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Murph- / gentlenav

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Rework interrupt priorities and servo output #24

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
Suggested priority levels from Bill:

analog2digital.c:41:      _ADCInterrupt(void)   Priority 6
background.c:35:          _T1Interrupt(void)    Priority 5
radioIn.c:47:             _IC7Interrupt(void)   Priority 6
radioIn.c:71:             _IC8Interrupt(void)   Priority 6
radioIn.c:95:             _IC2Interrupt(void)   Priority 6
radioIn.c:119:            _IC1Interrupt(void)   Priority 6
radioIn.c:149:            _INT0Interrupt(void)  Priority 7  - measure edges of 
pulses
servoOut.c:69:            _PWMInterrupt(void)   Priority 4
servoOut.c:189:           _T4Interrupt(void)    Priority 7  - send pulses high 
and low
serialIO.c:114:           _U1RXInterrupt(void)  Priority 5
serialIO.c:200:           _U1TXInterrupt(void)  Priority 5
gpsParseCommon.c:57:      _U2RXInterrupt(void)  Priority 5 (setup in 
gpsParseUbx.c)
                                                Priority 5 (setup in gpsParseStd.c )
gpsParseCommon.c:90:      _T3Interrupt(void)    Priority 3

and there will be a new one to handle the formatting of the telemetry:

???                       _T5Interrupt(void)    Priority 1

Also suggested is moving servo output to the ADC interrupt.  We'd then just 
compute but not set 
the servo values in the pwm interrupt, and then in the ADC interrupt, have it 
choose based on 
mode whether to do a straight passthrough (manual mode) or use the computed 
values 
(stabilized/waypoint/rtl modes).

Original issue reported on code.google.com by benjie on 22 Apr 2010 at 8:13

GoogleCodeExporter commented 9 years ago 
Checked in a small part of this change, to move the hardware radio PWM input 
interrupts from priority 7 to 6 to 
allow the software PWM inputs to run unblocked at priority 7.

Original comment by benjie on 24 Apr 2010 at 11:54

GoogleCodeExporter commented 9 years ago

Original comment by benjie on 1 Mar 2011 at 1:33

GoogleCodeExporter commented 9 years ago 
Needs review

Original comment by uavflightdirector on 31 Jul 2013 at 7:33