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AP_BoardConfig: allow setup of more complex modes for aux pins on PX4 

this allows for setting up of timer capture pins
This commit is contained in:
Andrew Tridgell 2016-04-15 09:23:46 +10:00
parent 154fe15c67
commit 5b8401cbbc
1 changed files with 41 additions and 21 deletions
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52
libraries/AP_BoardConfig/AP_BoardConfig.cpp
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@ -50,9 +50,9 @@ extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_BoardConfig::var_info[] = { const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
// @Param: PWM_COUNT // @Param: PWM_COUNT
// @DisplayName: PWM Count // @DisplayName: Auxillary pin config
// @Description: Number of auxillary PWMs to enable. On PX4v1 only 0 or 2 is valid. On Pixhawk 0, 2, 4 or 6 is valid. // @Description: Control assigning of FMU pins to PWM output, timer capture and GPIO. All unassigned pins can be used for GPIO
// @Values: 0:No PWMs,2:Two PWMs,4:Four PWMs,6:Six PWMs // @Values: 0:No PWMs,2:Two PWMs,4:Four PWMs,6:Six PWMs,7:Three PWMs and One Capture
AP_GROUPINFO("PWM_COUNT", 0, AP_BoardConfig, _pwm_count, BOARD_PWM_COUNT_DEFAULT), AP_GROUPINFO("PWM_COUNT", 0, AP_BoardConfig, _pwm_count, BOARD_PWM_COUNT_DEFAULT),
// @Param: SER1_RTSCTS // @Param: SER1_RTSCTS
@ -114,22 +114,42 @@ void AP_BoardConfig::init()
{ {
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
/* configurre the FMU driver for the right number of PWMs */ /* configurre the FMU driver for the right number of PWMs */
static const struct {
// ensure only valid values are set, rounding up uint8_t mode_parm;
if (_pwm_count > 6) _pwm_count.set(6); uint8_t mode_value;
if (_pwm_count < 0) _pwm_count.set(0); uint8_t num_gpios;
if (_pwm_count == 1) _pwm_count.set(2); } mode_table[] = {
if (_pwm_count == 3) _pwm_count.set(4); /* table mapping BRD_PWM_COUNT to ioctl arguments */
if (_pwm_count == 5) _pwm_count.set(6); { 0, PWM_SERVO_MODE_NONE, 6 },
{ 2, PWM_SERVO_MODE_2PWM, 4 },
{ 4, PWM_SERVO_MODE_4PWM, 2 },
{ 6, PWM_SERVO_MODE_6PWM, 0 },
{ 7, PWM_SERVO_MODE_3PWM1CAP, 2 },
};
uint8_t mode_parm = (uint8_t)_pwm_count.get();
uint8_t i;
for (i=0; i<ARRAY_SIZE(mode_table); i++) {
if (mode_table[i].mode_parm == mode_parm) {
break;
}
}
if (i == ARRAY_SIZE(mode_table)) {
hal.console->printf("RCOutput: invalid BRD_PWM_COUNT %u\n", mode_parm);
} else {
int fd = open("/dev/px4fmu", 0); int fd = open("/dev/px4fmu", 0);
if (fd == -1) { if (fd == -1) {
AP_HAL::panic("Unable to open /dev/px4fmu"); AP_HAL::panic("Unable to open /dev/px4fmu");
} }
if (ioctl(fd, PWM_SERVO_SET_COUNT, _pwm_count.get()) != 0) { if (ioctl(fd, PWM_SERVO_SET_MODE, mode_table[i].mode_value) != 0) {
hal.console->printf("RCOutput: Unable to setup alt PWM to %u channels\n", _pwm_count.get()); hal.console->printf("RCOutput: unable to setup AUX PWM with BRD_PWM_COUNT %u\n", mode_parm);
} }
close(fd); close(fd);
if (mode_table[i].num_gpios < 2) {
// reduce change of config mistake where relay and PWM interfere
AP_Param::set_default_by_name("RELAY_PIN", -1);
AP_Param::set_default_by_name("RELAY_PIN2", -1);
}
}
hal.uartC->set_flow_control((AP_HAL::UARTDriver::flow_control)_ser1_rtscts.get()); hal.uartC->set_flow_control((AP_HAL::UARTDriver::flow_control)_ser1_rtscts.get());
if (hal.uartD != NULL) { if (hal.uartD != NULL) {
@ -141,7 +161,7 @@ void AP_BoardConfig::init()
} }
if (_sbus_out_rate.get() >= 1) { if (_sbus_out_rate.get() >= 1) {
fd = open("/dev/px4io", 0); int fd = open("/dev/px4io", 0);
if (fd == -1) { if (fd == -1) {
hal.console->printf("SBUS: Unable to open px4io for sbus\n"); hal.console->printf("SBUS: Unable to open px4io for sbus\n");
} else { } else {
@ -158,7 +178,7 @@ void AP_BoardConfig::init()
{ 7, 300 } { 7, 300 }
}; };
uint16_t rate = 300; uint16_t rate = 300;
for (uint8_t i=0; i<ARRAY_SIZE(rates); i++) { for (i=0; i<ARRAY_SIZE(rates); i++) {
if (rates[i].value == _sbus_out_rate) { if (rates[i].value == _sbus_out_rate) {
rate = rates[i].rate; rate = rates[i].rate;
} }
@ -195,7 +215,7 @@ void AP_BoardConfig::init()
hal.console->printf("UAVCAN: failed to start servers\n"); hal.console->printf("UAVCAN: failed to start servers\n");
} else { } else {
uint32_t start_wait_ms = AP_HAL::millis(); uint32_t start_wait_ms = AP_HAL::millis();
fd = open("/dev/uavcan/esc", 0); // design flaw of uavcan driver, this should be /dev/uavcan/node one day int fd = open("/dev/uavcan/esc", 0); // design flaw of uavcan driver, this should be /dev/uavcan/node one day
if (fd == -1) { if (fd == -1) {
AP_HAL::panic("Configuration invalid - unable to open /dev/uavcan/esc"); AP_HAL::panic("Configuration invalid - unable to open /dev/uavcan/esc");
} }