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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 #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 * Highest PWM allowed as the minimum PWM
@@ -75,9 +80,14 @@ __BEGIN_DECLS
#define PWM_HIGHEST_MIN 1300 #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 * 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) _num_disarmed_set(0)
{ {
for (unsigned i = 0; i < _max_actuators; i++) { for (unsigned i = 0; i < _max_actuators; i++) {
_min_pwm[i] = PWM_MIN; _min_pwm[i] = PWM_DEFAULT_MIN;
_max_pwm[i] = PWM_MAX; _max_pwm[i] = PWM_DEFAULT_MAX;
} }
_debug_enabled = true; _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++) { for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] == 0) { if (pwm->values[i] == 0) {
/* ignore 0 */ /* ignore 0 */
} else if (pwm->values[i] > PWM_MAX) { } else if (pwm->values[i] > PWM_HIGHEST_MAX) {
_failsafe_pwm[i] = PWM_MAX; _failsafe_pwm[i] = PWM_HIGHEST_MAX;
} else if (pwm->values[i] < PWM_MIN) { } else if (pwm->values[i] < PWM_LOWEST_MIN) {
_failsafe_pwm[i] = PWM_MIN; _failsafe_pwm[i] = PWM_LOWEST_MIN;
} else { } else {
_failsafe_pwm[i] = pwm->values[i]; _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++) { for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] == 0) { if (pwm->values[i] == 0) {
/* ignore 0 */ /* ignore 0 */
} else if (pwm->values[i] > PWM_MAX) { } else if (pwm->values[i] > PWM_HIGHEST_MAX) {
_disarmed_pwm[i] = PWM_MAX; _disarmed_pwm[i] = PWM_HIGHEST_MAX;
} else if (pwm->values[i] < PWM_MIN) { } else if (pwm->values[i] < PWM_LOWEST_MIN) {
_disarmed_pwm[i] = PWM_MIN; _disarmed_pwm[i] = PWM_LOWEST_MIN;
} else { } else {
_disarmed_pwm[i] = pwm->values[i]; _disarmed_pwm[i] = pwm->values[i];
} }
@@ -842,8 +842,8 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
/* ignore 0 */ /* ignore 0 */
} else if (pwm->values[i] > PWM_HIGHEST_MIN) { } else if (pwm->values[i] > PWM_HIGHEST_MIN) {
_min_pwm[i] = PWM_HIGHEST_MIN; _min_pwm[i] = PWM_HIGHEST_MIN;
} else if (pwm->values[i] < PWM_MIN) { } else if (pwm->values[i] < PWM_LOWEST_MIN) {
_min_pwm[i] = PWM_MIN; _min_pwm[i] = PWM_LOWEST_MIN;
} else { } else {
_min_pwm[i] = pwm->values[i]; _min_pwm[i] = pwm->values[i];
} }
@@ -872,8 +872,8 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
/* ignore 0 */ /* ignore 0 */
} else if (pwm->values[i] < PWM_LOWEST_MAX) { } else if (pwm->values[i] < PWM_LOWEST_MAX) {
_max_pwm[i] = PWM_LOWEST_MAX; _max_pwm[i] = PWM_LOWEST_MAX;
} else if (pwm->values[i] > PWM_MAX) { } else if (pwm->values[i] > PWM_HIGHEST_MAX) {
_max_pwm[i] = PWM_MAX; _max_pwm[i] = PWM_HIGHEST_MAX;
} else { } else {
_max_pwm[i] = pwm->values[i]; _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 */ /* TODO: we could go lower for e.g. TurboPWM */
unsigned channel = cmd - PWM_SERVO_SET(0); 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; ret = -EINVAL;
} else { } else {
src/modules/px4iofirmware/registers.c
+14 -14
View File
@@ -207,7 +207,7 @@ uint16_t r_page_servo_failsafe[PX4IO_SERVO_COUNT] = { 0, 0, 0, 0, 0, 0, 0, 0 };
* minimum PWM values when armed * minimum PWM values when armed
* *
*/ */
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 }; uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN };
/** /**
* PAGE 107 * PAGE 107
@@ -215,7 +215,7 @@ uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { PWM_MIN, PWM_MIN, PWM_
* maximum PWM values when armed * maximum PWM values when armed
* *
*/ */
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 }; uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX };
/** /**
* PAGE 108 * PAGE 108
@@ -278,10 +278,10 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
if (*values == 0) { if (*values == 0) {
/* ignore 0 */ /* ignore 0 */
} else if (*values < PWM_MIN) { } else if (*values < PWM_LOWEST_MIN) {
