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AP_BoardConfig: board specific config library

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used to control board specific parameters, such as PWM output count
This commit is contained in:
Andrew Tridgell 2014-01-20 12:57:39 +11:00
parent 99b41f110f
commit b5822cd549
2 changed files with 105 additions and 0 deletions
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76
libraries/AP_BoardConfig/AP_BoardConfig.cpp Normal file
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* AP_BoardConfig - board specific configuration
*/
#include <AP_HAL.h>
#include <AP_Common.h>
#include <AP_BoardConfig.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_pwm_output.h>
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
#define BOARD_PWM_COUNT_DEFAULT 2
#else
#define BOARD_PWM_COUNT_DEFAULT 4
#endif
#endif
extern const AP_HAL::HAL& hal;
// table of user settable parameters
const AP_Param::GroupInfo AP_BoardConfig::var_info[] PROGMEM = {
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
// @Param: PWM_COUNT
// @DisplayName: PWM Count
// @Description: Number of auxillary PWMs to enable. On PX4v1 only 0 or 2 is valid. On Pixhawk 0, 2, 4 or 6 is valid.
// @Values: 0:No PWMs,2:Two PWMs,4:Four PWMs,6:Six PWMs
AP_GROUPINFO("PWM_COUNT", 0, AP_BoardConfig, _pwm_count, BOARD_PWM_COUNT_DEFAULT),
#endif
AP_GROUPEND
};
void AP_BoardConfig::init()
{
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
/* configurre the FMU driver for the right number of PWMs */
// ensure only valid values are set, rounding up
if (_pwm_count > 6) _pwm_count.set(6);
if (_pwm_count < 0) _pwm_count.set(0);
if (_pwm_count == 1) _pwm_count.set(2);
if (_pwm_count == 3) _pwm_count.set(4);
if (_pwm_count == 5) _pwm_count.set(6);
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
}

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libraries/AP_BoardConfig/AP_BoardConfig.h Normal file
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_BOARDCONFIG_H__
#define __AP_BOARDCONFIG_H__
#include <AP_HAL.h>
#include <AP_Common.h>
#include <AP_Param.h>
class AP_BoardConfig
{
public:
// constructor
AP_BoardConfig(void)
{
AP_Param::setup_object_defaults(this, var_info);
};
void init(void);
static const struct AP_Param::GroupInfo var_info[];
private:
AP_Int8 _pwm_count;
};
#endif // __AP_BOARDCONFIG_H__