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pwm info provides more information, some fixes for setting rate/min/max/disarmed

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This commit is contained in:
Julian Oes
2013-10-07 16:24:49 +02:00
parent 9ff5217118
commit ea0aa49b54
10 changed files with 396 additions and 294 deletions
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src/modules/px4iofirmware/mixer.cpp
+2 -2
View File
@@ -307,9 +307,9 @@ mixer_tick(void)
up_pwm_servo_set(i, r_page_servos[i]);
} else if (mixer_servos_armed && should_always_enable_pwm) {
/* set the idle servo outputs. */
/* set the disarmed servo outputs. */
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
up_pwm_servo_set(i, r_page_servo_idle[i]);
up_pwm_servo_set(i, r_page_servo_disarmed[i]);
}
}
src/modules/px4iofirmware/protocol.h
+2 -2
View File
@@ -220,8 +220,8 @@ enum { /* DSM bind states */
/* PWM maximum values for certain ESCs */
#define PX4IO_PAGE_CONTROL_MAX_PWM 107 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/* PWM idle values that are active, even when SAFETY_SAFE */
#define PX4IO_PAGE_IDLE_PWM 108 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/* PWM disarmed values that are active, even when SAFETY_SAFE */
#define PX4IO_PAGE_DISARMED_PWM 108 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/**
* As-needed mixer data upload.
src/modules/px4iofirmware/px4io.h
+1 -1
View File
@@ -80,7 +80,7 @@ extern uint16_t r_page_rc_input_config[]; /* PX4IO_PAGE_RC_INPUT_CONFIG */
extern uint16_t r_page_servo_failsafe[]; /* PX4IO_PAGE_FAILSAFE_PWM */
extern uint16_t r_page_servo_control_min[]; /* PX4IO_PAGE_CONTROL_MIN_PWM */
extern uint16_t r_page_servo_control_max[]; /* PX4IO_PAGE_CONTROL_MAX_PWM */
extern uint16_t r_page_servo_idle[]; /* PX4IO_PAGE_IDLE_PWM */
extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */
/*
* Register aliases.
src/modules/px4iofirmware/registers.c
+26 -29
View File
@@ -220,10 +220,10 @@ uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { 2100, 2100, 2100, 2100
/**
* PAGE 108
*
* idle PWM values for difficult ESCs
* disarmed PWM values for difficult ESCs
*
*/
uint16_t r_page_servo_idle[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 900, 900, 900, 900 };
uint16_t r_page_servo_disarmed[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 900, 900, 900, 900 };
int
registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
@@ -293,16 +293,15 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
/* copy channel data */
while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) {
if (*values == 0)
/* set to default */
r_page_servo_control_min[offset] = 900;
else if (*values > 1200)
if (*values == 0) {
/* ignore 0 */
} else if (*values > 1200) {
r_page_servo_control_min[offset] = 1200;
else if (*values < 900)
} else if (*values < 900) {
r_page_servo_control_min[offset] = 900;
else
} else {
r_page_servo_control_min[offset] = *values;
}
offset++;
num_values--;
@@ -315,16 +314,15 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
/* copy channel data */
while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) {
if (*values == 0)
/* set to default */
if (*values == 0) {
/* ignore 0 */
} else if (*values > 2100) {
r_page_servo_control_max[offset] = 2100;
else if (*values > 2100)
r_page_servo_control_max[offset] = 2100;
else if (*values < 1800)
} else if (*values < 1800) {
r_page_servo_control_max[offset] = 1800;
else
} else {
r_page_servo_control_max[offset] = *values;
}
offset++;
num_values--;
@@ -332,21 +330,20 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
}
break;
case PX4IO_PAGE_IDLE_PWM:
case PX4IO_PAGE_DISARMED_PWM:
/* copy channel data */
while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) {
if (*values == 0)
/* set to default */
r_page_servo_idle[offset] = 0;
else if (*values < 900)
r_page_servo_idle[offset] = 900;
else if (*values > 2100)
r_page_servo_idle[offset] = 2100;
else
r_page_servo_idle[offset] = *values;
if (*values == 0) {
/* ignore 0 */
} else if (*values < 900) {
r_page_servo_disarmed[offset] = 900;
} else if (*values > 2100) {
r_page_servo_disarmed[offset] = 2100;
} else {
r_page_servo_disarmed[offset] = *values;
}
/* flag the failsafe values as custom */
r_setup_arming |= PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE;
@@ -769,8 +766,8 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
case PX4IO_PAGE_CONTROL_MAX_PWM:
SELECT_PAGE(r_page_servo_control_max);
break;
case PX4IO_PAGE_IDLE_PWM:
SELECT_PAGE(r_page_servo_idle);
case PX4IO_PAGE_DISARMED_PWM:
SELECT_PAGE(r_page_servo_disarmed);
break;
default: