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author | Simon Wilks <sjwilks@gmail.com> | 2013-01-06 04:21:04 +0100 |
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committer | Simon Wilks <sjwilks@gmail.com> | 2013-01-06 04:21:04 +0100 |
commit | 7842caf3b2d5686c4e909d7d7f28758119e8918f (patch) | |
tree | bb0b773138ea9997543ef7c98a6433c4e19ba408 | |
parent | 0a89ab7075e4d637c91e21246c4790599f046aec (diff) | |
download | px4-firmware-7842caf3b2d5686c4e909d7d7f28758119e8918f.tar.gz px4-firmware-7842caf3b2d5686c4e909d7d7f28758119e8918f.tar.bz2 px4-firmware-7842caf3b2d5686c4e909d7d7f28758119e8918f.zip |
Moved the channel mappings and attributes to the config section
-rw-r--r-- | apps/drivers/px4io/px4io.cpp | 75 | ||||
-rw-r--r-- | apps/px4io/comms.c | 27 | ||||
-rw-r--r-- | apps/px4io/controls.c | 3 | ||||
-rw-r--r-- | apps/px4io/mixer.cpp | 12 | ||||
-rw-r--r-- | apps/px4io/protocol.h | 13 | ||||
-rw-r--r-- | apps/px4io/px4io.h | 4 |
6 files changed, 74 insertions, 60 deletions
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index 07c65d8cd..cc6a425a3 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -222,7 +222,7 @@ PX4IO::PX4IO() : _relays(0), _switch_armed(false), _send_needed(false), - _config_needed(false) + _config_needed(true) { /* we need this potentially before it could be set in task_main */ g_dev = this; @@ -447,12 +447,6 @@ PX4IO::task_main() } } - /* send an update to IO if required */ - if (_send_needed) { - _send_needed = false; - io_send(); - } - /* send a config packet to IO if required */ if (_config_needed) { _config_needed = false; @@ -467,6 +461,12 @@ PX4IO::task_main() _mix_buf = nullptr; _mix_buf_len = 0; } + + /* send an update to IO if required */ + if (_send_needed) { + _send_needed = false; + io_send(); + } } unlock(); @@ -608,49 +608,60 @@ PX4IO::io_send() cmd.manual_override_ok = _vstatus.flag_external_manual_override_ok; /* set desired PWM output rate */ cmd.servo_rate = _update_rate; + + ret = hx_stream_send(_io_stream, &cmd, sizeof(cmd)); - /* maintaing the standard order of Roll, Pitch, Yaw, Throttle */ - cmd.rc_map[0] = param_find("RC_MAP_ROLL"); - cmd.rc_map[1] = param_find("RC_MAP_PITCH"); - cmd.rc_map[2] = param_find("RC_MAP_YAW"); - cmd.rc_map[3] = param_find("RC_MAP_THROTTLE"); + if (ret) + debug("send error %d", ret); +} + +void +PX4IO::config_send() +{ + px4io_config cfg; + int ret; + + cfg.f2i_config_magic = F2I_CONFIG_MAGIC; + + int val; + + /* maintaing the standard order of Roll, Pitch, Yaw, Throttle */ + param_get(param_find("RC_MAP_ROLL"), &val); + cfg.rc_map[0] = (uint8_t)val; + param_get(param_find("RC_MAP_PITCH"), &val); + cfg.rc_map[1] = (uint8_t)val; + param_get(param_find("RC_MAP_YAW"), &val); + cfg.rc_map[2] = (uint8_t)val; + param_get(param_find("RC_MAP_THROTTLE"), &val); + cfg.rc_map[3] = (uint8_t)val; /* set the individual channel properties */ char nbuf[16]; for (unsigned i = 0; i < 4; i++) { - sprintf(nbuf, "RC%d_MIN", i); - cmd.rc_min[i] = (uint16_t)param_find(nbuf); + sprintf(nbuf, "RC%d_MIN", i); + param_get(param_find(nbuf), &val); + cfg.rc_min[i] = (uint16_t)val; } for (unsigned i = 0; i < 4; i++) { sprintf(nbuf, "RC%d_TRIM", i); - cmd.rc_trim[i] = (uint16_t)param_find(nbuf); + param_get(param_find(nbuf), &val); + cfg.rc_trim[i] = (uint16_t)val; } for (unsigned i = 0; i < 4; i++) { sprintf(nbuf, "RC%d_MAX", i); - cmd.rc_max[i] = (uint16_t)param_find(nbuf); + param_get(param_find(nbuf), &val); + cfg.rc_max[i] = (uint16_t)val; } for (unsigned i = 0; i < 4; i++) { sprintf(nbuf, "RC%d_REV", i); - cmd.rc_rev[i] = (uint16_t)param_find(nbuf); + param_get(param_find(nbuf), &val); + cfg.rc_rev[i] = (uint16_t)val; } for (unsigned i = 0; i < 