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

Added flag to disable RC evaluation onboard of IO (raw values still forwarded)

This commit is contained in:
Lorenz Meier 2013-08-21 11:17:29 +02:00
parent 2a58929ffd
commit 5fbee23945
4 changed files with 36 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

31
src/drivers/px4io/px4io.cpp
View File

@ -206,7 +206,8 @@ private:
unsigned _max_relays; ///<Maximum relays supported by PX4IO
unsigned _max_transfer; ///<Maximum number of I2C transfers supported by PX4IO
unsigned _update_interval; ///<Subscription interval limiting send rate
unsigned _update_interval; ///< Subscription interval limiting send rate
bool _rc_handling_disabled; ///< If set, IO does not evaluate, but only forward the RC values
volatile int _task; ///<worker task id
volatile bool _task_should_exit; ///<worker terminate flag
@ -393,6 +394,7 @@ PX4IO::PX4IO(device::Device *interface) :
_max_relays(0),
_max_transfer(16), /* sensible default */
_update_interval(0),
_rc_handling_disabled(false),
_task(-1),
_task_should_exit(false),
_mavlink_fd(-1),
@ -588,12 +590,16 @@ PX4IO::init()
PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK |
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0);
/* publish RC config to IO */
ret = io_set_rc_config();
if (ret != OK) {
log("failed to update RC input config");
mavlink_log_info(_mavlink_fd, "[IO] RC config upload fail");
return ret;
if (_rc_handling_disabled) {
ret = io_disable_rc_handling();
} else {
/* publish RC config to IO */
ret = io_set_rc_config();
if (ret != OK) {
log("failed to update RC input config");
mavlink_log_info(_mavlink_fd, "[IO] RC config upload fail");
return ret;
}
}
}
@ -847,6 +853,15 @@ PX4IO::io_set_arming_state()
return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
}
int
PX4IO::io_disable_rc_handling()
{
uint16_t set = PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED;
uint16_t clear = 0;
return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
}
int
PX4IO::io_set_rc_config()
{
@ -1365,7 +1380,7 @@ PX4IO::print_status()
(((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (flags & PX4IO_P_STATUS_FLAGS_RC_DSM11)) ? " DSM11" : ""),
((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? " SBUS" : ""),
((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"),
((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PPM" : ""),
((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PWM_PASSTHROUGH" : ""),
((flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ? " MIXER_OK" : " MIXER_FAIL"),
((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"),
((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL"),

3
src/modules/px4iofirmware/mixer.cpp
View File

@ -132,7 +132,8 @@ mixer_tick(void)
if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) &&
!(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED)) {
/* if allowed, mix from RC inputs directly */
source = MIX_OVERRIDE;

3
src/modules/px4iofirmware/protocol.h
View File

@ -74,7 +74,7 @@
#define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f)
#define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f))
#define PX4IO_PROTOCOL_VERSION 2
#define PX4IO_PROTOCOL_VERSION 3
/* static configuration page */
#define PX4IO_PAGE_CONFIG 0
@ -157,6 +157,7 @@
#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */
#define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM (1 << 3) /* use custom failsafe values, not 0 values of mixer */
#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */
#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 5) /* Disable the IO-internal evaluation of the RC */
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
#define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */

10
src/modules/px4iofirmware/registers.c
View File

@ -158,7 +158,8 @@ volatile uint16_t r_page_setup[] =
#define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_FMU_ARMED | \
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \
PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | \
PX4IO_P_SETUP_ARMING_IO_ARM_OK)
PX4IO_P_SETUP_ARMING_IO_ARM_OK | \
PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED)
#define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1)
#define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1)
@ -335,6 +336,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED;
}
if (value & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK;
}
r_setup_arming = value;
break;
@ -427,6 +432,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
value &= PX4IO_P_RC_CONFIG_OPTIONS_VALID;
r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK;
/* clear any existing RC disabled flag */
r_setup_arming &= ~(PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED);
/* set all options except the enabled option */
conf[index] = value & ~PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;