Merge pull request #53 from ToolboxPlane/Fix#41

[Draft] #41: Run timer at higher frequency to achieve required IMU update rate

.github/workflows/low_level_tests.yml

@@ -87,7 +87,7 @@ jobs:
       - name: Set up Build
         run: cmake -B build
       - name: Run LCOV
-        run: lcov --no-external -r "build/*" --capture --directory . --output-file coverage.info
+        run: lcov --no-external --capture --directory . --output-file coverage.info
       - name: Gen HTML
         run: genhtml coverage.info --output-directory coverage
       - name: Move HTML

README.md

@@ -4,9 +4,9 @@
 * [Test Reports](https://toolboxplane.github.io/FlightControllerSoftware/report/)
 * [Coverage Reports](https://toolboxplane.github.io/FlightControllerSoftware/coverage/)
 
-## Building and flashing 
+## Building and flashing
 
-### Build 
+### Build
 
 To compile the firmware run:
 
@@ -54,18 +54,20 @@ The error IDs are:
 | Component      | Exception                | LED configuration |
 |----------------|--------------------------|-------------------|
 | Application    | -                        | xxxx ◯◯◯🔴        |
-| System         | Timer Runtime            | ◯◯◯🔴 ◯◯🔴◯       |
-|                | Watchdog                 | ◯◯🔴◯ ◯◯🔴◯       |
-|                | Brownout                 | ◯◯🔴🔴 ◯◯🔴◯      |
-| ERROR_HANDLER_GROUP_IMU            | Init timeout error       | ◯◯◯🔴 ◯◯🔴🔴      |
+| System         | Watchdog                 | ◯◯◯🔴 ◯◯🔴◯       |
+|                | Brownout                 | ◯◯🔴◯ ◯◯🔴◯       |
+|                | Low-Prio Timer Runtime   | ◯◯🔴🔴 ◯◯🔴◯      |
+|                | High-Prio Timer Runtime  | ◯🔴◯◯ ◯◯🔴◯       |
+| IMU            | Init timeout error       | ◯◯◯🔴 ◯◯🔴🔴      |
 |                | Init self test error     | ◯◯🔴◯ ◯◯🔴🔴      |
 |                | Status error             | ◯◯🔴🔴 ◯◯🔴🔴     |
+|                | Read timeout             | ◯🔴◯◯ ◯◯🔴🔴      |
 | Flightcomputer | -                        | xxxx ◯🔴◯◯        |
 | Remote         | -                        | xxxx ◯🔴◯🔴       |
-| Mode Handler   | No ERROR_HANDLER_GROUP_IMU Data              | ◯◯◯🔴 ◯🔴🔴◯      |
+| Mode Handler   | No IMU Data              | ◯◯◯🔴 ◯🔴🔴◯      |
 |                | No FCP Data              | ◯◯🔴◯ ◯🔴🔴◯      |
 |                | No Remote Data           | ◯◯🔴🔴 ◯🔴🔴◯     |
-| ERROR_HANDLER_GROUP_BNO055         | Unexpected read success  | ◯◯◯🔴 ◯🔴🔴🔴     |
+| BNO055         | Unexpected read success  | ◯◯◯🔴 ◯🔴🔴🔴     |
 |                | Unexpected write success | ◯◯🔴◯ ◯🔴🔴🔴     |
 |                | Read fail                | ◯◯🔴🔴 ◯🔴🔴🔴    |
 |                | Write fail               | ◯🔴◯◯ ◯🔴🔴🔴     |

Src/Application/application.c

@@ -19,7 +19,7 @@
 /**
  * Frequency divider between the timer interrupt and sending new messages.
  */
-enum { FLIGHT_COMPUTER_SEND_PERIOD = (uint16_t) (100 / 16.383) };
+enum { FLIGHT_COMPUTER_SEND_PERIOD = (int) (100 / 16.383) };
 
 /**
  * Offset from the remote data (in [0, 1000]) to the servo_motor_cmd data (in [-500, 500])
@@ -76,15 +76,10 @@ static void timer_tick(void) {
         flight_computer_send(&imu_data, &remote_data, &actuator_cmd);
         fcps_send_mux = 0;
     }
-
-    /*
-     * Read the next IMU data
-     */
-    imu_start_sampling();
 }
 
 void application_init(void) {
-    system_pre_init(timer_tick);
+    system_pre_init(timer_tick, imu_start_sampling);
     error_handler_init();
 
     imu_init();

