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px4-firmware
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IO driver: Update to uORB changes

This commit is contained in:
Lorenz Meier 2015-08-20 10:48:45 +02:00
parent 48b5a1a3fd
commit b23d41e90f
1 changed files with 18 additions and 18 deletions
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36
src/drivers/px4io/px4io.cpp
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@ -672,8 +672,8 @@ PX4IO::init()
return -1;
}
if (_max_rc_input > RC_INPUT_MAX_CHANNELS)
_max_rc_input = RC_INPUT_MAX_CHANNELS;
if (_max_rc_input > input_rc_s::RC_INPUT_MAX_CHANNELS)
_max_rc_input = input_rc_s::RC_INPUT_MAX_CHANNELS;
param_get(param_find("RC_RSSI_PWM_CHAN"), &_rssi_pwm_chan);
param_get(param_find("RC_RSSI_PWM_MAX"), &_rssi_pwm_max);
@ -1675,10 +1675,10 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
int ret;
/* we don't have the status bits, so input_source has to be set elsewhere */
input_rc.input_source = RC_INPUT_SOURCE_UNKNOWN;
input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT);
uint16_t regs[RC_INPUT_MAX_CHANNELS + prolog];
uint16_t regs[input_rc_s::RC_INPUT_MAX_CHANNELS + prolog];
/*
* Read the channel count and the first 9 channels.
@ -1697,8 +1697,8 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
channel_count = regs[PX4IO_P_RAW_RC_COUNT];
/* limit the channel count */
if (channel_count > RC_INPUT_MAX_CHANNELS) {
channel_count = RC_INPUT_MAX_CHANNELS;
if (channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
}
_rc_chan_count = channel_count;
@ -1736,7 +1736,7 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
}
/* get RSSI from input channel */
if (_rssi_pwm_chan > 0 && _rssi_pwm_chan <= RC_INPUT_MAX_CHANNELS && _rssi_pwm_max - _rssi_pwm_min != 0) {
if (_rssi_pwm_chan > 0 && _rssi_pwm_chan <= input_rc_s::RC_INPUT_MAX_CHANNELS && _rssi_pwm_max - _rssi_pwm_min != 0) {
int rssi = (input_rc.values[_rssi_pwm_chan - 1] - _rssi_pwm_min) /
((_rssi_pwm_max - _rssi_pwm_min) / 100);
rssi = rssi > 100 ? 100 : rssi;
@ -1764,19 +1764,19 @@ PX4IO::io_publish_raw_rc()
/* sort out the source of the values */
if (_status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
rc_val.input_source = RC_INPUT_SOURCE_PX4IO_PPM;
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SBUS;
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SBUS;
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_ST24) {
rc_val.input_source = RC_INPUT_SOURCE_PX4IO_ST24;
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_ST24;
} else {
rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN;
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
/* only keep publishing RC input if we ever got a valid input */
if (_rc_last_valid == 0) {
@ -2660,19 +2660,19 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
/* sort out the source of the values */
if (status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
rc_val->input_source = RC_INPUT_SOURCE_PX4IO_PPM;
rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
} else if (status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
} else if (status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SBUS;
rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SBUS;
} else if (status & PX4IO_P_STATUS_FLAGS_RC_ST24) {
rc_val->input_source = RC_INPUT_SOURCE_PX4IO_ST24;
rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_ST24;
} else {
rc_val->input_source = RC_INPUT_SOURCE_UNKNOWN;
rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
}
/* read raw R/C input values */
@ -2757,7 +2757,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
on param_get()
*/
struct pwm_output_rc_config* config = (struct pwm_output_rc_config*)arg;
if (config->channel >= RC_INPUT_MAX_CHANNELS) {
if (config->channel >= input_rc_s::RC_INPUT_MAX_CHANNELS) {
/* fail with error */
return -E2BIG;
}