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drivers/px4io: mirror PWM_MAIN_OUT support

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This commit is contained in:
Daniel Agar
2021-07-02 11:18:56 -04:00
parent 6dd0a58302
commit 9524e8ec03
1 changed files with 13 additions and 4 deletions
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17
src/drivers/px4io/px4io.cpp
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@@ -1212,6 +1212,7 @@ void PX4IO::update_params()
int32_t pwm_max_default = PWM_DEFAULT_MAX; int32_t pwm_max_default = PWM_DEFAULT_MAX;
int32_t pwm_disarmed_default = 0; int32_t pwm_disarmed_default = 0;
int32_t pwm_rate_default = 50; int32_t pwm_rate_default = 50;
int32_t pwm_default_channels = 0;
const char *prefix = "PWM_MAIN"; const char *prefix = "PWM_MAIN";
@@ -1219,10 +1220,18 @@ void PX4IO::update_params()
param_get(param_find("PWM_MAIN_MAX"), &pwm_max_default); param_get(param_find("PWM_MAIN_MAX"), &pwm_max_default);
param_get(param_find("PWM_MAIN_DISARM"), &pwm_disarmed_default); param_get(param_find("PWM_MAIN_DISARM"), &pwm_disarmed_default);
param_get(param_find("PWM_MAIN_RATE"), &pwm_rate_default); param_get(param_find("PWM_MAIN_RATE"), &pwm_rate_default);
param_get(param_find("PWM_MAIN_OUT"), &pwm_default_channels);
uint32_t single_ch = 0;
uint32_t pwm_default_channel_mask = 0;
while ((single_ch = pwm_default_channels % 10)) {
pwm_default_channel_mask |= 1 << (single_ch - 1);
pwm_default_channels /= 10;
}
char str[17]; char str[17];
// PWM_MAIN_MINx // PWM_MAIN_MINx
if (!_pwm_min_configured) { if (!_pwm_min_configured) {
pwm_output_values pwm{}; pwm_output_values pwm{};
@@ -1241,7 +1250,7 @@ void PX4IO::update_params()
param_set(param_find(str), &pwm_min_new); param_set(param_find(str), &pwm_min_new);
} }
} else { } else if (pwm_default_channel_mask & 1 << i) {
pwm.values[i] = pwm_min_default; pwm.values[i] = pwm_min_default;
} }
} }
@@ -1270,7 +1279,7 @@ void PX4IO::update_params()
param_set(param_find(str), &pwm_max_new); param_set(param_find(str), &pwm_max_new);
} }
} else { } else if (pwm_default_channel_mask & 1 << i) {
pwm.values[i] = pwm_max_default; pwm.values[i] = pwm_max_default;
} }
} }
@@ -1325,7 +1334,7 @@ void PX4IO::update_params()
param_set(param_find(str), &pwm_dis_new); param_set(param_find(str), &pwm_dis_new);
} }
} else { } else if (pwm_default_channel_mask & 1 << i) {
pwm.values[i] = pwm_disarmed_default; pwm.values[i] = pwm_disarmed_default;
} }
} }