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-rw-r--r--src/drivers/drv_pwm_output.h18
-rw-r--r--src/drivers/px4fmu/fmu.cpp28
-rw-r--r--src/drivers/px4io/px4io.cpp2
-rw-r--r--src/modules/px4iofirmware/registers.c28
-rw-r--r--src/systemcmds/esc_calib/esc_calib.c10
5 files changed, 48 insertions, 38 deletions
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index efd6afb4b..51f916f37 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -65,9 +65,14 @@ __BEGIN_DECLS
#define PWM_OUTPUT_MAX_CHANNELS 16
/**
- * Minimum PWM in us
+ * Lowest minimum PWM in us
*/
-#define PWM_MIN 900
+#define PWM_LOWEST_MIN 900
+
+/**
+ * Default minimum PWM in us
+ */
+#define PWM_DEFAULT_MIN 1000
/**
* Highest PWM allowed as the minimum PWM
@@ -75,9 +80,14 @@ __BEGIN_DECLS
#define PWM_HIGHEST_MIN 1300
/**
- * Maximum PWM in us
+ * Highest maximum PWM in us
+ */
+#define PWM_HIGHEST_MAX 2100
+
+/**
+ * Default maximum PWM in us
*/
-#define PWM_MAX 2100
+#define PWM_DEFAULT_MAX 2000
/**
* Lowest PWM allowed as the maximum PWM
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 4bd27f907..0441566e9 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -232,8 +232,8 @@ PX4FMU::PX4FMU() :
_num_disarmed_set(0)
{
for (unsigned i = 0; i < _max_actuators; i++) {
- _min_pwm[i] = PWM_MIN;
- _max_pwm[i] = PWM_MAX;
+ _min_pwm[i] = PWM_DEFAULT_MIN;
+ _max_pwm[i] = PWM_DEFAULT_MAX;
}
_debug_enabled = true;
@@ -762,10 +762,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] == 0) {
/* ignore 0 */
- } else if (pwm->values[i] > PWM_MAX) {
- _failsafe_pwm[i] = PWM_MAX;
- } else if (pwm->values[i] < PWM_MIN) {
- _failsafe_pwm[i] = PWM_MIN;
+ } else if (pwm->values[i] > PWM_HIGHEST_MAX) {
+ _failsafe_pwm[i] = PWM_HIGHEST_MAX;
+ } else if (pwm->values[i] < PWM_LOWEST_MIN) {
+ _failsafe_pwm[i] = PWM_LOWEST_MIN;
} else {
_failsafe_pwm[i] = pwm->values[i];
}
@@ -801,10 +801,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] == 0) {
/* ignore 0 */
- } else if (pwm->values[i] > PWM_MAX) {
- _disarmed_pwm[i] = PWM_MAX;
- } else if (pwm->values[i] < PWM_MIN) {
- _disarmed_pwm[i] = PWM_MIN;
+ } else if (pwm->values[i] > PWM_HIGHEST_MAX) {
+ _disarmed_pwm[i] = PWM_HIGHEST_MAX;
+ } else if (pwm->values[i] < PWM_LOWEST_MIN) {
+ _disarmed_pwm[i] = PWM_LOWEST_MIN;
} else {
_disarmed_pwm[i] = pwm->values[i];
}
@@ -842,8 +842,8 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
/* ignore 0 */
} else if (pwm->values[i] > PWM_HIGHEST_MIN) {
_min_pwm[i] = PWM_HIGHEST_MIN;
- } else if (pwm->values[i] < PWM_MIN) {
- _min_pwm[i] = PWM_MIN;
+ } else if (pwm->values[i] < PWM_LOWEST_MIN) {
+ _min_pwm[i] = PWM_LOWEST_MIN;
} else {
_min_pwm[i] = pwm->values[i];
}
@@ -872,8 +872,8 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
/* ignore 0 */
} else if (pwm->values[i] < PWM_LOWEST_MAX) {
_max_pwm[i] = PWM_LOWEST_MAX;
- } else if (pwm->values[i] > PWM_MAX) {
- _max_pwm[i] = PWM_MAX;
+ } else if (pwm->values[i] > PWM_HIGHEST_MAX) {
+ _max_pwm[i] = PWM_HIGHEST_MAX;
} else {
_max_pwm[i] = pwm->values[i];
}
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 63e775857..08e697b9f 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1985,7 +1985,7 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
/* TODO: we could go lower for e.g. TurboPWM */
unsigned channel = cmd - PWM_SERVO_SET(0);
- if ((channel >= _max_actuators) || (arg < PWM_MIN) || (arg > PWM_MAX)) {
+ if ((channel >= _max_actuators) || (arg < PWM_LOWEST_MIN) || (arg > PWM_HIGHEST_MAX)) {
ret = -EINVAL;
} else {
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 40597adf1..86a40bc22 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -207,7 +207,7 @@ uint16_t r_page_servo_failsafe[PX4IO_SERVO_COUNT] = { 0, 0, 0, 0, 0, 0, 0, 0 };
