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px4-firmware
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Adjust some scaling factors for more precise PWM output.

This commit is contained in:
px4dev 2012-08-05 16:31:04 -07:00
parent 59962bc3da
commit c513f5ade8
2 changed files with 8 additions and 4 deletions
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6
nuttx/configs/px4fmu/src/up_pwm_servo.c
View File

@ -164,10 +164,10 @@ pwm_timer_init(unsigned timer)
rDCR(timer) = 0;
/* configure the timer to free-run at 1MHz */
rPSC(timer) = pwm_timers[timer].clock_freq / 1000000;
rPSC(timer) = (pwm_timers[timer].clock_freq / 1000000) - 1;
/* and update at the desired rate */
rARR(timer) = 1000000 / pwm_update_rate;
rARR(timer) = (1000000 / pwm_update_rate) - 1;
/* generate an update event; reloads the counter and all registers */
rEGR(timer) = GTIM_EGR_UG;
@ -234,6 +234,8 @@ up_pwm_servo_set(unsigned channel, servo_position_t value)
return -1;
/* configure the channel */
if (value > 0)
value--;
switch (pwm_channels[channel].timer_channel) {
case 1:
rCCR1(timer) = value;

6
nuttx/configs/px4io/src/drv_pwm_servo.c
View File

@ -96,10 +96,10 @@ pwm_timer_init(unsigned timer)
rDCR(timer) = 0;
/* configure the timer to free-run at 1MHz */
rPSC(timer) = cfg->timers[timer].clock_freq / 1000000;
rPSC(timer) = (cfg->timers[timer].clock_freq / 1000000) -1;
/* and update at the desired rate */
rARR(timer) = 1000000 / cfg->update_rate;
rARR(timer) = (1000000 / cfg->update_rate) - 1;
/* generate an update event; reloads the counter and all registers */
rEGR(timer) = GTIM_EGR_UG;
@ -166,6 +166,8 @@ pwm_channel_set(unsigned channel, servo_position_t value)
return;
/* configure the channel */
if (value > 0)
value--;
switch (cfg->channels[channel].timer_channel) {
case 1:
rCCR1(timer) = value;