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Added exact timing control in telemety.xml for optimizing data flow and packetting in low datarate modems like the xbee868

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This commit is contained in:
Christophe De Wagter
2009-05-22 14:18:10 +00:00
parent 14284ad488
commit a1663f7b7d
4 changed files with 47 additions and 8 deletions
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conf/telemetry/telemetry.dtd
+1
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@@ -13,4 +13,5 @@
<!ATTLIST message
name CDATA #REQUIRED
period CDATA #REQUIRED
phase CDATA #IMPLIED
>
conf/telemetry/xbee868.xml
+34
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@@ -0,0 +1,34 @@
<?xml version="1.0"?>
<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
<telemetry>
<process name="Ap">
<mode name="default">
<message name="ESTIMATOR" period="0.5" phase="0."/>
<message name="NAVIGATION" period="0.5" phase="0."/>
<message name="ATTITUDE" period="1" phase="0.25"/>
<message name="DL_VALUE" period="1." phase="0.25"/>
<message name="WP_MOVED" period="1." phase="0.25"/>
<message name="DESIRED" period="2." phase="0.25"/>
<message name="SEGMENT" period="2." phase="1.25"/>
<message name="CIRCLE" period="2." phase="1.25"/>
<message name="SURVEY" period="2." phase="1.25"/>
<message name="ALIVE" period="4." phase="0.75"/>
<message name="BAT" period="4." phase="0.75"/>
<message name="CALIBRATION" period="4." phase="1.75"/>
<message name="DOWNLINK" period="4." phase="1.75"/>
<message name="GPS_SOL" period="4." phase="2.75"/>
<message name="NAVIGATION_REF" period="4." phase="2.75"/>
<message name="PPRZ_MODE" period="4." phase="0.75"/>
</mode>
</process>
<process name="Fbw">
<mode name="default">
<message name="FBW_STATUS" period="4." phase="3.75"/>
<message name="COMMANDS" period="4." phase="3.75"/>
<message name="ACTUATORS" period="4." phase="3.75"/>
</mode>
</process>
</telemetry>
sw/airborne/main_fbw.c
+3 -3
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@@ -58,6 +58,9 @@
#include "link_mcu.h"
#endif
#ifdef MILLIAMP_PER_PERCENT
# warning "deprecated MILLIAMP_PER_PERCENT --> Please use MILLIAMP_AT_FULL_THROTTLE
#endif
#ifndef MILLIAMP_AT_FULL_THROTTLE
#define MILLIAMP_AT_FULL_THROTTLE 0
#endif
@@ -227,9 +230,6 @@ void periodic_task_fbw( void ) {
#endif
#ifndef ADC_CHANNEL_CURRENT
# ifdef MILLIAMP_PER_PERCENT
# warning "deprecated MILLIAMP_PER_PERCENT --> Please use MILLIAMP_AT_FULL_THROTTLE
# endif
fbw_current_milliamp = Min(((float)commands[COMMAND_THROTTLE]) * ((float)MILLIAMP_AT_FULL_THROTTLE) / ((float)MAX_PPRZ), 65000);
# endif
}
sw/tools/gen_periodic.ml
+9 -5
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@@ -65,7 +65,7 @@ let output_modes = fun avr_h process_name modes ->
let p = float_of_string (ExtXml.attrib x "period") in
if p < min_period || p > max_period then
fprintf stderr "Warning: period is bound between %.3fs and %.3fs for message %s\n%!" min_period max_period (ExtXml.attrib x "name");
(x, min 65535 (max 1 (int_of_float (p*.float_of_int !freq)))))
(x, min 65536 (max 1 (int_of_float (p*.float_of_int !freq)))))
(Xml.children mode)
in
let modulos = remove_dup (List.map snd messages) in
@@ -73,21 +73,25 @@ let output_modes = fun avr_h process_name modes ->
(fun m ->
let v = sprintf "i%d" m in
let _type = if m >= 256 then "uint16_t" else "uint8_t" in
lprintf avr_h "static %s %s; %s++; if (%s>=%d) %s=0;\\\n" _type v v v m v;
lprintf avr_h "static %s %s = 0; %s++; if (%s>=%d) %s=0;\\\n" _type v v v m v;
)
modulos;
(** For each message in this mode *)
let messages = List.sort (fun (_,p) (_,p') -> compare p p') messages in
let i = ref 0 in (** Basic balancing:1 message every 10Hz *)
let phase = ref 0 in
let l = ref [] in
List.iter
(fun (message, p) ->
let message_name = ExtXml.attrib message "name" in
i := !i mod p;
let else_ = if List.mem_assoc p !l && not (List.mem (p, !i) !l) then "else " else "" in
lprintf avr_h "%sif (i%d == %d) {\\\n" else_ p !i;
l := (p, !i) :: !l;
(* if phase attribute is present, use it, otherwise shedule at 10Hz *)
let message_phase = try int_of_float (float_of_string (ExtXml.attrib message "phase")*.float_of_int !freq) with _ -> !i in
phase := message_phase;
let else_ = if List.mem_assoc p !l && not (List.mem (p, !phase) !l) then "else " else "" in
lprintf avr_h "%sif (i%d == %d) {\\\n" else_ p !phase;
l := (p, !phase) :: !l;
i := !i + !freq/10;
right ();
lprintf avr_h "PERIODIC_SEND_%s();\\\n" message_name;