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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 */