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AP_BoardConfig: moved px4 variables to px4 structure

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refactoring in preparation for larger changes
This commit is contained in:
Andrew Tridgell 2016-08-03 07:41:24 +10:00
parent 45fa8faf08
commit e82384990d
2 changed files with 28 additions and 34 deletions
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37
libraries/AP_BoardConfig/AP_BoardConfig.cpp
View File

@ -58,8 +58,7 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
// @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
AP_GROUPINFO("PWM_COUNT", 0, AP_BoardConfig, _pwm_count, BOARD_PWM_COUNT_DEFAULT),
#endif
AP_GROUPINFO("PWM_COUNT", 0, AP_BoardConfig, px4.pwm_count, BOARD_PWM_COUNT_DEFAULT),
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
// @Param: SER1_RTSCTS
@ -67,15 +66,14 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
// @Description: Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.
// @Values: 0:Disabled,1:Enabled,2:Auto
// @RebootRequired: True
AP_GROUPINFO("SER1_RTSCTS", 1, AP_BoardConfig, _ser1_rtscts, BOARD_SER1_RTSCTS_DEFAULT),
AP_GROUPINFO("SER1_RTSCTS", 1, AP_BoardConfig, px4.ser1_rtscts, BOARD_SER1_RTSCTS_DEFAULT),
// @Param: SER2_RTSCTS
// @DisplayName: Serial 2 flow control
// @Description: Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
// @Values: 0:Disabled,1:Enabled,2:Auto
// @RebootRequired: True
AP_GROUPINFO("SER2_RTSCTS", 2, AP_BoardConfig, _ser2_rtscts, 2),
#endif
AP_GROUPINFO("SER2_RTSCTS", 2, AP_BoardConfig, px4.ser2_rtscts, 2),
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// @Param: SAFETYENABLE
@ -83,8 +81,7 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
// @Description: This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.
// @Values: 0:Disabled,1:Enabled
// @RebootRequired: True
AP_GROUPINFO("SAFETYENABLE", 3, AP_BoardConfig, _safety_enable, BOARD_SAFETY_ENABLE_DEFAULT),
#endif
AP_GROUPINFO("SAFETYENABLE", 3, AP_BoardConfig, px4.safety_enable, 1),
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
// @Param: SBUS_OUT
@ -92,7 +89,7 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
// @Description: This sets the SBUS output frame rate in Hz
// @Values: 0:Disabled,1:50Hz,2:75Hz,3:100Hz,4:150Hz,5:200Hz,6:250Hz,7:300Hz
// @RebootRequired: True
AP_GROUPINFO("SBUS_OUT", 4, AP_BoardConfig, _sbus_out_rate, 0),
AP_GROUPINFO("SBUS_OUT", 4, AP_BoardConfig, px4.sbus_out_rate, 0),
#endif
// @Param: SERIAL_NUM
@ -107,7 +104,7 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
// @DisplayName: Enable use of UAVCAN devices
// @Description: Enabling this option on a Pixhawk enables UAVCAN devices. Note that this uses about 25k of memory
// @Values: 0:Disabled,1:Enabled
AP_GROUPINFO("CAN_ENABLE", 6, AP_BoardConfig, _can_enable, 0),
AP_GROUPINFO("CAN_ENABLE", 6, AP_BoardConfig, px4.can_enable, 0),
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
@ -117,7 +114,7 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
// @Values: 0:Disabled,1:Enabled
// @Bitmask: 0:Ch1,1:Ch2,2:Ch3,3:Ch4,4:Ch5,5:Ch6,6:Ch7,7:Ch8
// @RebootRequired: True
AP_GROUPINFO("SAFETY_MASK", 7, AP_BoardConfig, _ignore_safety_channels, 0),
