWM outputs
Replace pru firmware with new modified pru firmware
mission-4.1.18
bugobliterator 11 years ago committed by Andrew Tridgell
parent
8cf628e780
commit
003806fcc1
3 changed files with 54 additions and 107 deletions
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  1. 160
      Tools/Linux_HAL_Essentials/pwmpru/pwmpru1.c
  2. BIN
      Tools/Linux_HAL_Essentials/pwmpru1
  3. 1
      libraries/AP_HAL_Linux/RCOutput.cpp

160
Tools/Linux_HAL_Essentials/pwmpru/pwmpru1.c
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@ -41,6 +41,7 @@ int main(int argc, char *argv[]) @@ -41,6 +41,7 @@ int main(int argc, char *argv[])
u32 delta, deltamin, tnext, hi, lo;
u32 *nextp;
const u32 *hilop;
u32 period;
u32 enmask; /* enable mask */
u32 stmask; /* state mask */
static u32 next_hi_lo[MAX_PWMS][3];
@ -79,60 +80,67 @@ int main(int argc, char *argv[]) @@ -79,60 +80,67 @@ int main(int argc, char *argv[])
continue;
}
nextp[0] = cnt; /* next */
nextp[1] = hilop[0]; /* hi */
nextp[2] = hilop[1]; /* lo */
nextp[1] = 200000; /* hi */
nextp[2] = 208000; /* lo */
PWM_CMD->periodhi[i][0] = 408000;
PWM_CMD->periodhi[i][1] = 180000;
}
PWM_CMD->enmask = 0;
clrmsk = enmask;
setmsk = 0;
/* guaranteed to be immediate */
deltamin = 0;
next = cnt + deltamin;
PWM_CMD->magic = 0;
PWM_CMD->magic = PWM_REPLY_MAGIC;
while(1) {
/* signalled interrupt from either PRU0 or host */
if(PWM_CMD->magic == PWM_CMD_MAGIC) {
clrmsk = enmask;
setmsk = 0;
/* guaranteed to be immediate */
//if(PWM_CMD->magic == PWM_CMD_MAGIC)
{
msk = PWM_CMD->enmask;
for(i=0, nextp = &next_hi_lo[0][0]; i<MAX_PWMS;
i++, nextp += 3){
//Enable
if ((PWM_EN_MASK & (msk&(1U<<i))) && (enmask & (msk&(1U<<i))) == 0) {
enmask |= (msk&(1U<<i));
__R30 |= (msk&(1U<<i));
nextp[0] = cnt; //since we start high, wait this amount
// first enable
if (enmask == (msk&(1U<<i)))
cnt = read_PIEP_COUNT();
deltamin = 0;
next = cnt;
}
//Disable
if ((PWM_EN_MASK & (msk&(1U<<i))) && ((msk & ~(1U<<i)) == 0)) {
enmask &= ~(1U<<i);
__R30 &= ~(1U<<i);
}
//get and set pwm_vals
if (PWM_EN_MASK & (msk&(1U<<i))) {
//nextp = &next_hi_lo[i * 3];
nextp[1] = PWM_CMD->periodhi[i][1];
period = PWM_CMD->periodhi[i][0];
nextp[2] =period - nextp[1];
}
PWM_CMD->hilo_read[i][0] = nextp[0];
PWM_CMD->hilo_read[i][1] = nextp[1];
}
// guaranteed to be immediate
deltamin = 0;
for (i = 0; i < MAX_PWMS; i++){
cfg.hilo[i][0] = PWM_CMD->periodhi[i][1];
cfg.hilo[i][1] = PWM_CMD->periodhi[i][0] - PWM_CMD->periodhi[i][1];
PWM_CMD->hilo_read[i][0] = cfg.hilo[i][0];
PWM_CMD->hilo_read[i][1] = cfg.hilo[i][1];
}
cfg.enmask = PWM_CMD->enmask;
PWM_CMD->enmask_read = cfg.enmask;
enmask = cfg.enmask;
stmask = 0; /* starting all low */
clrmsk = 0;
for (i = 0, msk = 1, nextp = next_hi_lo, hilop = &cfg.hilo[0][0];
i < MAX_PWMS;
i++, msk <<= 1, nextp += 3, hilop += 2) {
if ((enmask & msk) == 0) {
nextp[1] = PRU_us(100); /* default */
nextp[2] = PRU_us(100);
