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Added functionality to enable PWM output for stupid ESCs even when safety is not off, arming button functionality remains as is

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This commit is contained in:
Julian Oes
2013-06-19 22:59:40 +02:00
parent ece93ab628
commit 23858a6726
5 changed files with 197 additions and 45 deletions
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src/modules/px4iofirmware/registers.c
+38 -1
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@@ -147,7 +147,8 @@ volatile uint16_t r_page_setup[] =
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \
PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | \
PX4IO_P_SETUP_ARMING_IO_ARM_OK) | \
PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM
PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM | \
PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE
#define PX4IO_P_SETUP_RATES_VALID ((1 << IO_SERVO_COUNT) - 1)
#define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1)
@@ -201,6 +202,14 @@ uint16_t r_page_servo_control_min[IO_SERVO_COUNT] = { 900, 900, 900, 900, 900,
*/
uint16_t r_page_servo_control_max[IO_SERVO_COUNT] = { 2100, 2100, 2100, 2100, 2100, 2100, 2100, 2100 };
/**
* PAGE 108
*
* idle PWM values for difficult ESCs
*
*/
uint16_t r_page_servo_idle[IO_SERVO_COUNT] = { 900, 900, 900, 900, 900, 900, 900, 900 };
void
registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
{
@@ -308,6 +317,31 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
}
break;
case PX4IO_PAGE_IDLE_PWM:
/* copy channel data */
while ((offset < IO_SERVO_COUNT) && (num_values > 0)) {
if (*values == 0)
/* set to default */
r_page_servo_idle[offset] = 0;
else if (*values < 900)
r_page_servo_idle[offset] = 900;
else if (*values > 2100)
r_page_servo_idle[offset] = 2100;
else
r_page_servo_idle[offset] = *values;
/* flag the failsafe values as custom */
r_setup_arming |= PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE;
offset++;
num_values--;
values++;
}
break;
/* handle text going to the mixer parser */
case PX4IO_PAGE_MIXERLOAD:
mixer_handle_text(values, num_values * sizeof(*values));
@@ -651,6 +685,9 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
case PX4IO_PAGE_CONTROL_MAX_PWM:
SELECT_PAGE(r_page_servo_control_max);
break;
case PX4IO_PAGE_IDLE_PWM:
SELECT_PAGE(r_page_servo_idle);
break;
default:
return -1;