AP_GROUPINFO("SAFETY_MASK", 7, AP_BoardConfig, px4.ignore_safety_channels, 0),
#endif
#if HAL_HAVE_IMU_HEATER
@ -155,7 +152,7 @@ void AP_BoardConfig::init()
{ 8, PWM_SERVO_MODE_12PWM, 0 },
#endif
};
uint8_t mode_parm = (uint8_t)_pwm_count.get();
uint8_t mode_parm = (uint8_t)px4.pwm_count.get();
uint8_t i;
for (i=0; i<ARRAY_SIZE(mode_table); i++) {
if (mode_table[i].mode_parm == mode_parm) {
@ -187,26 +184,24 @@ void AP_BoardConfig::init()
// setup channels to ignore the armed state
int px4io_fd = open("/dev/px4io", 0);
if (px4io_fd != -1) {
if (ioctl(px4io_fd, PWM_SERVO_IGNORE_SAFETY, (uint16_t)(0x0000FFFF & _ignore_safety_channels)) != 0) {
if (ioctl(px4io_fd, PWM_SERVO_IGNORE_SAFETY, (uint16_t)(0x0000FFFF & px4.ignore_safety_channels)) != 0) {
hal.console->printf("IGNORE_SAFETY failed\n");
}
close(px4io_fd);
}
hal.uartC->set_flow_control((AP_HAL::UARTDriver::flow_control)_ser1_rtscts.get());
hal.uartC->set_flow_control((AP_HAL::UARTDriver::flow_control)px4.ser1_rtscts.get());
if (hal.uartD != NULL) {
hal.uartD->set_flow_control((AP_HAL::UARTDriver::flow_control)_ser2_rtscts.get());
hal.uartD->set_flow_control((AP_HAL::UARTDriver::flow_control)px4.ser2_rtscts.get());
}
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
if (_safety_enable.get() == 0) {
if (px4.safety_enable.get() == 0) {
hal.rcout->force_safety_off();
}
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
if (_sbus_out_rate.get() >= 1) {
if (px4.sbus_out_rate.get() >= 1) {
static const struct {
uint8_t value;
uint16_t rate;
@ -221,7 +216,7 @@ void AP_BoardConfig::init()
};
uint16_t rate = 300;
for (i=0; i<ARRAY_SIZE(rates); i++) {
if (rates[i].value == _sbus_out_rate) {
if (rates[i].value == px4.sbus_out_rate) {
rate = rates[i].rate;
}
}
@ -231,7 +226,7 @@ void AP_BoardConfig::init()
}
#if !defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
if (_can_enable >= 1) {
if (px4.can_enable >= 1) {
const char *args[] = { "uavcan", "start", NULL };
int ret = uavcan_main(3, args);
if (ret != 0) {
@ -242,7 +237,7 @@ void AP_BoardConfig::init()
hal.scheduler->delay(2000);
}
}
if (_can_enable >= 2) {
if (px4.can_enable >= 2) {
const char *args[] = { "uavcan", "start", "fw", NULL };
int ret = uavcan_main(4, args);
if (ret != 0) {

25
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -35,22 +35,21 @@ private:
AP_Int16 vehicleSerialNumber;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
AP_Int8 _pwm_count;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
AP_Int8 _ser1_rtscts;
AP_Int8 _ser2_rtscts;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
AP_Int8 _safety_enable;
AP_Int32 _ignore_safety_channels;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
AP_Int8 _sbus_out_rate;
struct {
AP_Int8 pwm_count;
AP_Int8 safety_enable;
AP_Int32 ignore_safety_channels;
#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
AP_Int8 _can_enable;
AP_Int8 can_enable;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
AP_Int8 ser1_rtscts;
AP_Int8 ser2_rtscts;
AP_Int8 sbus_out_rate;
#endif
} px4;
void px4_drivers_start(void);
#endif // HAL_BOARD_PX4 || HAL_BOARD_VRBRAIN
// target temperarure for IMU in Celsius, or -1 to disable
AP_Int8 _imu_target_temperature;