Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_BoardConfig: moved BRD_PWM_COUNT to common code 

this allows all boards to configure some PWM outputs as GPIOs
This commit is contained in:
Andrew Tridgell 2018-05-25 20:52:41 +10:00
parent 7e897c16c0
commit 99ca0ea913
3 changed files with 9 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_BoardConfig/AP_BoardConfig.cpp
View File

@ -88,20 +88,22 @@
#endif
#endif
#ifndef BOARD_PWM_COUNT_DEFAULT
#define BOARD_PWM_COUNT_DEFAULT 8
#endif
extern const AP_HAL::HAL& hal;
AP_BoardConfig *AP_BoardConfig::instance;
// table of user settable parameters
const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
#if AP_FEATURE_BOARD_DETECT || defined(AP_FEATURE_BRD_PWM_COUNT_PARAM)
// @Param: PWM_COUNT
// @DisplayName: Auxiliary pin config
// @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,7:Three PWMs and One Capture
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("PWM_COUNT", 0, AP_BoardConfig, state.pwm_count, BOARD_PWM_COUNT_DEFAULT),
#endif
AP_GROUPINFO("PWM_COUNT", 0, AP_BoardConfig, pwm_count, BOARD_PWM_COUNT_DEFAULT),
#if AP_FEATURE_RTSCTS
// @Param: SER1_RTSCTS

11
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -122,12 +122,7 @@ public:
// get number of PWM outputs enabled on FMU
static uint8_t get_pwm_count(void) {
#if AP_FEATURE_BOARD_DETECT || defined(AP_FEATURE_BRD_PWM_COUNT_PARAM)
return instance?instance->state.pwm_count.get():4;
#else
// default to 16, which means all PWM channels available
return 16;
#endif
return instance?instance->pwm_count.get():4;
}
#if AP_FEATURE_SAFETY_BUTTON
@ -157,10 +152,10 @@ private:
static AP_BoardConfig *instance;
AP_Int16 vehicleSerialNumber;
AP_Int8 pwm_count;
#if AP_FEATURE_BOARD_DETECT || defined(AP_FEATURE_BRD_PWM_COUNT_PARAM) || AP_FEATURE_SAFETY_BUTTON
struct {
AP_Int8 pwm_count;
AP_Int8 safety_enable;
AP_Int16 safety_option;
AP_Int32 ignore_safety_channels;

2
libraries/AP_BoardConfig/px4_drivers.cpp
View File

@ -62,7 +62,7 @@ void AP_BoardConfig::px4_setup_pwm()
{ 8, PWM_SERVO_MODE_12PWM, 0 },
#endif
};
uint8_t mode_parm = (uint8_t)state.pwm_count.get();
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) {