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AP_BoardConfig: added #defines for VRBRAIN board

This commit is contained in:
Emile Castelnuovo 2014-03-31 19:53:16 +02:00 committed by Andrew Tridgell
parent 1d27e0d127
commit 39d9e93904
2 changed files with 32 additions and 0 deletions
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29
libraries/AP_BoardConfig/AP_BoardConfig.cpp
View File

@ -36,6 +36,14 @@
#define BOARD_PWM_COUNT_DEFAULT 4
#define BOARD_SER1_RTSCTS_DEFAULT 2
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_pwm_output.h>
#define BOARD_PWM_COUNT_DEFAULT 8
#endif
extern const AP_HAL::HAL& hal;
@ -66,6 +74,12 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] PROGMEM = {
// @Description: Disabling this option will disable the use of the safety switch on PX4 for arming. Use of the safety switch is highly recommended, so you should leave this option set to 1 except in unusual circumstances.
// @Values: 0:Disabled,1:Enabled
AP_GROUPINFO("SAFETYENABLE", 3, AP_BoardConfig, _safety_enable, 1),
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// @Param: PWM_COUNT
// @DisplayName: PWM Count
// @Description: Number of auxillary PWMs to enable
// @Values: 0:No PWMs,2:Two PWMs,4:Four PWMs,6:Six PWMs,8:Six PWMs
AP_GROUPINFO("PWM_COUNT", 0, AP_BoardConfig, _pwm_count, BOARD_PWM_COUNT_DEFAULT),
#endif
AP_GROUPEND
@ -100,5 +114,20 @@ void AP_BoardConfig::init()
if (_safety_enable.get() == 0) {
hal.rcout->force_safety_off();
}
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
/* configure the VRBRAIN driver for the right number of PWMs */
// ensure only valid values are set, rounding up
if (_pwm_count > 8) _pwm_count.set(8);
if (_pwm_count < 0) _pwm_count.set(0);
int fd = open("/dev/px4fmu", 0);
if (fd == -1) {
hal.scheduler->panic("Unable to open /dev/px4fmu");
}
if (ioctl(fd, PWM_SERVO_SET_COUNT, _pwm_count.get()) != 0) {
hal.console->printf("RCOutput: Unable to setup alt PWM to %u channels\n", _pwm_count.get());
}
close(fd);
#endif
}

3
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -27,6 +27,9 @@ private:
AP_Int8 _ser2_rtscts;
AP_Int8 _safety_enable;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
AP_Int8 _pwm_count;
#endif
};
#endif // __AP_BOARDCONFIG_H__