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HAL_PX4: changed BRUSHED16kHz to BRUSHED

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This commit is contained in:
Andrew Tridgell 2017-06-16 21:23:37 +10:00
parent 1c741e78e6
commit 11396919c8
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_HAL_PX4/RCOutput.cpp
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@ -100,7 +100,7 @@ void PX4RCOutput::_init_alt_channels(void)
*/ */
void PX4RCOutput::set_freq_fd(int fd, uint32_t chmask, uint16_t freq_hz, uint32_t &rate_mask) void PX4RCOutput::set_freq_fd(int fd, uint32_t chmask, uint16_t freq_hz, uint32_t &rate_mask)
{ {
if (_output_mode == MODE_PWM_BRUSHED16KHZ) { if (_output_mode == MODE_PWM_BRUSHED) {
freq_hz /= 8; // divide by 8 for 8MHz clock freq_hz /= 8; // divide by 8 for 8MHz clock
// remember max period // remember max period
_period_max = 1000000UL/freq_hz; _period_max = 1000000UL/freq_hz;
@ -165,7 +165,7 @@ void PX4RCOutput::set_freq_fd(int fd, uint32_t chmask, uint16_t freq_hz, uint32_
hal.console->printf("RCOutput: Unable to set alt rate mask to 0x%x\n", (unsigned)rate_mask); hal.console->printf("RCOutput: Unable to set alt rate mask to 0x%x\n", (unsigned)rate_mask);
} }
if (_output_mode == MODE_PWM_BRUSHED16KHZ) { if (_output_mode == MODE_PWM_BRUSHED) {
ioctl(fd, PWM_SERVO_SET_UPDATE_CLOCK, 8); ioctl(fd, PWM_SERVO_SET_UPDATE_CLOCK, 8);
} }
} }
@ -188,7 +188,7 @@ void PX4RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
// greater than 400 doesn't give enough room at higher periods for // greater than 400 doesn't give enough room at higher periods for
// the down pulse // the down pulse
if (freq_hz > 400 && _output_mode != MODE_PWM_BRUSHED16KHZ) { if (freq_hz > 400 && _output_mode != MODE_PWM_BRUSHED) {
freq_hz = 400; freq_hz = 400;
} }
uint32_t primary_mask = chmask & ((1UL<<_servo_count)-1); uint32_t primary_mask = chmask & ((1UL<<_servo_count)-1);
@ -329,7 +329,7 @@ void PX4RCOutput::write(uint8_t ch, uint16_t period_us)
_max_channel = ch + 1; _max_channel = ch + 1;
} }
if (_output_mode == MODE_PWM_BRUSHED16KHZ) { if (_output_mode == MODE_PWM_BRUSHED) {
// map from the PWM range to 0 t0 100% duty cycle. For 16kHz // map from the PWM range to 0 t0 100% duty cycle. For 16kHz
// this ends up being 0 to 500 pulse width in units of // this ends up being 0 to 500 pulse width in units of
// 125usec. // 125usec.
@ -623,7 +623,7 @@ void PX4RCOutput::set_output_mode(enum output_mode mode)
ioctl(_alt_fd, PWM_SERVO_SET_ONESHOT, 0); ioctl(_alt_fd, PWM_SERVO_SET_ONESHOT, 0);
} }
break; break;
case MODE_PWM_BRUSHED16KHZ: case MODE_PWM_BRUSHED:
// setup an 8MHz clock. This has the effect of scaling all outputs by 8x // setup an 8MHz clock. This has the effect of scaling all outputs by 8x
ioctl(_pwm_fd, PWM_SERVO_SET_UPDATE_CLOCK, 8); ioctl(_pwm_fd, PWM_SERVO_SET_UPDATE_CLOCK, 8);
if (_alt_fd != -1) { if (_alt_fd != -1) {