fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-01 09:50:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

IO driver: Fix PWM load

Browse Source
This commit is contained in:
Lorenz Meier
2016-05-14 18:05:24 +02:00
parent 91142f0c20
commit 06fec2bce0
1 changed files with 35 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4io/px4io.cpp
+35 -23
View File
@@ -683,7 +683,7 @@ PX4IO::init()
_max_transfer = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER) - 2;
_max_rc_input = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT);
if ((_max_actuators < 1) || (_max_actuators > 255) ||
if ((_max_actuators < 1) || (_max_actuators > 16) ||
(_max_relays > 32) ||
(_max_transfer < 16) || (_max_transfer > 255) ||
(_max_rc_input < 1) || (_max_rc_input > 255)) {
@@ -2471,16 +2471,19 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
break;
}
case PWM_SERVO_GET_FAILSAFE_PWM:
case PWM_SERVO_GET_FAILSAFE_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
ret = io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, 0, (uint16_t *)arg, _max_actuators);
ret = io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm->values, _max_actuators);
if (ret != OK) {
ret = -EIO;
if (ret != OK) {
ret = -EIO;
}
break;
}
break;
case PWM_SERVO_SET_DISARMED_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
@@ -2495,16 +2498,19 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
break;
}
case PWM_SERVO_GET_DISARMED_PWM:
case PWM_SERVO_GET_DISARMED_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
ret = io_reg_get(PX4IO_PAGE_DISARMED_PWM, 0, (uint16_t *)arg, _max_actuators);
ret = io_reg_get(PX4IO_PAGE_DISARMED_PWM, 0, pwm->values, _max_actuators);
if (ret != OK) {
ret = -EIO;
if (ret != OK) {
ret = -EIO;
}
break;
}
break;
case PWM_SERVO_SET_MIN_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
@@ -2519,16 +2525,19 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
break;
}
case PWM_SERVO_GET_MIN_PWM:
case PWM_SERVO_GET_MIN_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
ret = io_reg_get(PX4IO_PAGE_CONTROL_MIN_PWM, 0, (uint16_t *)arg, _max_actuators);
ret = io_reg_get(PX4IO_PAGE_CONTROL_MIN_PWM, 0, pwm->values, _max_actuators);
if (ret != OK) {
ret = -EIO;
if (ret != OK) {
ret = -EIO;
}
break;
}
break;
case PWM_SERVO_SET_MAX_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
@@ -2543,12 +2552,15 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
break;
}
case PWM_SERVO_GET_MAX_PWM:
case PWM_SERVO_GET_MAX_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
ret = io_reg_get(PX4IO_PAGE_CONTROL_MAX_PWM, 0, (uint16_t *)arg, _max_actuators);
ret = io_reg_get(PX4IO_PAGE_CONTROL_MAX_PWM, 0, pwm->values, _max_actuators);
if (ret != OK) {
ret = -EIO;
if (ret != OK) {
ret = -EIO;
}
}
break;