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px4iofirmware registers uses new Oneshot API

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1) Use up_pwm_retrigger to triger onshot
   2) Updated comment to explain why a rate of zero makes sense
      to set oneshot mode.
   3) Updated copyright
This commit is contained in:
David Sidrane
2017-03-02 16:35:21 -10:00
committed by Lorenz Meier
parent 30c8e6efac
commit 6309642c37
1 changed files with 8 additions and 4 deletions
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12
src/modules/px4iofirmware/registers.c
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014, 2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -325,7 +325,10 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
system_state.fmu_data_received_time = hrt_absolute_time();
r_status_flags |= PX4IO_P_STATUS_FLAGS_RAW_PWM;
up_pwm_force_update();
/* Trigger all timer's channels in Oneshot mode to fire
* the oneshots with updated values.
*/
up_pwm_update();
break;
@@ -631,9 +634,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
case PX4IO_P_SETUP_PWM_ALTRATE:
/* a rate of zero implies oneshot mode */
/* For PWM constrain to [25,400]Hz
* For Onshot there is no rate, 0 is therefore used to select Oneshot mode
*/
if (value != 0) {
/* constrain normal PWM to [25,400]Hz */
if (value < 25) {
value = 25;
}