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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-21 11:17:29 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-21 11:17:29 +0200 |
commit | 5fbee2394522d8b0c7a78d2751783845d011b56d (patch) | |
tree | 78f0b0b3148c915876b318847b4015472c89e264 | |
parent | 2a58929ffde494ba7db0bd09178545d5d650b420 (diff) | |
download | px4-firmware-5fbee2394522d8b0c7a78d2751783845d011b56d.tar.gz px4-firmware-5fbee2394522d8b0c7a78d2751783845d011b56d.tar.bz2 px4-firmware-5fbee2394522d8b0c7a78d2751783845d011b56d.zip |
Added flag to disable RC evaluation onboard of IO (raw values still forwarded)
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 31 | ||||
-rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 3 | ||||
-rw-r--r-- | src/modules/px4iofirmware/protocol.h | 3 | ||||
-rw-r--r-- | src/modules/px4iofirmware/registers.c | 10 |
4 files changed, 36 insertions, 11 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index cebe33996..afbd4e695 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -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; + } } } @@ -848,6 +854,15 @@ PX4IO::io_set_arming_state() } 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() { unsigned offset = 0; @@ -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"), diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index d8c0e58ba..3ddad9ef7 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -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; diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 3c59a75a7..2dda59124 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -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 */ diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 3f241d29c..7cae09fef 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -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; |