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pwm_output: Allow PWM values from 900us to 2100us but use a default of 1000us to 2000us

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This commit is contained in:
Julian Oes
2013-10-31 10:29:06 +01:00
parent 88351f3da1
commit 25bf1abecf
5 changed files with 48 additions and 38 deletions
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src/drivers/drv_pwm_output.h
+14 -4
View File
@@ -65,9 +65,14 @@ __BEGIN_DECLS
#define PWM_OUTPUT_MAX_CHANNELS 16
/**
* Minimum PWM in us
* Lowest minimum PWM in us
*/
#define PWM_MIN 900
#define PWM_LOWEST_MIN 900
/**
* Default minimum PWM in us
*/
#define PWM_DEFAULT_MIN 1000
/**
* Highest PWM allowed as the minimum PWM
@@ -75,9 +80,14 @@ __BEGIN_DECLS
#define PWM_HIGHEST_MIN 1300
/**
* Maximum PWM in us
* Highest maximum PWM in us
*/
#define PWM_MAX 2100
#define PWM_HIGHEST_MAX 2100
/**
* Default maximum PWM in us
*/
#define PWM_DEFAULT_MAX 2000
/**
* Lowest PWM allowed as the maximum PWM
src/drivers/px4fmu/fmu.cpp
+14 -14
View File
@@ -232,8 +232,8 @@ PX4FMU::PX4FMU() :
_num_disarmed_set(0)
{
for (unsigned i = 0; i < _max_actuators; i++) {
_min_pwm[i] = PWM_MIN;
_max_pwm[i] = PWM_MAX;
_min_pwm[i] = PWM_DEFAULT_MIN;
_max_pwm[i] = PWM_DEFAULT_MAX;
}
_debug_enabled = true;
@@ -762,10 +762,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] == 0) {
/* ignore 0 */
} else if (pwm->values[i] > PWM_MAX) {
_failsafe_pwm[i] = PWM_MAX;
} else if (pwm->values[i] < PWM_MIN) {
_failsafe_pwm[i] = PWM_MIN;
} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
_failsafe_pwm[i] = PWM_HIGHEST_MAX;
} else if (pwm->values[i] < PWM_LOWEST_MIN) {
_failsafe_pwm[i] = PWM_LOWEST_MIN;
} else {
_failsafe_pwm[i] = pwm->values[i];
}
@@ -801,10 +801,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] == 0) {
/* ignore 0 */
} else if (pwm->values[i] > PWM_MAX) {
_disarmed_pwm[i] = PWM_MAX;
} else if (pwm->values[i] < PWM_MIN) {
_disarmed_pwm[i] = PWM_MIN;
} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
_disarmed_pwm[i] = PWM_HIGHEST_MAX;
} else if (pwm->values[i] < PWM_LOWEST_MIN) {
_disarmed_pwm[i] = PWM_LOWEST_MIN;
} else {
_disarmed_pwm[i] = pwm->values[i];
}
@@ -842,8 +842,8 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
/* ignore 0 */
} else if (pwm->values[i] > PWM_HIGHEST_MIN) {
_min_pwm[i] = PWM_HIGHEST_MIN;
} else if (pwm->values[i] < PWM_MIN) {
_min_pwm[i] = PWM_MIN;
} else if (pwm->values[i] < PWM_LOWEST_MIN) {
_min_pwm[i] = PWM_LOWEST_MIN;
} else {
_min_pwm[i] = pwm->values[i];
}
@@ -872,8 +872,8 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
/* ignore 0 */
} else if (pwm->values[i] < PWM_LOWEST_MAX) {
_max_pwm[i] = PWM_LOWEST_MAX;
} else if (pwm->values[i] > PWM_MAX) {
_max_pwm[i] = PWM_MAX;
} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
_max_pwm[i] = PWM_HIGHEST_MAX;
} else {
_max_pwm[i] = pwm->values[i];
}
src/drivers/px4io/px4io.cpp
+1 -1
View File
@@ -1985,7 +1985,7 @@ 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 < PWM_MIN) || (arg > PWM_MAX)) {
if ((channel >= _max_actuators) || (arg < PWM_LOWEST_MIN) || (arg > PWM_HIGHEST_MAX)) {
ret = -EINVAL;
} else {