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px4-firmware
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Merge branch 'custom_io_scale'

This commit is contained in:
Lorenz Meier 2013-12-21 16:13:17 +01:00
parent 0869e24e6e b2e527ffa6
commit d96dfc0f61
1 changed files with 11 additions and 2 deletions
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13
src/drivers/px4io/px4io.cpp
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@ -237,6 +237,7 @@ private:
unsigned _update_interval; ///< Subscription interval limiting send rate
bool _rc_handling_disabled; ///< If set, IO does not evaluate, but only forward the RC values
unsigned _rc_chan_count; ///< Internal copy of the last seen number of RC channels
volatile int _task; ///<worker task id
volatile bool _task_should_exit; ///<worker terminate flag
@ -246,6 +247,7 @@ private:
perf_counter_t _perf_update; ///<local performance counter for status updates
perf_counter_t _perf_write; ///<local performance counter for PWM control writes
perf_counter_t _perf_chan_count; ///<local performance counter for channel number changes
/* cached IO state */
uint16_t _status; ///<Various IO status flags
@ -455,12 +457,14 @@ PX4IO::PX4IO(device::Device *interface) :
_max_transfer(16), /* sensible default */
_update_interval(0),
_rc_handling_disabled(false),
_rc_chan_count(0),
_task(-1),
_task_should_exit(false),
_mavlink_fd(-1),
_thread_mavlink_fd(-1),
_perf_update(perf_alloc(PC_ELAPSED, "px4io update")),
_perf_write(perf_alloc(PC_ELAPSED, "px4io write")),
_perf_update(perf_alloc(PC_ELAPSED, "io update")),
_perf_write(perf_alloc(PC_ELAPSED, "io write")),
_perf_chan_count(perf_alloc(PC_COUNT, "io rc #")),
_status(0),
_alarms(0),
_t_actuators(-1),
@ -1325,6 +1329,11 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
*/
channel_count = regs[0];
if (channel_count != _rc_chan_count)
perf_count(_perf_chan_count);
_rc_chan_count = channel_count;
if (channel_count > 9) {
ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, &regs[prolog + 9], channel_count - 9);