1) Updated copyright
2) Defined BOARD overrideable BOARD_PWM_FREQ and BOARD_ONSHOT_FREQ
Not recogmended but allow experimentation
3) Solved the support for BOARD_PWM_DRIVE_ACTIVE_LOW using
the Polarity control bits as apposed to the negation of
the ARR.
4) Added a cache for getting a timers channels. This is static
and benifits from the qucik response.
5) Added a function to realocate all channes in a given timer
from one mode to another.
6) Removed the frequecy table in favor of the intended use of the
channel mode set. At it is the way to determine the mode of a
channel. Or in onshot's case a timers's complete set channels.
7) Added 2 lowlevel mode changing functions:
io_timer_set_oneshot_mode and io_timer_set_PWM_mode
that encapsalate the changes in mode to one place
in the code.
8) Added io_timer_trigger (the up_pwm_update) with low
latancy timer to time in updating.
9) io_timer_set_rate - use sets to enforce all or none
rules for switching PWM<->OneShot.
Onshot is entered using the very approriate rate of 0.
Only deltas will change the HW state.
1) Define IOTimerChanMode_OneShot
2) Added detailed commnent on .clock_freq and how it is used
3) Added single additional API point in support of Onshot mode
io_timer_trigger - That trigger all timer's channels in Oneshot
mode to fire the oneshots with updated values.
1) Validate timer paramater before using it.
2) Allow rate of 0 to enter Oneshot mode
At first blush this seamed like a hack, but at Mark
pointed out to me, Onshot PWM does not have a rate
So this is a realy a clever and beautiful simplification
on his part!
3) Exposes up_pwm_update that runs io_timer_trigger
Which trigger all timer's channels in Oneshot mode to
fire the oneshots with updated values.
The fmu now support the commandline option to be run as a task
or off a work queue.
This reverts the board_config.h changes from commit
e33af23122f5ee3030bb9745bbbf616b24c2a14a.
Conflicts:
src/drivers/px4fmu/fmu.cpp
change fmu to task
increase fmu_servo task priority to max and enable true oneshot
use lowest FMU priority which minimizes jitter
constrain oneshot updates to control group 0 events
* mc_pos_control: use just float for vel and cruise in xy
* mc_pos_control: stick map saturate magnitude to 1
* mc_pos_control: take minimum cruising speed for auto
* mc_pos_control: cruise speed triplet higher than from mc_pos_control
mc_pos_control: fix if for cruise in auto
* mc_pos_control: use PX4_ISFINITE criteria
32 bits are still enough to measure elapsed times up to 1 hour.
Testing on Pixracer: I counted 73 allocations and 39 frees during bootup,
resulting in 2kB RAM usage after boot. This patch reduce this by ~0.5kB.
* UAVCAN ESC output: removing ESC output channels from published message that are always zero. This allows the UAVCAN stack to always transfer only the minimum number of output values, avoiding redundant zeroes and the associated increase in bus load and CPU time
* Added a separate mixer file for CAN quadrotor
* Sampling profiler improvements
* PMSP: Output more endpoints
* Matrix update
* libc usage workaround
* Removed UAVCAN perfcounters
* Matrix submodule update
* UAVCAN ESC output: removing ESC output channels from published message that are always zero. This allows the UAVCAN stack to always transfer only the minimum number of output values, avoiding redundant zeroes and the associated increase in bus load and CPU time
* Added a separate mixer file for CAN quadrotor
* Sampling profiler improvements
* PMSP: Output more endpoints
* Matrix update
* libc usage workaround
* Removed UAVCAN perfcounters
In order to ensure correct transmission the mission system needs to default to the legacy protocol and switch to the new implementation when these conditions are met:
* If the GCS sends a MISSION_REQUEST_INT - it will do this based on the AUTOPILOT_VERSION flag indicating int mission support
* If the autopilot sends a MISSION_REQUEST and has the AUTOPILOT_VERSION flag for 2.0 set, the GCS should NACK it, which will make the autopilot retry a MISSION_REQUEST_INT
* If the autopilot sends a MISSION_REQUEST_INT and the GCS does not support it, the GCS will ignore and time out. The autopilot could retry now opportunistically with the old protocol, but this is not great for lossy links.
* If the GCS sends a MISSION_ITEM_INT - this is a fallback
David Sidrane