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[PX4IO/PWM driver] Added trim values to the PWM output drivers

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This commit is contained in:
Bartosz Wawrzacz
2016-12-10 12:56:39 +01:00
committed by Lorenz Meier
parent 4494182bfc
commit 619efa7b45
12 changed files with 222 additions and 41 deletions
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src/modules/px4iofirmware/registers.c
+38
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@@ -260,6 +260,14 @@ uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { PWM_DEFAULT_MAX, PWM_D
/**
* PAGE 108
*
* trim PWM values for center position
*
*/
uint16_t r_page_servo_control_trim[PX4IO_SERVO_COUNT] = { PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM };
/**
* PAGE 109
*
* disarmed PWM values for difficult ESCs
*
*/
@@ -386,6 +394,32 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
break;
case PX4IO_PAGE_CONTROL_TRIM_PWM:
/* copy channel data */
while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) {
if (*values == 0) {
/* allow 0 - turns the trim option off */
r_page_servo_control_trim[offset] = 0;
} else if (*values > PWM_HIGHEST_MAX) {
r_page_servo_control_trim[offset] = PWM_HIGHEST_MAX;
} else if (*values < PWM_LOWEST_MAX) {
r_page_servo_control_trim[offset] = PWM_LOWEST_MAX;
} else {
r_page_servo_control_trim[offset] = *values;
}
offset++;
num_values--;
values++;
}
break;
case PX4IO_PAGE_DISARMED_PWM: {
/* flag for all outputs */
bool all_disarmed_off = true;
@@ -1000,6 +1034,10 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
SELECT_PAGE(r_page_servo_control_max);
break;
case PX4IO_PAGE_CONTROL_TRIM_PWM:
SELECT_PAGE(r_page_servo_control_trim);
break;
case PX4IO_PAGE_DISARMED_PWM:
SELECT_PAGE(r_page_servo_disarmed);
break;