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First try to prevent motors from stopping when armed

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This commit is contained in:
Julian Oes
2013-06-18 00:30:10 +02:00
parent 2daff9ebbf
commit cc452834c0
5 changed files with 192 additions and 2 deletions
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src/modules/px4iofirmware/registers.c
+58
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@@ -184,6 +184,22 @@ uint16_t r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE
*/
uint16_t r_page_servo_failsafe[IO_SERVO_COUNT] = { 0 };
/**
* PAGE 106
*
* minimum PWM values when armed
*
*/
uint16_t r_page_servo_control_min[IO_SERVO_COUNT] = { 900, 900, 900, 900, 900, 900, 900, 900 };
/**
* PAGE 107
*
* maximum PWM values when armed
*
*/
uint16_t r_page_servo_control_max[IO_SERVO_COUNT] = { 2100, 2100, 2100, 2100, 2100, 2100, 2100, 2100 };
void
registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
{
@@ -247,6 +263,42 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
}
break;
case PX4IO_PAGE_CONTROL_MIN_PWM:
/* copy channel data */
while ((offset < IO_SERVO_COUNT) && (num_values > 0)) {
if (*values > 1200)
r_page_servo_control_min[offset] = 1200;
else if (*values < 900)
r_page_servo_control_min[offset] = 900;
else
r_page_servo_control_min[offset] = *values;
offset++;
num_values--;
values++;
}
break;
case PX4IO_PAGE_CONTROL_MAX_PWM:
/* copy channel data */
while ((offset < IO_SERVO_COUNT) && (num_values > 0)) {
if (*values > 1200)
r_page_servo_control_max[offset] = 1200;
else if (*values < 900)
r_page_servo_control_max[offset] = 900;
else
r_page_servo_control_max[offset] = *values;
offset++;
num_values--;
values++;
}
break;
/* handle text going to the mixer parser */
case PX4IO_PAGE_MIXERLOAD:
mixer_handle_text(values, num_values * sizeof(*values));
@@ -583,6 +635,12 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
case PX4IO_PAGE_FAILSAFE_PWM:
SELECT_PAGE(r_page_servo_failsafe);
break;
case PX4IO_PAGE_CONTROL_MIN_PWM:
SELECT_PAGE(r_page_servo_control_min);
break;
case PX4IO_PAGE_CONTROL_MAX_PWM:
SELECT_PAGE(r_page_servo_control_max);
break;
default:
return -1;