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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
This commit is contained in:
bugobliterator 2014-07-11 09:36:26 +05:30 committed by Andrew Tridgell
parent 8cf628e780
commit 003806fcc1
3 changed files with 54 additions and 107 deletions
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140
Tools/Linux_HAL_Essentials/pwmpru/pwmpru1.c
View File

@ -41,6 +41,7 @@ int main(int argc, char *argv[])
u32 delta, deltamin, tnext, hi, lo; u32 delta, deltamin, tnext, hi, lo;
u32 *nextp; u32 *nextp;
const u32 *hilop; const u32 *hilop;
u32 period;
u32 enmask; /* enable mask */ u32 enmask; /* enable mask */
u32 stmask; /* state mask */ u32 stmask; /* state mask */
static u32 next_hi_lo[MAX_PWMS][3]; static u32 next_hi_lo[MAX_PWMS][3];
@ -79,55 +80,62 @@ int main(int argc, char *argv[])
continue; continue;
} }
nextp[0] = cnt; /* next */ nextp[0] = cnt; /* next */
nextp[1] = hilop[0]; /* hi */ nextp[1] = 200000; /* hi */
nextp[2] = hilop[1]; /* lo */ nextp[2] = 208000; /* lo */
PWM_CMD->periodhi[i][0] = 408000;
PWM_CMD->periodhi[i][1] = 180000;
} }
PWM_CMD->enmask = 0;
clrmsk = enmask; clrmsk = enmask;
setmsk = 0; setmsk = 0;
/* guaranteed to be immediate */ /* guaranteed to be immediate */
deltamin = 0; deltamin = 0;
next = cnt + deltamin; next = cnt + deltamin;
PWM_CMD->magic = 0; PWM_CMD->magic = PWM_REPLY_MAGIC;
while(1) { while(1) {
/* signalled interrupt from either PRU0 or host */
if(PWM_CMD->magic == PWM_CMD_MAGIC) { //if(PWM_CMD->magic == PWM_CMD_MAGIC)
clrmsk = enmask; {
setmsk = 0; msk = PWM_CMD->enmask;
/* guaranteed to be immediate */ 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; deltamin = 0;
next = cnt;
for (i = 0; i < MAX_PWMS; i++){ }
cfg.hilo[i][0] = PWM_CMD->periodhi[i][1]; //Disable
cfg.hilo[i][1] = PWM_CMD->periodhi[i][0] - PWM_CMD->periodhi[i][1]; if ((PWM_EN_MASK & (msk&(1U<<i))) && ((msk & ~(1U<<i)) == 0)) {
PWM_CMD->hilo_read[i][0] = cfg.hilo[i][0]; enmask &= ~(1U<<i);
PWM_CMD->hilo_read[i][1] = cfg.hilo[i][1]; __R30 &= ~(1U<<i);
} }
cfg.enmask = PWM_CMD->enmask; //get and set pwm_vals
PWM_CMD->enmask_read = cfg.enmask; if (PWM_EN_MASK & (msk&(1U<<i))) {
enmask = cfg.enmask;
stmask = 0; /* starting all low */ //nextp = &next_hi_lo[i * 3];
nextp[1] = PWM_CMD->periodhi[i][1];
period = PWM_CMD->periodhi[i][0];
nextp[2] =period - nextp[1];
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 */ PWM_CMD->hilo_read[i][0] = nextp[0];
nextp[1] = hilop[0]; /* hi */ PWM_CMD->hilo_read[i][1] = nextp[1];
nextp[2] = hilop[1]; /* lo */
} }
clrmsk = enmask;
setmsk = 0; // guaranteed to be immediate
/* guaranteed to be immediate */
deltamin = 0; deltamin = 0;
PWM_CMD->magic = PWM_REPLY_MAGIC; PWM_CMD->magic = PWM_REPLY_MAGIC;
@ -211,70 +219,10 @@ int main(int argc, char *argv[])
#if MAX_PWMS > 12 && (PWM_EN_MASK & BIT(12)) #if MAX_PWMS > 12 && (PWM_EN_MASK & BIT(12))
SINGLE_PWM(12); SINGLE_PWM(12);
#endif #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) /* results in set bits where there are changes */
__R30 = (__R30 & (clrmsk & 0xffff)) | (setmsk & 0xffff);
if ((delta >> 16) != 0) __R30 = (__R30 & (clrmsk & 0xfff)) | (setmsk & 0xfff);
pru_other_and_or_reg(30, (clrmsk >> 16) | 0xffff0000, setmsk >> 16);
/* loop while nothing changes */ /* loop while nothing changes */
do { do {

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)
void LinuxRCOutput::write(uint8_t ch, uint16_t period_us) 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->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) void LinuxRCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)