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PWM: Draft implementation to respect PWM_OUT when loading defaults

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Matthias Grob 2021-07-01 17:25:49 +02:00 committed by Lorenz Meier
parent 50b0f0e392
commit acf848ba99
4 changed files with 40 additions and 3 deletions
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4
ROMFS/px4fmu_common/init.d/rc.interface
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@ -226,6 +226,8 @@ then
fi
fi
param set PWM_AUX_OUT ${PWM_AUX_OUT}
if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
then
#
@ -268,6 +270,8 @@ then
fi
fi
param set PWM_MAIN_OUT ${PWM_OUT}
if [ $EXTRA_MIXER_MODE != none ]
then

17
src/drivers/pwm_out/PWMOut.cpp
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@ -663,6 +663,7 @@ void PWMOut::update_params()
int32_t pwm_max_default = PWM_DEFAULT_MAX;
int32_t pwm_disarmed_default = 0;
int32_t pwm_rate_default = 50;
int32_t pwm_default_channels = 0;
const char *prefix;
@ -673,6 +674,7 @@ void PWMOut::update_params()
param_get(param_find("PWM_MAIN_MAX"), &pwm_max_default);
param_get(param_find("PWM_MAIN_DISARM"), &pwm_disarmed_default);
param_get(param_find("PWM_MAIN_RATE"), &pwm_rate_default);
param_get(param_find("PWM_MAIN_OUT"), &pwm_default_channels);
} else if (_class_instance == CLASS_DEVICE_SECONDARY) {
prefix = "PWM_AUX";
@ -681,6 +683,7 @@ void PWMOut::update_params()
param_get(param_find("PWM_AUX_MAX"), &pwm_max_default);
param_get(param_find("PWM_AUX_DISARM"), &pwm_disarmed_default);
param_get(param_find("PWM_AUX_RATE"), &pwm_rate_default);
param_get(param_find("PWM_AUX_OUT"), &pwm_default_channels);
} else if (_class_instance == CLASS_DEVICE_TERTIARY) {
prefix = "PWM_EXTRA";
@ -695,6 +698,14 @@ void PWMOut::update_params()
return;
}
uint32_t single_ch = 0;
uint32_t pwm_default_channel_mask = 0;
while ((single_ch = pwm_default_channels % 10)) {
pwm_default_channel_mask |= 1 << (single_ch - 1);
pwm_default_channels /= 10;
}
// update the counter
// this is needed to decide if disarmed PWM output should be turned on or not
int num_disarmed_set = 0;
@ -716,7 +727,7 @@ void PWMOut::update_params()
param_set(param_find(str), &pwm_min_new);
}
} else {
} else if (pwm_default_channel_mask & 1 << i) {
_mixing_output.minValue(i) = pwm_min_default;
}
}
@ -736,7 +747,7 @@ void PWMOut::update_params()
param_set(param_find(str), &pwm_max_new);
}
} else {
} else if (pwm_default_channel_mask & 1 << i) {
_mixing_output.maxValue(i) = pwm_max_default;
}
}
@ -773,7 +784,7 @@ void PWMOut::update_params()
param_set(param_find(str), &pwm_dis_new);
}
} else {
} else if (pwm_default_channel_mask & 1 << i) {
_mixing_output.disarmedValue(i) = pwm_disarmed_default;
}
}

11
src/lib/pwm/pwm_aux_params.yaml
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@ -6,6 +6,17 @@ parameters:
- group: PWM Outputs
definitions:
PWM_AUX_OUT:
description:
short: PWM channels used as ESC outputs
long: |
Number representing the channels e.g. 134 - Channel 1, 3 and 4.
Global e.g. PWM_AUX_MIN/MAX/DISARM limits only apply to these channels.
type: int32
min: 0
max: 123456789
default: 0
PWM_AUX_RATE:
description:
short: PWM aux output frequency

11
src/lib/pwm/pwm_main_params.yaml
View File

@ -6,6 +6,17 @@ parameters:
- group: PWM Outputs
definitions:
PWM_MAIN_OUT:
description:
short: PWM channels used as ESC outputs
long: |
Number representing the channels e.g. 134 - Channel 1, 3 and 4.
Global e.g. PWM_MAIN_MIN/MAX/DISARM limits only apply to these channels.
type: int32
min: 0
max: 123456789
default: 0
PWM_MAIN_RATE:
description:
short: PWM main output frequency