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Revist:Back out fix for secondary issue

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Ultimate we want this changes that is being backed out herein.
 But it is breaking things because it returns the EINVAL
 when there is a rate overlap. So the rest of the pwm ioctl
 calls then fail and do not set the pulse widths on arming.

 As a secondary issue. We sould call up_pwm_servo_init() to
 establish the PWM channel allocation early. This then allows
 FMU::set_pwm_rate to properly check for improper rate request
 not isolate to one group (timer).
This commit is contained in:
David Sidrane
2017-04-20 10:18:55 -10:00
committed by Lorenz Meier
parent 7322da3c19
commit 2a8eaa66ca
1 changed files with 2 additions and 2 deletions
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src/drivers/px4fmu/fmu.cpp
+2 -2
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@@ -673,7 +673,6 @@ PX4FMU::set_mode(Mode mode)
if (old_mask != _pwm_mask) { if (old_mask != _pwm_mask) {
/* disable servo outputs - no need to set rates */ /* disable servo outputs - no need to set rates */
up_pwm_servo_deinit(); up_pwm_servo_deinit();
return OK;
} }
break; break;
@@ -681,8 +680,8 @@ PX4FMU::set_mode(Mode mode)
default: default:
return -EINVAL; return -EINVAL;
} }
_mode = mode; _mode = mode;
up_pwm_servo_init(_pwm_mask);
return OK; return OK;
} }
@@ -1049,6 +1048,7 @@ void
PX4FMU::update_pwm_out_state(bool on) PX4FMU::update_pwm_out_state(bool on)
{ {
if (on && !_pwm_initialized && _pwm_mask != 0) { if (on && !_pwm_initialized && _pwm_mask != 0) {
up_pwm_servo_init(_pwm_mask);
set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate); set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
_pwm_initialized = true; _pwm_initialized = true;
} }