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[parrot] fix timeout for blocking i2c in bebop and disco actuators (#3573)
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* fix timeout for blocking i2c in bebop and disco actuators
* use correct settings for imu with 500Hz periodic freq for bebop and disco
This commit is contained in:
Gautier Hattenberger
2025-12-25 21:27:14 +01:00
committed by GitHub
parent 4560320201
commit 3f12cdebe0
4 changed files with 18 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/boards/bebop/actuators.c
+9 -7
View File
@@ -54,6 +54,8 @@ static void send_bebop_actuators(struct transport_tx *trans, struct link_device
}
#endif
#define ACTUATORS_BEBOP_I2C_TIMEOUT 1.f
uint32_t led_hw_values;
struct ActuatorsBebop actuators_bebop;
static uint8_t actuators_bebop_checksum(uint8_t *bytes, uint8_t size);
@@ -79,7 +81,7 @@ void actuators_bebop_commit(void)
{
// Receive the status
actuators_bebop.i2c_trans.buf[0] = ACTUATORS_BEBOP_GET_OBS_DATA;
i2c_blocking_transceive(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 1, 13, 0.5);
i2c_blocking_transceive(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 1, 13, ACTUATORS_BEBOP_I2C_TIMEOUT);
// Update status
electrical.vsupply = (float)(actuators_bebop.i2c_trans.buf[9] + (actuators_bebop.i2c_trans.buf[8] << 8)) / 1000.f;
@@ -99,7 +101,7 @@ void actuators_bebop_commit(void)
if (actuators_bebop.i2c_trans.buf[10] != 4 && actuators_bebop.i2c_trans.buf[10] != 2 && autopilot_get_motors_on()) {
// Reset the error
actuators_bebop.i2c_trans.buf[0] = ACTUATORS_BEBOP_CLEAR_ERROR;
i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 1, 0.5);
i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 1, ACTUATORS_BEBOP_I2C_TIMEOUT);
// Start the motors
actuators_bebop.i2c_trans.buf[0] = ACTUATORS_BEBOP_START_PROP;
@@ -109,12 +111,12 @@ void actuators_bebop_commit(void)
#else
actuators_bebop.i2c_trans.buf[1] = 0b00000101;
#endif
i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 2, 0.5);
i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 2, ACTUATORS_BEBOP_I2C_TIMEOUT);
}
// Stop the motors
else if (actuators_bebop.i2c_trans.buf[10] == 4 && !autopilot_get_motors_on()) {
actuators_bebop.i2c_trans.buf[0] = ACTUATORS_BEBOP_STOP_PROP;
i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 1, 0.5);
i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 1, ACTUATORS_BEBOP_I2C_TIMEOUT);
} else if (actuators_bebop.i2c_trans.buf[10] == 4 && autopilot_get_motors_on()) {
// Send the commands
actuators_bebop.i2c_trans.buf[0] = ACTUATORS_BEBOP_SET_REF_SPEED;
@@ -131,18 +133,18 @@ void actuators_bebop_commit(void)
#pragma GCC diagnostic ignored "-Wcast-qual"
actuators_bebop.i2c_trans.buf[10] = actuators_bebop_checksum((uint8_t *)actuators_bebop.i2c_trans.buf, 9);
#pragma GCC diagnostic pop
i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 11, 0.5);
i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 11, ACTUATORS_BEBOP_I2C_TIMEOUT);
}
// Update the LEDs
if (actuators_bebop.led != (led_hw_values & 0x3)) {
actuators_bebop.i2c_trans.buf[0] = ACTUATORS_BEBOP_TOGGLE_GPIO;
actuators_bebop.i2c_trans.buf[1] = (led_hw_values & 0x3);
i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 2, 0.5);
i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 2, ACTUATORS_BEBOP_I2C_TIMEOUT);
actuators_bebop.led = led_hw_values & 0x3;
