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px4-firmware
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FMU driver: auto param update

This commit is contained in:
Lorenz Meier 2015-05-23 15:18:13 +02:00
parent 129aa35fcd
commit 2dd94b7f0f
2 changed files with 31 additions and 24 deletions
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43
src/drivers/px4fmu/fmu.cpp
View File

@ -171,9 +171,10 @@ private:
uint8_t control_group, uint8_t control_group,
uint8_t control_index, uint8_t control_index,
float &input); float &input);
void subscribe(); void subscribe();
int set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate); int set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate);
int pwm_ioctl(file *filp, int cmd, unsigned long arg); int pwm_ioctl(file *filp, int cmd, unsigned long arg);
void update_pwm_rev_mask();
struct GPIOConfig { struct GPIOConfig {
uint32_t input; uint32_t input;
@ -549,6 +550,26 @@ PX4FMU::subscribe()
} }
} }
void
PX4FMU::update_pwm_rev_mask()
{
_reverse_pwm_mask = 0;
for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
int32_t ival;
/* fill the channel reverse mask from parameters */
sprintf(pname, "PWM_AUX_REV%d", i + 1);
param_t param_h = param_find(pname);
if (param_h != PARAM_INVALID) {
param_get(param_h, &ival);
_reverse_pwm_mask |= ((int16_t)(ival != 0)) << i;
}
}
}
void void
PX4FMU::task_main() PX4FMU::task_main()
{ {
@ -574,7 +595,7 @@ PX4FMU::task_main()
/* initialize PWM limit lib */ /* initialize PWM limit lib */
pwm_limit_init(&_pwm_limit); pwm_limit_init(&_pwm_limit);
log("starting"); update_pwm_rev_mask();
/* loop until killed */ /* loop until killed */
while (!_task_should_exit) { while (!_task_should_exit) {
@ -731,25 +752,11 @@ PX4FMU::task_main()
} }
orb_check(_param_sub, &updated); orb_check(_param_sub, &updated);
if (updated) { if (updated) {
parameter_update_s pupdate; parameter_update_s pupdate;
orb_copy(ORB_ID(parameter_update), _param_sub, &pupdate); orb_copy(ORB_ID(parameter_update), _param_sub, &pupdate);
_reverse_pwm_mask = 0;
update_pwm_rev_mask();
for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
int32_t ival;
/* fill the channel reverse mask from parameters */
sprintf(pname, "PWM_AUX_REV%d", i + 1);
param_t param_h = param_find(pname);
if (param_h != PARAM_INVALID) {
param_get(param_h, &ival);
_reverse_pwm_mask |= ((int16_t)(ival != 0)) << i;
}
}
} }
#ifdef HRT_PPM_CHANNEL #ifdef HRT_PPM_CHANNEL

12
src/drivers/px4fmu/px4fmu_params.c
View File

@ -51,7 +51,7 @@
* @max 1 * @max 1
* @group PWM Outputs * @group PWM Outputs
*/ */
PARAM_DEFINE_INT32(PWM_AUX_REV1, 1); PARAM_DEFINE_INT32(PWM_AUX_REV1, 0);
/** /**
* Inverter for main output channel 2 * Inverter for main output channel 2
@ -62,7 +62,7 @@ PARAM_DEFINE_INT32(PWM_AUX_REV1, 1);
* @max 1 * @max 1
* @group PWM Outputs * @group PWM Outputs
*/ */
PARAM_DEFINE_INT32(PWM_AUX_REV2, 1); PARAM_DEFINE_INT32(PWM_AUX_REV2, 0);
/** /**
* Inverter for main output channel 3 * Inverter for main output channel 3
@ -73,7 +73,7 @@ PARAM_DEFINE_INT32(PWM_AUX_REV2, 1);
* @max 1 * @max 1
* @group PWM Outputs * @group PWM Outputs
*/ */
PARAM_DEFINE_INT32(PWM_AUX_REV3, 1); PARAM_DEFINE_INT32(PWM_AUX_REV3, 0);
/** /**
* Inverter for main output channel 4 * Inverter for main output channel 4
@ -84,7 +84,7 @@ PARAM_DEFINE_INT32(PWM_AUX_REV3, 1);
* @max 1 * @max 1
* @group PWM Outputs * @group PWM Outputs
*/ */
PARAM_DEFINE_INT32(PWM_AUX_REV4, 1); PARAM_DEFINE_INT32(PWM_AUX_REV4, 0);
/** /**
* Inverter for main output channel 5 * Inverter for main output channel 5
@ -95,7 +95,7 @@ PARAM_DEFINE_INT32(PWM_AUX_REV4, 1);
* @max 1 * @max 1
* @group PWM Outputs * @group PWM Outputs
*/ */
PARAM_DEFINE_INT32(PWM_AUX_REV5, 1); PARAM_DEFINE_INT32(PWM_AUX_REV5, 0);
/** /**
* Inverter for main output channel 6 * Inverter for main output channel 6
@ -106,4 +106,4 @@ PARAM_DEFINE_INT32(PWM_AUX_REV5, 1);
* @max 1 * @max 1
* @group PWM Outputs * @group PWM Outputs
*/ */
PARAM_DEFINE_INT32(PWM_AUX_REV6, 1); PARAM_DEFINE_INT32(PWM_AUX_REV6, 0);