[Krobot-commits] [SCM] krobot branch, master, updated. 9641f603275a43c3f07862973aea212c2e0ced9c

[Xavier L. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 9641f603275a43c3f07862973aea212c2e0ced9c
Author: Xavier Lagorce <Xav...@cr...>
Date:   Thu Apr 21 14:24:31 2011 +0200

    [Controller_Motor_STM32] Release CPU during speed profile computation for Bezier Splines

commit 7797e8dd88a52c7e6767729bd606e9aa632920af
Author: Xavier Lagorce <Xav...@cr...>
Date:   Thu Apr 21 14:00:47 2011 +0200

    [Controller_Motor_STM32] Fix convertion problem between seconds and systicks in odometry.

-----------------------------------------------------------------------

Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/bezier_utils.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/bezier_utils.c
index 0b74fde..d467b7d 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/bezier_utils.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/bezier_utils.c
@@ -9,6 +9,10 @@
 
 #include "bezier_utils.h"
 
+#ifdef BEZIER_UTILS_USE_BERTOS
+#include <kern/proc.h>
+#endif
+
 float bezier_apply(float params[4], float u) {
   return (params[0] + params[1]*u + params[2]*u*u + params[3]*u*u*u);
 }
@@ -62,6 +66,10 @@ void bezier_velocity_profile(float dparams[2][4], float ddparams[2][4],
   vmins[ind] = v_end;
   ind++;
 
+#ifdef BEZIER_UTILS_USE_BERTOS
+  cpu_relax();
+#endif
+
   // Compute speed limitations
   for (j=0; j < ind; j++) {
     im = mins[j];
@@ -95,6 +103,10 @@ void bezier_velocity_profile(float dparams[2][4], float ddparams[2][4],
           break;
         }
       }
+
+#ifdef BEZIER_UTILS_USE_BERTOS
+  cpu_relax();
+#endif
     } // end if (vm < v_max)
   } // for mins
 }
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/bezier_utils.h b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/bezier_utils.h
index c36fd62..2aa45fd 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/bezier_utils.h
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/bezier_utils.h
@@ -10,6 +10,8 @@
 #ifndef __BEZIER_UTILS_H
 #define __BEZIER_UTILS_H
 
+#define BEZIER_UTILS_USE_BERTOS
+
 #include <math.h>
 #include <stdint.h>
 
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/odometry.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/odometry.c
index 208c342..ab0f7eb 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/odometry.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/odometry.c
@@ -59,7 +59,7 @@ static void NORETURN odometry_process(void) {
   Timer timer;
 
   // configure timer
-  timer_setDelay(&timer, ms_to_ticks(state.Ts));
+  timer_setDelay(&timer, ms_to_ticks(1000 * state.Ts));
   timer_setEvent(&timer);
 
   // Indicate we are running


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