* minimum PWM values when armed
*
*/
-uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN };
+uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN, PWM_DEFAULT_MIN };
/**
* PAGE 107
@@ -215,7 +215,7 @@ uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { PWM_MIN, PWM_MIN, PWM_
* maximum PWM values when armed
*
*/
-uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX };
+uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX, PWM_DEFAULT_MAX };
/**
* PAGE 108
@@ -278,10 +278,10 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
if (*values == 0) {
/* ignore 0 */
- } else if (*values < PWM_MIN) {
- r_page_servo_failsafe[offset] = PWM_MIN;
- } else if (*values > PWM_MAX) {
- r_page_servo_failsafe[offset] = PWM_MAX;
+ } else if (*values < PWM_LOWEST_MIN) {
+ r_page_servo_failsafe[offset] = PWM_LOWEST_MIN;
+ } else if (*values > PWM_HIGHEST_MAX) {
+ r_page_servo_failsafe[offset] = PWM_HIGHEST_MAX;
} else {
r_page_servo_failsafe[offset] = *values;
}
@@ -304,8 +304,8 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
/* ignore 0 */
} else if (*values > PWM_HIGHEST_MIN) {
r_page_servo_control_min[offset] = PWM_HIGHEST_MIN;
- } else if (*values < PWM_MIN) {
- r_page_servo_control_min[offset] = PWM_MIN;
+ } else if (*values < PWM_LOWEST_MIN) {
+ r_page_servo_control_min[offset] = PWM_LOWEST_MIN;
} else {
r_page_servo_control_min[offset] = *values;
}
@@ -323,8 +323,8 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
if (*values == 0) {
/* ignore 0 */
- } else if (*values > PWM_MAX) {
- r_page_servo_control_max[offset] = PWM_MAX;
+ } else if (*values > PWM_HIGHEST_MAX) {
+ r_page_servo_control_max[offset] = PWM_HIGHEST_MAX;
} else if (*values < PWM_LOWEST_MAX) {
r_page_servo_control_max[offset] = PWM_LOWEST_MAX;
} else {
@@ -348,11 +348,11 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
if (*values == 0) {
/* 0 means disabling always PWM */
r_page_servo_disarmed[offset] = 0;
- } else if (*values < PWM_MIN) {
- r_page_servo_disarmed[offset] = PWM_MIN;
+ } else if (*values < PWM_LOWEST_MIN) {
+ r_page_servo_disarmed[offset] = PWM_LOWEST_MIN;
all_disarmed_off = false;
- } else if (*values > PWM_MAX) {
- r_page_servo_disarmed[offset] = PWM_MAX;
+ } else if (*values > PWM_HIGHEST_MAX) {
+ r_page_servo_disarmed[offset] = PWM_HIGHEST_MAX;
all_disarmed_off = false;
} else {
r_page_servo_disarmed[offset] = *values;
diff --git a/src/systemcmds/esc_calib/esc_calib.c b/src/systemcmds/esc_calib/esc_calib.c
index c40206197..b237b31be 100644
--- a/src/systemcmds/esc_calib/esc_calib.c
+++ b/src/systemcmds/esc_calib/esc_calib.c
@@ -82,7 +82,7 @@ usage(const char *reason)
" [-c <channels>] Supply channels (e.g. 1234)\n"
" [-m <chanmask> ] Directly supply channel mask (e.g. 0xF)\n"
" [-a] Use all outputs\n"
- , PWM_MIN, PWM_MAX);
+ , PWM_DEFAULT_MIN, PWM_DEFAULT_MAX);
}
int
@@ -100,8 +100,8 @@ esc_calib_main(int argc, char *argv[])
unsigned long channels;
unsigned single_ch = 0;
- uint16_t pwm_high = PWM_MAX;
- uint16_t pwm_low = PWM_MIN;
+ uint16_t pwm_high = PWM_DEFAULT_MAX;
+ uint16_t pwm_low = PWM_DEFAULT_MIN;
struct pollfd fds;
fds.fd = 0; /* stdin */
@@ -148,13 +148,13 @@ esc_calib_main(int argc, char *argv[])
case 'l':
/* Read in custom low value */
- if (*ep != '\0' || pwm_low < PWM_MIN || pwm_low > PWM_HIGHEST_MIN)
+ if (*ep != '\0' || pwm_low < PWM_LOWEST_MIN || pwm_low > PWM_HIGHEST_MIN)
usage("low PWM invalid");
break;
case 'h':
/* Read in custom high value */
pwm_high = strtoul(optarg, &ep, 0);
- if (*ep != '\0' || pwm_high > PWM_MAX || pwm_high < PWM_LOWEST_MAX)
+ if (*ep != '\0' || pwm_high > PWM_HIGHEST_MAX || pwm_high < PWM_LOWEST_MAX)
usage("high PWM invalid");
break;
default:
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-03 03:35:47 +0000