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fix pwm: only update oneshot timers owned by the current pwm_out instance

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This fixes the case where oneshot was enabled with multi-instance pwm_out,
triggering oneshot updates too close to each other and as a result could
lead to spinning motors while disarmed.
This commit is contained in:
Beat Küng 2021-10-08 09:42:42 +02:00 committed by Daniel Agar
parent 2ed623c8ae
commit da1df5352c
16 changed files with 24 additions and 24 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h
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@ -142,7 +142,7 @@ __EXPORT int io_timer_allocate_channel(unsigned channel, io_timer_channel_mode_t
__EXPORT int io_timer_unallocate_channel(unsigned channel);
__EXPORT int io_timer_get_channel_mode(unsigned channel);
__EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
__EXPORT extern void io_timer_trigger(void);
__EXPORT extern void io_timer_trigger(unsigned channel_mask);
/**
* Reserve a timer

4
platforms/nuttx/src/px4/nxp/imxrt/io_pins/io_timer.c
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@ -429,9 +429,9 @@ static inline void io_timer_set_PWM_mode(unsigned channel)
px4_leave_critical_section(flags);
}
void io_timer_trigger(void)
void io_timer_trigger(unsigned channel_mask)
{
int oneshots = io_timer_get_mode_channels(IOTimerChanMode_OneShot);
int oneshots = io_timer_get_mode_channels(IOTimerChanMode_OneShot) & channel_mask;
struct {
uint32_t base;
uint16_t triggers;

4
platforms/nuttx/src/px4/nxp/imxrt/io_pins/pwm_servo.c
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@ -144,9 +144,9 @@ int up_pwm_servo_set_rate_group_update(unsigned channel, unsigned rate)
return io_timer_set_pwm_rate(channel, rate);
}
void up_pwm_update(void)
void up_pwm_update(unsigned channel_mask)
{
io_timer_trigger();
io_timer_trigger(channel_mask);
}
uint32_t up_pwm_servo_get_rate_group(unsigned group)

2
platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/io_timer.h
View File

@ -138,7 +138,7 @@ __EXPORT int io_timer_allocate_channel(unsigned channel, io_timer_channel_mode_t
__EXPORT int io_timer_unallocate_channel(unsigned channel);
__EXPORT int io_timer_get_channel_mode(unsigned channel);
__EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
__EXPORT extern void io_timer_trigger(void);
__EXPORT extern void io_timer_trigger(unsigned channel_mask);
/**
* Reserve a timer

4
platforms/nuttx/src/px4/nxp/kinetis/io_pins/io_timer.c
View File

@ -518,9 +518,9 @@ static inline void io_timer_set_PWM_mode(unsigned timer)
px4_leave_critical_section(flags);
}
void io_timer_trigger(void)
void io_timer_trigger(unsigned channel_mask)
{
int oneshots = io_timer_get_mode_channels(IOTimerChanMode_OneShot);
int oneshots = io_timer_get_mode_channels(IOTimerChanMode_OneShot) & channel_mask;
uint32_t action_cache[MAX_IO_TIMERS] = {0};
int actions = 0;

4
platforms/nuttx/src/px4/nxp/kinetis/io_pins/pwm_servo.c
View File

@ -143,9 +143,9 @@ int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
return io_timer_set_pwm_rate(group, rate);
}
void up_pwm_update(void)
void up_pwm_update(unsigned channel_mask)
{
io_timer_trigger();
io_timer_trigger(channel_mask);
}
uint32_t up_pwm_servo_get_rate_group(unsigned group)

2
platforms/nuttx/src/px4/nxp/s32k1xx/include/px4_arch/io_timer.h
View File

@ -131,7 +131,7 @@ __EXPORT int io_timer_allocate_channel(unsigned channel, io_timer_channel_mode_t
__EXPORT int io_timer_unallocate_channel(unsigned channel);
__EXPORT int io_timer_get_channel_mode(unsigned channel);
__EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
__EXPORT extern void io_timer_trigger(void);
__EXPORT extern void io_timer_trigger(unsigned channel_mask);
/**
* Reserve a timer