}
// Send ABI message
struct act_feedback_t feedback[4];
for (int i=0;i<4;i++) {
sw/airborne/boards/disco/actuators.c
+7 -5
View File
@@ -45,6 +45,8 @@
#warning "Disco actuators require a <servo name=MOTOR>"
#endif
#define ACTUATORS_DISCO_I2C_TIMEOUT 1.f
/**
* private observation structure
*/
@@ -119,7 +121,7 @@ void actuators_disco_commit(void)
// Receive the status
actuators_disco.i2c_trans.buf[0] = ACTUATORS_DISCO_GET_OBS_DATA;
i2c_blocking_transceive(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 1, sizeof(obs_data), 0.5);
i2c_blocking_transceive(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 1, sizeof(obs_data), ACTUATORS_DISCO_I2C_TIMEOUT);
// copy data from buffer
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wcast-qual"
@@ -149,17 +151,17 @@ void actuators_disco_commit(void)
actuators_disco.motor_rpm > DISCO_BLDC_START_MOTOR_THRESHOLD) {
// Reset the error
actuators_disco.i2c_trans.buf[0] = ACTUATORS_DISCO_CLEAR_ERROR;
i2c_blocking_transmit(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 1, 0.5);
i2c_blocking_transmit(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 1, ACTUATORS_DISCO_I2C_TIMEOUT);
// Start the motors
actuators_disco.i2c_trans.buf[0] = ACTUATORS_DISCO_START_PROP;
i2c_blocking_transmit(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 1, 0.5);
i2c_blocking_transmit(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 1, ACTUATORS_DISCO_I2C_TIMEOUT);
}
// Stop the motors
else if ((bldc_status == DISCO_BLDC_STATUS_RUNNING || bldc_status == DISCO_BLDC_STATUS_RAMPUP) &&
actuators_disco.motor_rpm < DISCO_BLDC_START_MOTOR_THRESHOLD) {
actuators_disco.i2c_trans.buf[0] = ACTUATORS_DISCO_STOP_PROP;
i2c_blocking_transmit(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 1, 0.5);
i2c_blocking_transmit(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 1, ACTUATORS_DISCO_I2C_TIMEOUT);
} else if (bldc_status == DISCO_BLDC_STATUS_RUNNING) {
// Send the commands
actuators_disco.i2c_trans.buf[0] = ACTUATORS_DISCO_SET_REF_SPEED;
@@ -170,7 +172,7 @@ void actuators_disco_commit(void)
#pragma GCC diagnostic ignored "-Wcast-qual"
actuators_disco.i2c_trans.buf[4] = actuators_disco_checksum((uint8_t *)actuators_disco.i2c_trans.buf, 3);
#pragma GCC diagnostic pop
i2c_blocking_transmit(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 11, 0.5);
i2c_blocking_transmit(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 11, ACTUATORS_DISCO_I2C_TIMEOUT);
}
// Send ABI message
sw/airborne/modules/imu/imu_bebop.c
+1 -1
View File
@@ -50,7 +50,7 @@ PRINT_CONFIG_VAR(BEBOP_MPU_I2C_DEV)
#define BEBOP_LOWPASS_FILTER MPU60X0_DLPF_42HZ
#define BEBOP_SMPLRT_DIV 9
PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
#elif PERIODIC_FREQUENCY == 512
#elif (PERIODIC_FREQUENCY == 512) || (PERIODIC_FREQUENCY == 500)
/* Accelerometer: Bandwidth 260Hz, Delay 0ms
* Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
*/
sw/airborne/modules/imu/imu_disco.c
+1 -1
View File
@@ -49,7 +49,7 @@ PRINT_CONFIG_VAR(DISCO_MPU_I2C_DEV)
#define DISCO_LOWPASS_FILTER MPU60X0_DLPF_42HZ
#define DISCO_SMPLRT_DIV 9
PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
#elif PERIODIC_FREQUENCY == 512
#elif (PERIODIC_FREQUENCY == 500) || (PERIODIC_FREQUENCY == 512)
/* Accelerometer: Bandwidth 260Hz, Delay 0ms
* Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
*/