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| author | Julian Oes <julian@oes.ch> | 2013-06-18 00:30:10 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-06-18 00:30:10 +0200 |
| commit | cc452834c0dabd2689f5f102ce1cbbe714f056dd (patch) | |
| tree | eb8fa191d330185adf6f8344abe01477b1cbff65 /src/modules/px4iofirmware/registers.c | |
| parent | 2daff9ebbf066c0b14b85364ee056c3d8c7a7734 (diff) | |
| download | px4-firmware-cc452834c0dabd2689f5f102ce1cbbe714f056dd.tar.gz px4-firmware-cc452834c0dabd2689f5f102ce1cbbe714f056dd.tar.bz2 px4-firmware-cc452834c0dabd2689f5f102ce1cbbe714f056dd.zip | |
First try to prevent motors from stopping when armed
Diffstat (limited to 'src/modules/px4iofirmware/registers.c')
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 58 |
1 files changed, 58 insertions, 0 deletions
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index df7d6dcd3..1fcfb2906 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -184,6 +184,22 @@ uint16_t r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE */ uint16_t r_page_servo_failsafe[IO_SERVO_COUNT] = { 0 }; +/** + * PAGE 106 + * + * minimum PWM values when armed + * + */ +uint16_t r_page_servo_control_min[IO_SERVO_COUNT] = { 900, 900, 900, 900, 900, 900, 900, 900 }; + +/** + * PAGE 107 + * + * maximum PWM values when armed + * + */ +uint16_t r_page_servo_control_max[IO_SERVO_COUNT] = { 2100, 2100, 2100, 2100, 2100, 2100, 2100, 2100 }; + void registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values) { @@ -247,6 +263,42 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num } break; + case PX4IO_PAGE_CONTROL_MIN_PWM: + + /* copy channel data */ + while ((offset < IO_SERVO_COUNT) && (num_values > 0)) { + + if (*values > 1200) + r_page_servo_control_min[offset] = 1200; + else if (*values < 900) + r_page_servo_control_min[offset] = 900; + else + r_page_servo_control_min[offset] = *values; + + offset++; + num_values--; + values++; + } + break; + + case PX4IO_PAGE_CONTROL_MAX_PWM: + + /* copy channel data */ + while ((offset < IO_SERVO_COUNT) && (num_values > 0)) { + + if (*values > 1200) + r_page_servo_control_max[offset] = 1200; + else if (*values < 900) + r_page_servo_control_max[offset] = 900; + else + r_page_servo_control_max[offset] = *values; + + offset++; + num_values--; + values++; + } + break; + /* handle text going to the mixer parser */ case PX4IO_PAGE_MIXERLOAD: mixer_handle_text(values, num_values * sizeof(*values)); @@ -583,6 +635,12 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val case PX4IO_PAGE_FAILSAFE_PWM: SELECT_PAGE(r_page_servo_failsafe); break; + case PX4IO_PAGE_CONTROL_MIN_PWM: + SELECT_PAGE(r_page_servo_control_min); + break; + case PX4IO_PAGE_CONTROL_MAX_PWM: + SELECT_PAGE(r_page_servo_control_max); + break; default: return -1; |