r_page_servo_failsafe[offset] = PWM_MIN; r_page_servo_failsafe[offset] = PWM_LOWEST_MIN;
} else if (*values > PWM_MAX) { } else if (*values > PWM_HIGHEST_MAX) {
r_page_servo_failsafe[offset] = PWM_MAX; r_page_servo_failsafe[offset] = PWM_HIGHEST_MAX;
} else { } else {
r_page_servo_failsafe[offset] = *values; r_page_servo_failsafe[offset] = *values;
} }
@@ -304,8 +304,8 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
/* ignore 0 */ /* ignore 0 */
} else if (*values > PWM_HIGHEST_MIN) { } else if (*values > PWM_HIGHEST_MIN) {
r_page_servo_control_min[offset] = PWM_HIGHEST_MIN; r_page_servo_control_min[offset] = PWM_HIGHEST_MIN;
} else if (*values < PWM_MIN) { } else if (*values < PWM_LOWEST_MIN) {
r_page_servo_control_min[offset] = PWM_MIN; r_page_servo_control_min[offset] = PWM_LOWEST_MIN;
} else { } else {
r_page_servo_control_min[offset] = *values; r_page_servo_control_min[offset] = *values;
} }
@@ -323,8 +323,8 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
if (*values == 0) { if (*values == 0) {
/* ignore 0 */ /* ignore 0 */
} else if (*values > PWM_MAX) { } else if (*values > PWM_HIGHEST_MAX) {
r_page_servo_control_max[offset] = PWM_MAX; r_page_servo_control_max[offset] = PWM_HIGHEST_MAX;
} else if (*values < PWM_LOWEST_MAX) { } else if (*values < PWM_LOWEST_MAX) {
r_page_servo_control_max[offset] = PWM_LOWEST_MAX; r_page_servo_control_max[offset] = PWM_LOWEST_MAX;
} else { } else {
@@ -348,11 +348,11 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
if (*values == 0) { if (*values == 0) {
/* 0 means disabling always PWM */ /* 0 means disabling always PWM */
r_page_servo_disarmed[offset] = 0; r_page_servo_disarmed[offset] = 0;
} else if (*values < PWM_MIN) { } else if (*values < PWM_LOWEST_MIN) {
r_page_servo_disarmed[offset] = PWM_MIN; r_page_servo_disarmed[offset] = PWM_LOWEST_MIN;
all_disarmed_off = false; all_disarmed_off = false;
} else if (*values > PWM_MAX) { } else if (*values > PWM_HIGHEST_MAX) {
r_page_servo_disarmed[offset] = PWM_MAX; r_page_servo_disarmed[offset] = PWM_HIGHEST_MAX;
all_disarmed_off = false; all_disarmed_off = false;
} else { } else {
r_page_servo_disarmed[offset] = *values; r_page_servo_disarmed[offset] = *values;
src/systemcmds/esc_calib/esc_calib.c
+5 -5
View File
@@ -82,7 +82,7 @@ usage(const char *reason)
" [-c <channels>] Supply channels (e.g. 1234)\n" " [-c <channels>] Supply channels (e.g. 1234)\n"
" [-m <chanmask> ] Directly supply channel mask (e.g. 0xF)\n" " [-m <chanmask> ] Directly supply channel mask (e.g. 0xF)\n"
" [-a] Use all outputs\n" " [-a] Use all outputs\n"
, PWM_MIN, PWM_MAX); , PWM_DEFAULT_MIN, PWM_DEFAULT_MAX);
} }
int int
@@ -100,8 +100,8 @@ esc_calib_main(int argc, char *argv[])
unsigned long channels; unsigned long channels;
unsigned single_ch = 0; unsigned single_ch = 0;
uint16_t pwm_high = PWM_MAX; uint16_t pwm_high = PWM_DEFAULT_MAX;
uint16_t pwm_low = PWM_MIN; uint16_t pwm_low = PWM_DEFAULT_MIN;
struct pollfd fds; struct pollfd fds;
fds.fd = 0; /* stdin */ fds.fd = 0; /* stdin */
@@ -148,13 +148,13 @@ esc_calib_main(int argc, char *argv[])
case 'l': case 'l':
/* Read in custom low value */ /* Read in custom low value */
if (*ep != '\0' || pwm_low < PWM_MIN || pwm_low > PWM_HIGHEST_MIN) if (*ep != '\0' || pwm_low < PWM_LOWEST_MIN || pwm_low > PWM_HIGHEST_MIN)
usage("low PWM invalid"); usage("low PWM invalid");
break; break;
case 'h': case 'h':
/* Read in custom high value */ /* Read in custom high value */
pwm_high = strtoul(optarg, &ep, 0); pwm_high = strtoul(optarg, &ep, 0);
if (*ep != '\0' || pwm_high > PWM_MAX || pwm_high < PWM_LOWEST_MAX) if (*ep != '\0' || pwm_high > PWM_HIGHEST_MAX || pwm_high < PWM_LOWEST_MAX)
usage("high PWM invalid"); usage("high PWM invalid");
break; break;
default: default: