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| author | Julian Oes <julian@oes.ch> | 2014-05-26 20:19:11 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-05-26 20:19:11 +0200 |
| commit | 063caba36bd2fe26eb4bfa8e546e9551ccc05519 (patch) | |
| tree | d8ea5015111793800d945fbc33505088cf5fe12d /src/drivers/stm32/drv_hrt.c | |
| parent | 68352cb923d366b66bb68c8d946c4960b6f7ff1a (diff) | |
| parent | 36495cdb62e21b30a5a1851ec802c9f6a40c1171 (diff) | |
| download | px4-firmware-063caba36bd2fe26eb4bfa8e546e9551ccc05519.tar.gz px4-firmware-063caba36bd2fe26eb4bfa8e546e9551ccc05519.tar.bz2 px4-firmware-063caba36bd2fe26eb4bfa8e546e9551ccc05519.zip | |
Merge branch 'master' into navigator_rewrite
Conflicts:
src/drivers/gps/gps.cpp
src/drivers/gps/mtk.cpp
src/modules/commander/commander.cpp
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
src/modules/navigator/mission.cpp
src/modules/navigator/mission.h
src/modules/navigator/navigator_main.cpp
src/modules/navigator/navigator_state.h
src/modules/position_estimator_inav/position_estimator_inav_main.c
Diffstat (limited to 'src/drivers/stm32/drv_hrt.c')
| -rw-r--r-- | src/drivers/stm32/drv_hrt.c | 14 |
1 files changed, 11 insertions, 3 deletions
diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c index b7c9b89a4..281f918d7 100644 --- a/src/drivers/stm32/drv_hrt.c +++ b/src/drivers/stm32/drv_hrt.c @@ -94,7 +94,7 @@ #elif HRT_TIMER == 3 # define HRT_TIMER_BASE STM32_TIM3_BASE # define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR -# define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM3EN +# define HRT_TIMER_POWER_BIT RCC_APB1ENR_TIM3EN # define HRT_TIMER_VECTOR STM32_IRQ_TIM3 # define HRT_TIMER_CLOCK STM32_APB1_TIM3_CLKIN # if CONFIG_STM32_TIM3 @@ -141,7 +141,7 @@ # define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR # define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM10EN # define HRT_TIMER_VECTOR STM32_IRQ_TIM1UP -# define HRT_TIMER_CLOCK STM32_APB1_TIM10_CLKIN +# define HRT_TIMER_CLOCK STM32_APB2_TIM10_CLKIN # if CONFIG_STM32_TIM10 # error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=10 # endif @@ -150,7 +150,7 @@ # define HRT_TIMER_POWER_REG STM32_RCC_APB1ENR # define HRT_TIMER_POWER_BIT RCC_APB2ENR_TIM11EN # define HRT_TIMER_VECTOR STM32_IRQ_TIM1TRGCOM -# define HRT_TIMER_CLOCK STM32_APB1_TIM11_CLKIN +# define HRT_TIMER_CLOCK STM32_APB2_TIM11_CLKIN # if CONFIG_STM32_TIM11 # error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11 # endif @@ -354,6 +354,9 @@ __EXPORT uint16_t ppm_frame_length = 0; __EXPORT unsigned ppm_decoded_channels = 0; __EXPORT uint64_t ppm_last_valid_decode = 0; +#define PPM_DEBUG 0 + +#if PPM_DEBUG /* PPM edge history */ __EXPORT uint16_t ppm_edge_history[32]; unsigned ppm_edge_next; @@ -361,6 +364,7 @@ unsigned ppm_edge_next; /* PPM pulse history */ __EXPORT uint16_t ppm_pulse_history[32]; unsigned ppm_pulse_next; +#endif static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS]; @@ -455,10 +459,12 @@ hrt_ppm_decode(uint32_t status) /* how long since the last edge? - this handles counter wrapping implicitely. */ width = count - ppm.last_edge; +#if PPM_DEBUG ppm_edge_history[ppm_edge_next++] = width; if (ppm_edge_next >= 32) ppm_edge_next = 0; +#endif /* * if this looks like a start pulse, then push the last set of values @@ -546,10 +552,12 @@ hrt_ppm_decode(uint32_t status) interval = count - ppm.last_mark; ppm.last_mark = count; +#if PPM_DEBUG ppm_pulse_history[ppm_pulse_next++] = interval; if (ppm_pulse_next >= 32) ppm_pulse_next = 0; +#endif /* if the mark-mark timing is out of bounds, abandon the frame */ if ((interval < PPM_MIN_CHANNEL_VALUE) || (interval > PPM_MAX_CHANNEL_VALUE)) |