4
platforms/nuttx/src/px4/nxp/s32k1xx/io_pins/io_timer.c
View File

@ -514,9 +514,9 @@ static inline void io_timer_set_PWM_mode(unsigned timer)
px4_leave_critical_section(flags);
}
void io_timer_trigger(void)
void io_timer_trigger(unsigned channel_mask)
{
int oneshots = io_timer_get_mode_channels(IOTimerChanMode_OneShot);
int oneshots = io_timer_get_mode_channels(IOTimerChanMode_OneShot) & channel_mask;
uint32_t action_cache[MAX_IO_TIMERS] = {0};
int actions = 0;

4
platforms/nuttx/src/px4/nxp/s32k1xx/io_pins/pwm_servo.c
View File

@ -142,9 +142,9 @@ int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
return io_timer_set_pwm_rate(group, rate);
}
void up_pwm_update(void)
void up_pwm_update(unsigned channel_mask)
{
io_timer_trigger();
io_timer_trigger(channel_mask);
}
uint32_t up_pwm_servo_get_rate_group(unsigned group)

2
platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h
View File

@ -147,7 +147,7 @@ __EXPORT int io_timer_allocate_channel(unsigned channel, io_timer_channel_mode_t
__EXPORT int io_timer_unallocate_channel(unsigned channel);
__EXPORT int io_timer_get_channel_mode(unsigned channel);
__EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
__EXPORT extern void io_timer_trigger(void);
__EXPORT extern void io_timer_trigger(unsigned channels_mask);
__EXPORT void io_timer_update_dma_req(uint8_t timer, bool enable);
/**

4
platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c
View File

@ -579,9 +579,9 @@ static inline void io_timer_set_PWM_mode(unsigned timer)
rPSC(timer) = (io_timers[timer].clock_freq / BOARD_PWM_FREQ) - 1;
}
void io_timer_trigger(void)
void io_timer_trigger(unsigned channels_mask)
{
int oneshots = io_timer_get_mode_channels(IOTimerChanMode_OneShot);
int oneshots = io_timer_get_mode_channels(IOTimerChanMode_OneShot) & channels_mask;
if (oneshots != 0) {
uint32_t action_cache[MAX_IO_TIMERS] = {0};

4
platforms/nuttx/src/px4/stm/stm32_common/io_pins/pwm_servo.c
View File

@ -141,9 +141,9 @@ int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
return io_timer_set_pwm_rate(group, rate);
}
void up_pwm_update(void)
void up_pwm_update(unsigned channels_mask)
{
io_timer_trigger();
io_timer_trigger(channels_mask);
}
uint32_t up_pwm_servo_get_rate_group(unsigned group)

2
src/drivers/drv_pwm_output.h
View File

@ -358,7 +358,7 @@ __EXPORT extern int up_pwm_servo_set_rate_group_update(unsigned group, unsigned
* Nothing is done if not in oneshot mode.
*
*/
__EXPORT extern void up_pwm_update(void);
__EXPORT extern void up_pwm_update(unsigned channel_mask);
/**
* Set the current output value for a channel.

2
src/drivers/pwm_out/PWMOut.cpp
View File

@ -438,7 +438,7 @@ bool PWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
* the oneshots with updated values.
*/
if (num_control_groups_updated > 0) {
up_pwm_update(); // TODO: review for multi
up_pwm_update(_pwm_mask);
}
return true;

2
src/modules/px4iofirmware/registers.c
View File

@ -207,7 +207,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
/* Trigger all timer's channels in Oneshot mode to fire
* the oneshots with updated values.
*/
up_pwm_update();
up_pwm_update(0xff);
break;

2
src/systemcmds/pwm/pwm.cpp
View File

@ -701,7 +701,7 @@ pwm_main(int argc, char *argv[])
* the oneshots with updated values.
*/
up_pwm_update();
up_pwm_update(0xff);
#endif
}
rv = 0;