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FMU driver: Support pwm reversal, prepare config parameters

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This commit is contained in:
Lorenz Meier 2015-05-23 13:16:34 +02:00
parent 613b50b14f
commit e4a5ceb429
3 changed files with 114 additions and 2 deletions
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4
src/drivers/px4fmu/fmu.cpp
View File

@ -157,6 +157,7 @@ private:
uint16_t _disarmed_pwm[_max_actuators];
uint16_t _min_pwm[_max_actuators];
uint16_t _max_pwm[_max_actuators];
uint16_t _reverse_pwm_mask;
unsigned _num_failsafe_set;
unsigned _num_disarmed_set;
@ -269,6 +270,7 @@ PX4FMU::PX4FMU() :
_pwm_limit{},
_failsafe_pwm{0},
_disarmed_pwm{0},
_reverse_pwm_mask(0),
_num_failsafe_set(0),
_num_disarmed_set(0)
{
@ -684,7 +686,7 @@ PX4FMU::task_main()
uint16_t pwm_limited[num_outputs];
/* the PWM limit call takes care of out of band errors and constrains */
pwm_limit_calc(_servo_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
pwm_limit_calc(_servo_armed, num_outputs, _reverse_pwm_mask, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
/* output to the servos */
for (unsigned i = 0; i < num_outputs; i++) {

3
src/drivers/px4fmu/module.mk
View File

@ -3,7 +3,8 @@
#
MODULE_COMMAND = fmu
SRCS = fmu.cpp
SRCS = fmu.cpp \
px4fmu_params.c
MODULE_STACKSIZE = 1200

109
src/drivers/px4fmu/px4fmu_params.c Normal file
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@ -0,0 +1,109 @@
/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_params.c
*
* Parameters defined by the PX4FMU driver
*
* @author Lorenz Meier <lorenz@px4.io>
*/
#include <nuttx/config.h>
#include <systemlib/param/param.h>
/**
* Inverter for main output channel 1
*
* Set to 1 to invert the channel.
*
* @min 0
* @max 1
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_SCALE1, 1);
/**
* Inverter for main output channel 2
*
* Set to 1 to invert the channel.
*
* @min 0
* @max 1
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_SCALE2, 1);
/**
* Inverter for main output channel 3
*
* Set to 1 to invert the channel.
*
* @min 0
* @max 1
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_SCALE3, 1);
/**
* Inverter for main output channel 4
*
* Set to 1 to invert the channel.
*
* @min 0
* @max 1
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_SCALE4, 1);
/**
* Inverter for main output channel 5
*
* Set to 1 to invert the channel.
*
* @min 0
* @max 1
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_SCALE5, 1);
/**
* Inverter for main output channel 6
*
* Set to 1 to invert the channel.
*
* @min 0
* @max 1
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_SCALE6, 1);