yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

fmu added comments & updated copyright

Browse Source
This commit is contained in:
David Sidrane
2017-03-02 06:58:55 -10:00
committed by Lorenz Meier
parent 0ce854ad55
commit 9227547886
1 changed files with 41 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

46
src/drivers/px4fmu/fmu.cpp
View File

@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2015, 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
@@ -701,10 +701,31 @@ PX4FMU::set_mode(Mode mode)
return OK;
}
/* This routine is called from two IOCTLs: PWM_SERVO_SET_UPDATE_RATE and PWM_SERVO_SET_SELECT_UPDATE_RATE
* In the first case, it is intended to set the "alternate" PWM rate, which may be [25,400]Hz.
* In the second case, it specifies which channels are set at the alternate rate, with all others
* implicitly set to the default rate.
/* When set_pwm_rate is called from either of the 2 IOCTLs:
*
* PWM_SERVO_SET_UPDATE_RATE - Sets the "alternate" channel's rate to the callers's rate specified
* and the non "alternate" channels to the _pwm_default_rate.
*
* rate_map = _pwm_alt_rate_channels
* default_rate = _pwm_default_rate
* alt_rate = arg of IOCTL (see rates)
*
* PWM_SERVO_SET_SELECT_UPDATE_RATE - The caller's specified rate map selects the "alternate" channels
* to be set to the alt rate. (_pwm_alt_rate)
* All other channels are set to the default rate. (_pwm_default_rate)
*
* rate_map = arg of IOCTL
* default_rate = _pwm_default_rate
* alt_rate = _pwm_alt_rate
* rate_map - A mask of 1's for the channels to be set to the
* alternate rate.
* N.B. All channels is a given group must be set
* to the same rate/mode. (default or alt)
* rates:
* alt_rate, default_rate For PWM is 25 or 400Hz
* For Oneshot there is no rate, 0 is therefore used
* to select Oneshot mode
*/
int
PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate)
@@ -712,6 +733,21 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate
PX4_DEBUG("set_pwm_rate %x %u %u", rate_map, default_rate, alt_rate);
for (unsigned pass = 0; pass < 2; pass++) {
/* We should note that group is iterated over from 0 to _max_actuators.
* This allows for the ideal worlds situation: 1 channel per group
* configuration.
*
* This is typically not what HW supports. A group represents a timer
* and channels belongs to a timer.
* Therefore all channels in a group are dependent on the timer's
* common settings and can not be independent in terms of count frequency
* (granularity of pulse width) and rate (period of repetition).
*
* To say it another way, all channels in a group moust have the same
* rate and mode. (See rates above.)
*/
for (unsigned group = 0; group < _max_actuators; group++) {
// get the channel mask for this rate group