Src/Application/application.h

@@ -12,7 +12,8 @@
  * @brief Main application that performs initialization and starts the timer.
  *
  * The initialization consists of the following tasks:
- *  * System Pre-Initialization (::system_pre_init)
+ *  * System Pre-Initialization (::system_pre_init) with the internal timer callback for the low priority callback and
+ *    ::imu_start_sampling for the high priority callback
  *  * Error Handler initialization (::error_handler_init)
  *  * IMU initialization (::imu_init)
  *  * Remote initialization (::remote_init)
@@ -37,7 +38,7 @@
  *           and use the result as elevon commands, the motor command is always 0
  *      * In failsafe mode: set all three commands to 0
  *  * Pass the actuator commands to the actuators (::actuators_set)
- *  * Every FLIGHT_COMPUTER_SEND_PERIOD frame: pass the current data to ::flight-computer_send
+ *  * Every FLIGHT_COMPUTER_SEND_PERIOD frame: pass the current data to ::flight_computer_send
  *  * Call ::imu_start_sampling
  *
  */

Src/Application/mode_handler.c

@@ -10,18 +10,18 @@
 #include "error_handler.h"
 
 enum {
-    IMU_TIMEOUT = (uint16_t) (100 / 16.384),
-    FLIGHTCOMPUTER_TIMEOUT = (uint16_t) ((2 * 100) / 16.384),
-    REMOTE_TIMEOUT = (uint16_t) (100 / 16.384),
+    IMU_TIMEOUT = (int) (100 / 16.384),
+    FLIGHT_COMPUTER_TIMEOUT = (int) ((2 * 100) / 16.384),
+    REMOTE_TIMEOUT = (int) (100 / 16.384),
 };
 
 static uint8_t imu_timeout_counter;
-static uint8_t flightcomputer_timeout_counter;
+static uint8_t flight_computer_timeout_counter;
 static uint8_t remote_timeout_counter;
 
 void mode_handler_init(void) {
     imu_timeout_counter = IMU_TIMEOUT;
-    flightcomputer_timeout_counter = FLIGHTCOMPUTER_TIMEOUT;
+    flight_computer_timeout_counter = FLIGHT_COMPUTER_TIMEOUT;
     remote_timeout_counter = REMOTE_TIMEOUT;
 }
 
@@ -55,13 +55,13 @@ mode_handler_mode_t mode_handler_handle(imu_data_t *imu_data, remote_data_t *rem
     *remote_data = remote_get_data();
 
     if (!flight_computer_set_point_available()) {
-        flightcomputer_timeout_counter += 1;
+        flight_computer_timeout_counter += 1;
     } else {
-        flightcomputer_timeout_counter = 0;
+        flight_computer_timeout_counter = 0;
     }
     bool flightcomputer_active = true;
-    if (flightcomputer_timeout_counter >= FLIGHTCOMPUTER_TIMEOUT) {
-        flightcomputer_timeout_counter = FLIGHTCOMPUTER_TIMEOUT;
+    if (flight_computer_timeout_counter >= FLIGHT_COMPUTER_TIMEOUT) {
+        flight_computer_timeout_counter = FLIGHT_COMPUTER_TIMEOUT;
         flightcomputer_active = false;
     }
     *flightcomputer_setpoint = flight_computer_get_set_point();

Src/Components/actuators.h

@@ -30,7 +30,7 @@ void actuators_init(void);
 /**
  * @brief Set the actuators.
  *
- * This function sets the actuators, using ::ppm_set, according to the following mapping:
+ * This function sets the actuators, using ::ppm_channel_set, according to the following mapping:
  *  * elevon-left mapped from [-500, 500] to [0, 1000] to channel 1
  *  * throttle to channel 2
  *  * elevon-right mapped from [-500, 500] to [0, 1000] to channel 3

Src/Components/flight_computer.c

@@ -5,16 +5,16 @@
  * @brief Implementation of the Flight-Computer interface component.
  * @ingroup Components
  */
-#include <Drivers/protobuf.h>
-
 #include "flight_computer.h"
 
+#include <Drivers/protobuf.h>
+
 void flight_computer_init(void) {
     protobuf_init();
 }
 
 void flight_computer_send(const imu_data_t *imu_data, const remote_data_t *remote_data,
-                         const actuator_cmd_t *actuator_cmd) {
+                          const actuator_cmd_t *actuator_cmd) {
     fc_message_t message = {.has_imu = true,
                             .imu =
                                     {
@@ -50,8 +50,8 @@ bool flight_computer_set_point_available(void) {
 flight_computer_set_point_t flight_computer_get_set_point(void) {
     set_point_message_t message = protobuf_get();
     flight_computer_set_point_t setpoint = {.motor = message.motor,
-                                          .pitch = (int16_t) message.pitch,
-                                          .roll = (int16_t) message.roll};
+                                            .pitch = (int16_t) message.pitch,
+                                            .roll = (int16_t) message.roll};
 
     return setpoint;
 }