mirror of https://github.com/ArduPilot/ardupilot
77 lines
2.3 KiB
C++
77 lines
2.3 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AP_BoardConfig - board specific configuration
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*/
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#include <AP_HAL.h>
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#include <AP_Common.h>
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#include <AP_BoardConfig.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <drivers/drv_pwm_output.h>
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
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#define BOARD_PWM_COUNT_DEFAULT 2
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#else
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#define BOARD_PWM_COUNT_DEFAULT 4
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#endif
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#endif
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extern const AP_HAL::HAL& hal;
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// table of user settable parameters
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const AP_Param::GroupInfo AP_BoardConfig::var_info[] PROGMEM = {
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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// @Param: PWM_COUNT
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// @DisplayName: PWM Count
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// @Description: Number of auxillary PWMs to enable. On PX4v1 only 0 or 2 is valid. On Pixhawk 0, 2, 4 or 6 is valid.
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// @Values: 0:No PWMs,2:Two PWMs,4:Four PWMs,6:Six PWMs
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AP_GROUPINFO("PWM_COUNT", 0, AP_BoardConfig, _pwm_count, BOARD_PWM_COUNT_DEFAULT),
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#endif
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AP_GROUPEND
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};
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void AP_BoardConfig::init()
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{
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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/* configurre the FMU driver for the right number of PWMs */
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// ensure only valid values are set, rounding up
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if (_pwm_count > 6) _pwm_count.set(6);
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if (_pwm_count < 0) _pwm_count.set(0);
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if (_pwm_count == 1) _pwm_count.set(2);
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if (_pwm_count == 3) _pwm_count.set(4);
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if (_pwm_count == 5) _pwm_count.set(6);
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int fd = open("/dev/px4fmu", 0);
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if (fd == -1) {
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hal.scheduler->panic("Unable to open /dev/px4fmu");
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}
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if (ioctl(fd, PWM_SERVO_SET_COUNT, _pwm_count.get()) != 0) {
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hal.console->printf("RCOutput: Unable to setup alt PWM to %u channels\n", _pwm_count.get());
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}
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close(fd);
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#endif
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}
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