continue;
}
nextp[0] = cnt; /* next */
nextp[1] = hilop[0]; /* hi */
nextp[2] = hilop[1]; /* lo */
}
clrmsk = enmask;
setmsk = 0;
/* guaranteed to be immediate */
deltamin = 0;
PWM_CMD->magic = PWM_REPLY_MAGIC;
PWM_CMD->magic = PWM_REPLY_MAGIC;
}
PWM_CMD->enmask_read = enmask;
PWM_CMD->enmask_read = enmask;
/* if nothing is enabled just skip it all */
if (enmask == 0)
continue;
@ -211,71 +219,11 @@ int main(int argc, char *argv[]) @@ -211,71 +219,11 @@ int main(int argc, char *argv[])
#if MAX_PWMS > 12 && (PWM_EN_MASK & BIT(12))
SINGLE_PWM(12);
#endif
#if MAX_PWMS > 13 && (PWM_EN_MASK & BIT(13))
SINGLE_PWM(13);
#endif
#if MAX_PWMS > 14 && (PWM_EN_MASK & BIT(14))
SINGLE_PWM(14);
#endif
#if MAX_PWMS > 15 && (PWM_EN_MASK & BIT(15))
SINGLE_PWM(15);
#endif
#if MAX_PWMS > 16 && (PWM_EN_MASK & BIT(16))
SINGLE_PWM(16);
#endif
#if MAX_PWMS > 17 && (PWM_EN_MASK & BIT(17))
SINGLE_PWM(17);
#endif
#if MAX_PWMS > 18 && (PWM_EN_MASK & BIT(18))
SINGLE_PWM(18);
#endif
#if MAX_PWMS > 19 && (PWM_EN_MASK & BIT(19))
SINGLE_PWM(19);
#endif
#if MAX_PWMS > 20 && (PWM_EN_MASK & BIT(20))
SINGLE_PWM(20);
#endif
#if MAX_PWMS > 21 && (PWM_EN_MASK & BIT(21))
SINGLE_PWM(21);
#endif
#if MAX_PWMS > 22 && (PWM_EN_MASK & BIT(22))
SINGLE_PWM(22);
#endif
#if MAX_PWMS > 23 && (PWM_EN_MASK & BIT(23))
SINGLE_PWM(23);
#endif
#if MAX_PWMS > 24 && (PWM_EN_MASK & BIT(24))
SINGLE_PWM(24);
#endif
#if MAX_PWMS > 25 && (PWM_EN_MASK & BIT(25))
SINGLE_PWM(25);
#endif
#if MAX_PWMS > 26 && (PWM_EN_MASK & BIT(26))
SINGLE_PWM(26);
#endif
#if MAX_PWMS > 27 && (PWM_EN_MASK & BIT(27))
SINGLE_PWM(27);
#endif
#if MAX_PWMS > 28 && (PWM_EN_MASK & BIT(28))
SINGLE_PWM(28);
#endif
#if MAX_PWMS > 29 && (PWM_EN_MASK & BIT(29))
SINGLE_PWM(29);
#endif
#if MAX_PWMS > 30 && (PWM_EN_MASK & BIT(30))
SINGLE_PWM(30);
#endif
#if MAX_PWMS > 31 && (PWM_EN_MASK & BIT(31))
SINGLE_PWM(31);
#endif
/* results in set bits where there are changes */
delta = ~clrmsk | setmsk;
if ((delta & 0xffff) != 0)
__R30 = (__R30 & (clrmsk & 0xffff)) | (setmsk & 0xffff);
if ((delta >> 16) != 0)
pru_other_and_or_reg(30, (clrmsk >> 16) | 0xffff0000, setmsk >> 16);
/* results in set bits where there are changes */
__R30 = (__R30 & (clrmsk & 0xfff)) | (setmsk & 0xfff);
/* loop while nothing changes */
do {
cnt = read_PIEP_COUNT();

BIN
Tools/Linux_HAL_Essentials/pwmpru1
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1
libraries/AP_HAL_Linux/RCOutput.cpp
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@ -67,7 +67,6 @@ void LinuxRCOutput::disable_ch(uint8_t ch) @@ -67,7 +67,6 @@ void LinuxRCOutput::disable_ch(uint8_t ch)
void LinuxRCOutput::write(uint8_t ch, uint16_t period_us)
{
sharedMem_cmd->periodhi[chan_pru_map[ch]][1] = TICK_PER_US*period_us;
sharedMem_cmd->magic = PWM_CMD_MAGIC;
}
void LinuxRCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)

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