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px4-firmware
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Load IO params for mask

This commit is contained in:
Lorenz Meier 2015-05-23 14:56:25 +02:00
parent c46c150a3d
commit b155e97a54
1 changed files with 28 additions and 0 deletions
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28
src/drivers/px4io/px4io.cpp
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@ -1089,6 +1089,26 @@ PX4IO::task_main()
param_get(param_find("RC_RSSI_PWM_MAX"), &_rssi_pwm_max); param_get(param_find("RC_RSSI_PWM_MAX"), &_rssi_pwm_max);
param_get(param_find("RC_RSSI_PWM_MIN"), &_rssi_pwm_min); param_get(param_find("RC_RSSI_PWM_MIN"), &_rssi_pwm_min);
/*
* Set invert mask for PWM outputs (does not apply to S.Bus)
*/
int16_t pwm_invert_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_MAIN_REV%d", i + 1);
param_t param_h = param_find(pname);
if (param_h != PARAM_INVALID) {
param_get(param_h, &ival);
pwm_invert_mask |= ((int16_t)(ival != 0)) << i;
}
}
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE, pwm_invert_mask);
} }
} }
@ -2095,7 +2115,15 @@ PX4IO::print_status(bool extended_status)
for (unsigned i = 0; i < _max_actuators; i++) for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_SERVOS, i)); printf(" %u", io_reg_get(PX4IO_PAGE_SERVOS, i));
uint16_t pwm_invert_mask = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE);
printf("\n"); printf("\n");
printf("reversed outputs: [");
for (unsigned i = 0; i < _max_actuators; i++) {
printf("%s", (pwm_invert_mask & (1 << i)) ? "x" : "_");
}
printf("]\n");
uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT); uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT);
printf("%d raw R/C inputs", raw_inputs); printf("%d raw R/C inputs", raw_inputs);