dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Merge branch 'px4io-i2c-memory-squeeze' of github.com:PX4/Firmware into px4io-i2c-memory-squeeze

This commit is contained in:
Lorenz Meier 2013-02-25 07:55:07 +01:00
parent b922870fd3 e622835555
commit 2ad41b8373
5 changed files with 35 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

29
apps/drivers/px4io/px4io.cpp
View File

@ -101,6 +101,7 @@ public:
private:
// XXX
unsigned _max_actuators;
unsigned _max_controls;
unsigned _max_rc_input;
unsigned _max_relays;
unsigned _max_transfer;
@ -277,6 +278,7 @@ PX4IO *g_dev;
PX4IO::PX4IO() :
I2C("px4io", "/dev/px4io", PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO, 320000),
_max_actuators(0),
_max_controls(0),
_max_rc_input(0),
_max_relays(0),
_max_transfer(16), /* sensible default */
@ -342,6 +344,7 @@ PX4IO::init()
/* get some parameters */
_max_actuators = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT);
_max_controls = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT);
_max_relays = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT);
_max_transfer = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER) - 2;
_max_rc_input = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT);
@ -637,11 +640,11 @@ PX4IO::io_set_control_state()
orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
ORB_ID(actuator_controls_1), _t_actuators, &controls);
for (unsigned i = 0; i < _max_actuators; i++)
for (unsigned i = 0; i < _max_controls; i++)
regs[i] = FLOAT_TO_REG(controls.control[i]);
/* copy values to registers in IO */
return io_reg_set(PX4IO_PAGE_CONTROLS, 0, regs, _max_actuators);
return io_reg_set(PX4IO_PAGE_CONTROLS, 0, regs, _max_controls);
}
int
@ -1219,7 +1222,7 @@ PX4IO::print_status()
printf("mapped R/C inputs 0x%04x", mapped_inputs);
for (unsigned i = 0; i < _max_rc_input; i++) {
if (mapped_inputs & (1 << i))
printf(" %u:%u", i, io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_BASE + i));
printf(" %u:%d", i, REG_TO_SIGNED(io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_BASE + i)));
}
printf("\n");
uint16_t adc_inputs = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ADC_INPUT_COUNT);
@ -1228,7 +1231,7 @@ PX4IO::print_status()
printf(" %u", io_reg_get(PX4IO_PAGE_RAW_ADC_INPUT, i));
printf("\n");
/* setup */
/* setup and state */
printf("features 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES));
uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
printf("arming 0x%04x%s%s%s%s\n",
@ -1247,6 +1250,24 @@ PX4IO::print_status()
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_SCALE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_BIAS));
printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG));
printf("controls");
for (unsigned i = 0; i < _max_controls; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_CONTROLS, i));
printf("\n");
for (unsigned i = 0; i < _max_rc_input; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
uint16_t options = io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_OPTIONS);
printf("input %u min %u center %u max %u deadzone %u assigned %u options 0x%04x%s%s\n",
i,
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MAX),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_DEADZONE),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_ASSIGNMENT),
options,
((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""),
((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : ""));
}
printf("failsafe");
for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i));

5
apps/px4io/controls.c
View File

@ -119,7 +119,6 @@ controls_tick() {
ASSERT(r_raw_rc_count <= MAX_CONTROL_CHANNELS);
/*
* In some cases we may have received a frame, but input has still
* been lost.
@ -168,8 +167,8 @@ controls_tick() {
int16_t scaled = raw;
/* adjust to zero-relative (-500..500) */
scaled -= 1500;
/* adjust to zero-relative around center (nominal -500..500) */
scaled -= conf[PX4IO_P_RC_CONFIG_CENTER];
/* scale to fixed-point representation (-10000..10000) */
scaled *= 20;

6
apps/px4io/mixer.cpp
View File

@ -94,9 +94,13 @@ mixer_tick(void)
if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) {
debug("AP RX timeout");
}
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM);
r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST;
/* XXX this is questionable - vehicle may not make sense for direct control */
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
} else {
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
}
source = MIX_FAILSAFE;

4
apps/px4io/registers.c
View File

@ -165,8 +165,8 @@ volatile uint16_t r_page_controls[PX4IO_CONTROL_CHANNELS];
*/
uint16_t r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE];
/* valid options excluding ENABLE */
#define PX4IO_P_RC_CONFIG_OPTIONS_VALID PX4IO_P_RC_CONFIG_OPTIONS_REVERSE
/* valid options */
#define PX4IO_P_RC_CONFIG_OPTIONS_VALID (PX4IO_P_RC_CONFIG_OPTIONS_REVERSE | PX4IO_P_RC_CONFIG_OPTIONS_ENABLED)
/*
* PAGE 104 uses r_page_servos.

2
nuttx/configs/px4io/io/defconfig
View File

@ -541,7 +541,7 @@ CONFIG_BOOT_COPYTORAM=n
CONFIG_CUSTOM_STACK=n
CONFIG_STACK_POINTER=
CONFIG_IDLETHREAD_STACKSIZE=1024
CONFIG_USERMAIN_STACKSIZE=800
CONFIG_USERMAIN_STACKSIZE=1200
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_PTHREAD_STACK_DEFAULT=1024
CONFIG_HEAP_BASE=