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PWM outputs: Allow the new p:PWM_OUT etc params for setting PWM limits via params at boot-time.

This commit is contained in:
Lorenz Meier 2015-06-12 10:37:56 +02:00 committed by tumbili
parent 7b588c5bd0
commit 26c47f25cb
3 changed files with 118 additions and 3 deletions
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83
src/modules/sensors/sensor_params.c
View File

@ -1401,3 +1401,86 @@ PARAM_DEFINE_INT32(RC_RSSI_PWM_MAX, 1000);
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_MIN, 2000);
/**
* Enable Lidar-Lite (LL40LS) pwm driver
*
* @min 0
* @max 1
* @group Sensor Enable
*/
PARAM_DEFINE_INT32(SENS_EN_LL40LS, 0);
/**
* Set the minimum PWM for the MAIN outputs
*
* Set to 1000 for default or 900 to increase servo travel
*
* @min 800
* @max 1400
* @unit microseconds
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MIN, 1000);
/**
* Set the maximum PWM for the MAIN outputs
*
* Set to 2000 for default or 2100 to increase servo travel
*
* @min 1600
* @max 2200
* @unit microseconds
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAX, 2000);
/**
* Set the disarmed PWM for MAIN outputs
*
* This is the PWM pulse the autopilot is outputting if not armed.
* The main use of this parameter is to silence ESCs when they are disarmed.
*
* @min 0
* @max 2200
* @unit microseconds
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_DISARMED, 0);
/**
* Set the minimum PWM for the MAIN outputs
*
* Set to 1000 for default or 900 to increase servo travel
*
* @min 800
* @max 1400
* @unit microseconds
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MIN, 1000);
/**
* Set the maximum PWM for the MAIN outputs
*
* Set to 2000 for default or 2100 to increase servo travel
*
* @min 1600
* @max 2200
* @unit microseconds
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MAX, 2000);
/**
* Set the disarmed PWM for AUX outputs
*
* This is the PWM pulse the autopilot is outputting if not armed.
* The main use of this parameter is to silence ESCs when they are disarmed.
*
* @min 0
* @max 2200
* @unit microseconds
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_DISARMED, 1000);

6
src/modules/sensors/sensors.cpp
View File

@ -634,6 +634,12 @@ Sensors::Sensors() :
(void)param_find("CAL_MAG2_ROT");
(void)param_find("SYS_PARAM_VER");
(void)param_find("SYS_AUTOSTART");
(void)param_find("PWM_MIN");
(void)param_find("PWM_MAX");
(void)param_find("PWM_DISARMED");
(void)param_find("PWM_AUX_MIN");
(void)param_find("PWM_AUX_MAX");
(void)param_find("PWM_AUX_DISARMED");
/* fetch initial parameter values */
parameters_update();

32
src/systemcmds/pwm/pwm.c
View File

@ -59,6 +59,7 @@
#include "systemlib/systemlib.h"
#include "systemlib/err.h"
#include "systemlib/param/param.h"
#include "drivers/drv_pwm_output.h"
static void usage(const char *reason);
@ -187,10 +188,35 @@ pwm_main(int argc, char *argv[])
break;
case 'p':
pwm_value = strtoul(optarg, &ep, 0);
{
/* check if this is a param name */
if (strncmp("p:", optarg, 2) == 0) {
if (*ep != '\0') {
usage("BAD PWM VAL");
char buf[32];
strncpy(buf, optarg + 2, 16);
/* user wants to use a param name */
param_t parm = param_find(buf);
if (parm != PARAM_INVALID) {
int32_t pwm_parm;
int gret = param_get(parm, &pwm_parm);
if (gret == 0) {
pwm_value = pwm_parm;
} else {
usage("PARAM LOAD FAIL");
}
} else {
usage("PARAM NAME NOT FOUND");
}
} else {
pwm_value = strtoul(optarg, &ep, 0);
}
if (*ep != '\0') {
usage("BAD PWM VAL");
}
}
break;