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move start delay from booz main to actuators

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This commit is contained in:
Gautier Hattenberger
2010-03-03 13:49:58 +00:00
parent 006c8e4f99
commit 330be5c8bf
3 changed files with 35 additions and 12 deletions
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sw/airborne/booz/actuators/booz_actuators_asctec.c
+19
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@@ -3,18 +3,37 @@
#include "booz2_commands.h"
#include "i2c.h"
#include "sys_time.h"
struct ActuatorsAsctec actuators_asctec;
uint32_t actuators_delay_time;
bool_t actuators_delay_done;
void actuators_init(void) {
actuators_asctec.cmd = NONE;
actuators_asctec.cur_addr = FRONT;
actuators_asctec.new_addr = FRONT;
actuators_asctec.i2c_done = TRUE;
actuators_asctec.nb_err = 0;
#if defined BOOZ_START_DELAY && ! defined SITL
actuators_delay_done = FALSE;
SysTimeTimerStart(actuators_delay_time);
#else
actuators_delay_done = TRUE;
actuators_delay_time = 0;
#endif
}
void actuators_set(bool_t motors_on) {
#if defined BOOZ_START_DELAY && ! defined SITL
if (!actuators_delay_done) {
if (SysTimeTimer(actuators_delay_time) < SYS_TICS_OF_SEC(BOOZ_START_DELAY)) return;
else actuators_delay_done = TRUE;
}
#endif
if (!actuators_asctec.i2c_done)
actuators_asctec.nb_err++;
sw/airborne/booz/actuators/booz_actuators_mkk.c
+16
View File
@@ -31,6 +31,9 @@ struct ActuatorsMkk actuators_mkk;
const uint8_t actuators_addr[ACTUATORS_MKK_NB] = ACTUATORS_MKK_ADDR;
uint32_t actuators_delay_time;
bool_t actuators_delay_done;
void actuators_init(void) {
supervision_init();
@@ -38,10 +41,23 @@ void actuators_init(void) {
actuators_mkk.i2c_done = TRUE;
actuators_mkk.idx = 0;
#if defined BOOZ_START_DELAY && ! defined SITL
actuators_delay_done = FALSE;
SysTimeTimerStart(actuators_delay_time);
#else
actuators_delay_done = TRUE;
actuators_delay_time = 0;
#endif
}
void actuators_set(bool_t motors_on) {
#if defined BOOZ_START_DELAY && ! defined SITL
if (!actuators_delay_done) {
if (SysTimeTimer(actuators_delay_time) < SYS_TICS_OF_SEC(BOOZ_START_DELAY)) return;
else actuators_delay_done = TRUE;
}
#endif
supervision_run(motors_on, FALSE, booz2_commands);
actuators_mkk.status = BUSY;
sw/airborne/booz/booz2_main.c
-12
View File
@@ -129,24 +129,12 @@ STATIC_INLINE void booz2_main_init( void ) {
int_enable();
#if defined BOOZ_START_DELAY && ! defined SITL
delay_done = FALSE;
init_done_time = T0TC;
#endif
}
STATIC_INLINE void booz2_main_periodic( void ) {
booz_imu_periodic();
#if defined BOOZ_START_DELAY && ! defined SITL
if (!delay_done) {
if ((uint32_t)(T0TC-init_done_time) < SYS_TICS_OF_USEC((uint32_t)(BOOZ_START_DELAY*1e6))) return;
else delay_done = TRUE;
}
#endif
/* run control loops */
booz2_autopilot_periodic();
/* set actuators */