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HAL_PX4: allow any pulse freq in brushed mode

This commit is contained in:
Andrew Tridgell 2017-05-25 12:08:52 +10:00
parent 92cdb54176
commit 96627bc4e5
2 changed files with 6 additions and 4 deletions
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9
libraries/AP_HAL_PX4/RCOutput.cpp
View File

@ -101,7 +101,9 @@ void PX4RCOutput::_init_alt_channels(void)
void PX4RCOutput::set_freq_fd(int fd, uint32_t chmask, uint16_t freq_hz, uint32_t &rate_mask)
{
if (_output_mode == MODE_PWM_BRUSHED16KHZ) {
freq_hz = 2000; // this maps to 16kHz due to 8MHz clock
freq_hz /= 8; // divide by 8 for 8MHz clock
// remember max period
_period_max = 1000000UL/freq_hz;
}
// we can't set this per channel
@ -331,14 +333,13 @@ void PX4RCOutput::write(uint8_t ch, uint16_t period_us)
// 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
// 125usec.
const uint32_t period_max = 1000000UL/(16000/8);
if (period_us <= _esc_pwm_min) {
period_us = 0;
} else if (period_us >= _esc_pwm_max) {
period_us = period_max;
period_us = _period_max;
} else {
uint32_t pdiff = period_us - _esc_pwm_min;
period_us = pdiff*period_max/(_esc_pwm_max - _esc_pwm_min);
period_us = pdiff*_period_max/(_esc_pwm_max - _esc_pwm_min);
}
}

1
libraries/AP_HAL_PX4/RCOutput.h
View File

@ -56,6 +56,7 @@ private:
uint32_t _rate_mask_main;
uint32_t _rate_mask_alt;
uint16_t _enabled_channels;
uint32_t _period_max;
struct {
int pwm_sub;
actuator_outputs_s outputs;