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Merge pull request #2340 from PX4/pwm_setting_params

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PWM setting params
This commit is contained in:
Lorenz Meier
2015-06-23 12:48:46 +02:00
parent 7b588c5bd0 52b0f17ff3
commit 12483aec88
5 changed files with 148 additions and 7 deletions
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ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+5 -3
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@@ -34,7 +34,9 @@ then
param set PWM_MAIN_REV1 1
fi
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX
set MIXER caipi
# Provide ESC a constant 1000 us pulse
set PWM_OUT 4
set PWM_DISARMED 1000
set PWM_OUT 1234
src/drivers/drv_pwm_output.h
+1 -1
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@@ -83,7 +83,7 @@ __BEGIN_DECLS
/**
* Highest maximum PWM in us
*/
#define PWM_HIGHEST_MAX 2100
#define PWM_HIGHEST_MAX 2150
/**
* Default maximum PWM in us
src/modules/sensors/sensor_params.c
+107
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@@ -1401,3 +1401,110 @@ 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
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE
* THE SYSTEM TO PUT CHANGES INTO EFFECT.
*
* 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
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE
* THE SYSTEM TO PUT CHANGES INTO EFFECT.
*
* 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
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE
* THE SYSTEM TO PUT CHANGES INTO EFFECT.
*
* 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
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE
* THE SYSTEM TO PUT CHANGES INTO EFFECT.
*
* 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
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE
* THE SYSTEM TO PUT CHANGES INTO EFFECT.
*
* 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
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE
* THE SYSTEM TO PUT CHANGES INTO EFFECT.
*
* 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);
src/modules/sensors/sensors.cpp
+6
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@@ -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();
src/systemcmds/pwm/pwm.c
+29 -3
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@@ -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;