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AP_BoardConfig: allow setting of SBUS output frame rate

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This commit is contained in:
Andrew Tridgell 2016-03-10 15:26:47 +11:00
parent 4467929692
commit 36177526cf
2 changed files with 37 additions and 11 deletions
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46
libraries/AP_BoardConfig/AP_BoardConfig.cpp
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@ -71,10 +71,10 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
AP_GROUPINFO("SAFETYENABLE", 3, AP_BoardConfig, _safety_enable, 1), AP_GROUPINFO("SAFETYENABLE", 3, AP_BoardConfig, _safety_enable, 1),
// @Param: SBUS_OUT // @Param: SBUS_OUT
// @DisplayName: Enable use of SBUS output // @DisplayName: SBUS output rate
// @Description: Enabling this option on a Pixhawk enables SBUS servo output from the SBUS output connector // @Description: This sets the SBUS output frame rate in Hz
// @Values: 0:Disabled,1:Enabled // @Values: 0:Disabled,1:50Hz,2:75Hz,3:100Hz,4:150Hz,5:200Hz,6:250Hz,7:300Hz
AP_GROUPINFO("SBUS_OUT", 4, AP_BoardConfig, _sbus_out_enable, 0), AP_GROUPINFO("SBUS_OUT", 4, AP_BoardConfig, _sbus_out_rate, 0),
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#endif #endif
@ -137,14 +137,40 @@ void AP_BoardConfig::init()
hal.rcout->force_safety_off(); hal.rcout->force_safety_off();
} }
if (_sbus_out_enable.get() == 1) { if (_sbus_out_rate.get() >= 1) {
fd = open("/dev/px4io", 0); fd = open("/dev/px4io", 0);
if (fd == -1 || ioctl(fd, SBUS_SET_PROTO_VERSION, 1) != 0) { if (fd == -1) {
hal.console->printf("SBUS: Unable to setup SBUS output\n"); hal.console->printf("SBUS: Unable to open px4io for sbus\n");
} } else {
if (fd != -1) { static const struct {
uint8_t value;
uint16_t rate;
} rates[] = {
{ 1, 50 },
{ 2, 75 },
{ 3, 100 },
{ 4, 150 },
{ 5, 200 },
{ 6, 250 },
{ 7, 300 }
};
uint16_t rate = 300;
for (uint8_t i=0; i<ARRAY_SIZE(rates); i++) {
if (rates[i].value == _sbus_out_rate) {
rate = rates[i].rate;
}
}
for (uint8_t tries=0; tries<10; tries++) {
if (ioctl(fd, SBUS_SET_PROTO_VERSION, 1) != 0) {
continue;
}
if (ioctl(fd, PWM_SERVO_SET_SBUS_RATE, rate) != 0) {
continue;
}
break;
}
close(fd); close(fd);
} }
} }
#if !defined(CONFIG_ARCH_BOARD_PX4FMU_V1) #if !defined(CONFIG_ARCH_BOARD_PX4FMU_V1)

2
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -28,7 +28,7 @@ private:
AP_Int8 _ser1_rtscts; AP_Int8 _ser1_rtscts;
AP_Int8 _ser2_rtscts; AP_Int8 _ser2_rtscts;
AP_Int8 _safety_enable; AP_Int8 _safety_enable;
AP_Int8 _sbus_out_enable; AP_Int8 _sbus_out_rate;
#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1 #ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
AP_Int8 _can_enable; AP_Int8 _can_enable;
#endif #endif