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HAL_PX4: changes for FMUv4

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This commit is contained in:
Andrew Tridgell 2016-02-08 19:52:46 +11:00
parent d87219d207
commit f2358f2441
4 changed files with 11 additions and 4 deletions
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6
libraries/AP_HAL_PX4/AnalogIn.cpp
View File

@ -48,7 +48,7 @@ static const struct {
{ 11, 6.6f/4096 }, // analog airspeed input, 2:1 scaling
{ 12, 3.3f/4096 }, // analog2, on SPI port pin 3
{ 13, 16.8f/4096 }, // analog3, on SPI port pin 4
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
{ 2, 3.3f/4096 }, // 3DR Brick voltage, usually 10.1:1
// scaled from battery voltage
{ 3, 3.3f/4096 }, // 3DR Brick current, usually 17:1 scaled
@ -269,7 +269,7 @@ void PX4AnalogIn::_timer_tick(void)
if (ret > 0) {
// match the incoming channels to the currently active pins
for (uint8_t i=0; i<ret/sizeof(buf_adc[0]); i++) {
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
if (buf_adc[i].am_channel == 4) {
// record the Vcc value for later use in
// voltage_average_ratiometric()
@ -325,7 +325,7 @@ void PX4AnalogIn::_timer_tick(void)
}
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
// check for new servorail data on FMUv2
if (_servorail_handle != -1) {
struct servorail_status_s servorail;

2
libraries/AP_HAL_PX4/AnalogIn.h
View File

@ -14,7 +14,7 @@
// these are virtual pins that read from the ORB
#define PX4_ANALOG_ORB_BATTERY_VOLTAGE_PIN 100
#define PX4_ANALOG_ORB_BATTERY_CURRENT_PIN 101
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
#define PX4_ANALOG_VCC_5V_PIN 4
#define PX4_ANALOG_ORB_SERVO_VOLTAGE_PIN 102
#define PX4_ANALOG_ORB_SERVO_VRSSI_PIN 103

2
libraries/AP_HAL_PX4/GPIO.cpp
View File

@ -58,11 +58,13 @@ void PX4GPIO::init()
}
#endif
#ifdef PX4IO_DEVICE_PATH
// also try to setup for the relay pins on the IO board
_gpio_io_fd = open(PX4IO_DEVICE_PATH, O_RDWR);
if (_gpio_io_fd == -1) {
hal.console->printf("GPIO: Unable to open px4io\n");
}
#endif
}
void PX4GPIO::pinMode(uint8_t pin, uint8_t output)

5
libraries/AP_HAL_PX4/RCInput.h
View File

@ -7,6 +7,11 @@
#include <systemlib/perf_counter.h>
#include <pthread.h>
#ifndef RC_INPUT_MAX_CHANNELS
#define RC_INPUT_MAX_CHANNELS 18
#endif
class PX4::PX4RCInput : public AP_HAL::RCInput {
public:
void init(void* machtnichts);