Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_IOMCU: pass supported RC protocols to IOMCU

Browse Source
This commit is contained in:
Andrew Tridgell 2020-08-13 12:28:47 +10:00
parent 959e3da406
commit 017f005737
4 changed files with 28 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -19,6 +19,7 @@
#include <AP_RCProtocol/AP_RCProtocol.h> #include <AP_RCProtocol/AP_RCProtocol.h>
#include <AP_InternalError/AP_InternalError.h> #include <AP_InternalError/AP_InternalError.h>
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
#include <AP_RCProtocol/AP_RCProtocol.h>
extern const AP_HAL::HAL &hal; extern const AP_HAL::HAL &hal;
@ -247,6 +248,8 @@ void AP_IOMCU::thread_main(void)
pwm_out.failsafe_pwm_sent = set; pwm_out.failsafe_pwm_sent = set;
} }
} }
send_rc_protocols();
} }
done_shutdown = true; done_shutdown = true;
} }
@ -769,6 +772,18 @@ void AP_IOMCU::update_safety_options(void)
} }
} }
// update enabled RC protocols mask
void AP_IOMCU::send_rc_protocols()
{
const uint32_t v = rc().enabled_protocols();
if (last_rc_protocols == v) {
return;
}
if (write_registers(PAGE_SETUP, PAGE_REG_SETUP_RC_PROTOCOLS, 2, (uint16_t *)&v)) {
last_rc_protocols = v;
}
}
/* /*
check ROMFS firmware against CRC on IOMCU, and if incorrect then upload new firmware check ROMFS firmware against CRC on IOMCU, and if incorrect then upload new firmware
*/ */
@ -1023,6 +1038,7 @@ void AP_IOMCU::check_iomcu_reset(void)
} }
trigger_event(IOEVENT_SET_RATES); trigger_event(IOEVENT_SET_RATES);
trigger_event(IOEVENT_SET_DEFAULT_RATE); trigger_event(IOEVENT_SET_DEFAULT_RATE);
last_rc_protocols = 0;
} }

2
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -161,6 +161,7 @@ private:
void discard_input(void); void discard_input(void);
void event_failed(uint8_t event); void event_failed(uint8_t event);
void update_safety_options(void); void update_safety_options(void);
void send_rc_protocols(void);
// CONFIG page // CONFIG page
struct page_config config; struct page_config config;
@ -223,6 +224,7 @@ private:
uint32_t last_iocmu_timestamp_ms; uint32_t last_iocmu_timestamp_ms;
uint32_t read_status_errors; uint32_t read_status_errors;
uint32_t read_status_ok; uint32_t read_status_ok;
uint32_t last_rc_protocols;
// firmware upload // firmware upload
const char *fw_name = "io_firmware.bin"; const char *fw_name = "io_firmware.bin";

9
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
View File

@ -558,6 +558,15 @@ bool AP_IOMCU_FW::handle_code_write()
} }
break; break;
case PAGE_REG_SETUP_RC_PROTOCOLS: {
if (rx_io_packet.count == 2) {
uint32_t v;
memcpy(&v, &rx_io_packet.regs[0], 4);
AP::RC().set_rc_protocols(v);
}
break;
}
default: default:
break; break;
} }

1
libraries/AP_IOMCU/iofirmware/ioprotocol.h
View File

@ -83,6 +83,7 @@ enum iopage {
#define PAGE_REG_SETUP_IGNORE_SAFETY 20 /* bitmask of surfaces to ignore the safety status */ #define PAGE_REG_SETUP_IGNORE_SAFETY 20 /* bitmask of surfaces to ignore the safety status */
#define PAGE_REG_SETUP_HEATER_DUTY_CYCLE 21 #define PAGE_REG_SETUP_HEATER_DUTY_CYCLE 21
#define PAGE_REG_SETUP_DSM_BIND 22 #define PAGE_REG_SETUP_DSM_BIND 22
#define PAGE_REG_SETUP_RC_PROTOCOLS 23 // uses 2 slots, 23 and 24
// config page registers // config page registers
#define PAGE_CONFIG_PROTOCOL_VERSION 0 #define PAGE_CONFIG_PROTOCOL_VERSION 0