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Trying to get rid of magic PWM numbers

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This commit is contained in:
Julian Oes
2013-10-07 18:03:05 +02:00
parent 03edf90161
commit 19879432ad
4 changed files with 40 additions and 20 deletions
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src/drivers/drv_pwm_output.h
+20
View File
@@ -64,6 +64,26 @@ __BEGIN_DECLS
*/
#define PWM_OUTPUT_MAX_CHANNELS 16
/**
* Minimum PWM in us
*/
#define PWM_MIN 900
/**
* Highest PWM allowed as the minimum PWM
*/
#define PWM_HIGHEST_MIN 1300
/**
* Maximum PWM in us
*/
#define PWM_MAX 2100
/**
* Lowest PWM allowed as the maximum PWM
*/
#define PWM_LOWEST_MAX 1700
/**
* Servo output signal type, value is actual servo output pulse
* width in microseconds.
src/drivers/px4io/px4io.cpp
+3 -3
View File
@@ -1818,7 +1818,7 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
/* TODO: we could go lower for e.g. TurboPWM */
unsigned channel = cmd - PWM_SERVO_SET(0);
if ((channel >= _max_actuators) || (arg < 900) || (arg > 2100)) {
if ((channel >= _max_actuators) || (arg < PWM_MIN) || (arg > PWM_MAX)) {
ret = -EINVAL;
} else {
/* send a direct PWM value */
@@ -2402,8 +2402,8 @@ px4io_main(int argc, char *argv[])
/* set channel to commandline argument or to 900 for non-provided channels */
if (argc > i + 2) {
failsafe[i] = atoi(argv[i+2]);
if (failsafe[i] < 800 || failsafe[i] > 2200) {
errx(1, "value out of range of 800 < value < 2200. Aborting.");
if (failsafe[i] < PWM_MIN || failsafe[i] > PWM_AX) {
errx(1, "value out of range of %d < value < %d. Aborting.", PWM_MIN, PWM_MAX);
}
} else {
/* a zero value will result in stopping to output any pulse */
src/modules/px4iofirmware/mixer.cpp
+2 -2
View File
@@ -242,8 +242,8 @@ mixer_tick(void)
case ESC_RAMP:
r_page_servos[i] = (outputs[i]
* (ramp_promille*r_page_servo_control_max[i] + (1000-ramp_promille)*2100 - ramp_promille*r_page_servo_control_min[i] - (1000-ramp_promille)*900)/2/1000
+ (ramp_promille*r_page_servo_control_max[i] + (1000-ramp_promille)*2100 + ramp_promille*r_page_servo_control_min[i] + (1000-ramp_promille)*900)/2/1000);
* (ramp_promille*r_page_servo_control_max[i] + (1000-ramp_promille)*PWM_MAX - ramp_promille*r_page_servo_control_min[i] - (1000-ramp_promille)*PWM_MIN)/2/1000
+ (ramp_promille*r_page_servo_control_max[i] + (1000-ramp_promille)*PWM_MAX + ramp_promille*r_page_servo_control_min[i] + (1000-ramp_promille)*PWM_MIN)/2/1000);
break;
case ESC_ON:
src/modules/px4iofirmware/registers.c
+15 -15
View File
@@ -207,7 +207,7 @@ uint16_t r_page_servo_failsafe[PX4IO_SERVO_COUNT] = { 0 };
* minimum PWM values when armed
*
*/
uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 900, 900, 900, 900 };
uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN };
/**
* PAGE 107
@@ -215,7 +215,7 @@ uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 90
* maximum PWM values when armed
*
*/
uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { 2100, 2100, 2100, 2100, 2100, 2100, 2100, 2100 };
uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX };
/**
* PAGE 108
@@ -223,7 +223,7 @@ uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { 2100, 2100, 2100, 2100
* disarmed PWM values for difficult ESCs
*
*/
uint16_t r_page_servo_disarmed[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 900, 900, 900, 900 };
uint16_t r_page_servo_disarmed[PX4IO_SERVO_COUNT] = { 0, 0, 0, 0, 0, 0, 0, 0 };
int
registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
@@ -295,10 +295,10 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
if (*values == 0) {
/* ignore 0 */
} else if (*values > 1200) {
r_page_servo_control_min[offset] = 1200;
} else if (*values < 900) {
r_page_servo_control_min[offset] = 900;
} else if (*values > PWM_HIGHEST_MIN) {
r_page_servo_control_min[offset] = PWM_HIGHEST_MIN;
} else if (*values < PWM_MIN) {
r_page_servo_control_min[offset] = PWM_MIN;
} else {
r_page_servo_control_min[offset] = *values;
}
@@ -316,10 +316,10 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
if (*values == 0) {
/* ignore 0 */
} else if (*values > 2100) {
r_page_servo_control_max[offset] = 2100;
} else if (*values < 1800) {
r_page_servo_control_max[offset] = 1800;
} else if (*values > PWM_MAX) {
r_page_servo_control_max[offset] = PWM_MAX;
} else if (*values < PWM_LOWEST_MAX) {
r_page_servo_control_max[offset] = PWM_LOWEST_MAX;
} else {
r_page_servo_control_max[offset] = *values;
}
@@ -337,10 +337,10 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
if (*values == 0) {
/* ignore 0 */
} else if (*values < 900) {
r_page_servo_disarmed[offset] = 900;
} else if (*values > 2100) {
r_page_servo_disarmed[offset] = 2100;
} else if (*values < PWM_MIN) {
r_page_servo_disarmed[offset] = PWM_MIN;
} else if (*values > PWM_MAX) {
r_page_servo_disarmed[offset] = PWM_MAX;
} else {
r_page_servo_disarmed[offset] = *values;
}