fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 13:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

pca9685_pwm_out: add dynamic mixing support

Browse Source
This commit is contained in:
Beat Küng
2021-10-18 18:45:19 -04:00
committed by Daniel Agar
parent 955179e992
commit 35ce6d1b73
3 changed files with 22 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/pca9685_pwm_out/main.cpp
+8 -4
View File
@@ -124,8 +124,10 @@ PCA9685Wrapper::PCA9685Wrapper(int schd_rate_limit) :
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
_schd_rate_limit(schd_rate_limit)
{
_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
if (!_mixing_output.useDynamicMixing()) {
_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
}
}
PCA9685Wrapper::~PCA9685Wrapper()
@@ -173,6 +175,10 @@ void PCA9685Wrapper::updateParams()
void PCA9685Wrapper::updatePWMParams()
{
if (_mixing_output.useDynamicMixing()) {
return;
}
// update pwm params
const char *pname_format_pwm_ch_max[2] = {"PWM_MAIN_MAX%d", "PWM_AUX_MAX%d"};
const char *pname_format_pwm_ch_min[2] = {"PWM_MAIN_MIN%d", "PWM_AUX_MIN%d"};
@@ -369,7 +375,6 @@ bool PCA9685Wrapper::updateOutputs(bool stop_motors, uint16_t *outputs, unsigned
void PCA9685Wrapper::Run()
{
if (should_exit()) {
PX4_INFO("PCA9685 stopping.");
ScheduleClear();
_mixing_output.unregister();
unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
@@ -457,7 +462,6 @@ void PCA9685Wrapper::Run()
perf_end(_cycle_perf);
}
// TODO
int PCA9685Wrapper::ioctl(cdev::file_t *filep, int cmd, unsigned long arg)
{
int ret = OK;