4; i++) { sprintf(nbuf, "RC%d_DZ", i); - cmd.rc_dz[i] = (uint16_t)param_find(nbuf); + param_get(param_find(nbuf), &val); + cfg.rc_dz[i] = (uint16_t)val; } - - ret = hx_stream_send(_io_stream, &cmd, sizeof(cmd)); - - if (ret) - debug("send error %d", ret); -} - -void -PX4IO::config_send() -{ - px4io_config cfg; - int ret; - - cfg.f2i_config_magic = F2I_CONFIG_MAGIC; ret = hx_stream_send(_io_stream, &cfg, sizeof(cfg)); diff --git a/apps/px4io/comms.c b/apps/px4io/comms.c index 2733877a2..85da65767 100644 --- a/apps/px4io/comms.c +++ b/apps/px4io/comms.c @@ -162,6 +162,20 @@ comms_handle_config(const void *buffer, size_t length) } frame_rx++; + + /* fetch the rc mappings */ + for (unsigned i = 0; i < 4; i++) { + system_state.rc_map[i] = cfg->rc_map[i]; + } + + /* fetch the rc channel attributes */ + for (unsigned i = 0; i < 4; i++) { + system_state.rc_min[i] = cfg->rc_min[i]; + system_state.rc_trim[i] = cfg->rc_trim[i]; + system_state.rc_max[i] = cfg->rc_max[i]; + system_state.rc_rev[i] = cfg->rc_rev[i]; + system_state.rc_dz[i] = cfg->rc_dz[i]; + } } static void @@ -207,19 +221,6 @@ comms_handle_command(const void *buffer, size_t length) system_state.servo_rate = new_servo_rate; } - /* fetch the rc mappings */ - for (unsigned i = 0; i < 4; i++) - system_state.rc_map[i] = cmd->rc_map[i]; - - /* fetch the rc channel attributes */ - for (unsigned i = 0; i < 4; i++) { - system_state.rc_min[i] = cmd->rc_min[i]; - system_state.rc_trim[i] = cmd->rc_trim[i]; - system_state.rc_max[i] = cmd->rc_max[i]; - system_state.rc_rev[i] = cmd->rc_rev[i]; - system_state.rc_dz[i] = cmd->rc_dz[i]; - } - /* * update servo values immediately. * the updates are done in addition also diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c index 564687b58..32fd7c33f 100644 --- a/apps/px4io/controls.c +++ b/apps/px4io/controls.c @@ -172,8 +172,9 @@ ppm_input(void) /* PPM data exists, copy it */ system_state.rc_channels = ppm_decoded_channels; - for (unsigned i = 0; i < ppm_decoded_channels; i++) + for (unsigned i = 0; i < ppm_decoded_channels; i++) { system_state.rc_channel_data[i] = ppm_buffer[i]; + } /* copy the timestamp and clear it */ system_state.rc_channels_timestamp = ppm_last_valid_decode; diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp index d65602587..341c2e276 100644 --- a/apps/px4io/mixer.cpp +++ b/apps/px4io/mixer.cpp @@ -99,7 +99,7 @@ mixer_tick(void) /* too many frames without FMU input, time to go to failsafe */ system_state.mixer_manual_override = true; system_state.mixer_fmu_available = false; - //lib_lowprintf("RX timeout\n"); + lib_lowprintf("RX timeout\n"); } /* @@ -121,10 +121,10 @@ mixer_tick(void) sched_lock(); /* remap roll, pitch, yaw and throttle from RC specific to internal ordering */ - rc_channel_data[ROLL] = system_state.rc_channel_data[system_state.rc_map[ROLL]]; - rc_channel_data[PITCH] = system_state.rc_channel_data[system_state.rc_map[PITCH]]; - rc_channel_data[YAW] = system_state.rc_channel_data[system_state.rc_map[YAW]]; - rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE]]; + rc_channel_data[ROLL] = system_state.rc_channel_data[system_state.rc_map[ROLL] - 1]; + rc_channel_data[PITCH] = system_state.rc_channel_data[system_state.rc_map[PITCH] - 1]; + rc_channel_data[YAW] = system_state.rc_channel_data[system_state.rc_map[YAW] - 1]; + rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE] - 1]; /* get the remaining channels, no remapping needed */ for (unsigned i = 4; i < system_state.rc_channels; i++) @@ -133,6 +133,8 @@ mixer_tick(void) /* scale the control inputs */ rc_channel_data[THROTTLE] = ((rc_channel_data[THROTTLE] - system_state.rc_min[THROTTLE]) / (system_state.rc_max[THROTTLE] - system_state.rc_min[THROTTLE])) * 1000 + 1000; + //lib_lowprintf("Tmin: %d Ttrim: %d Tmax: %d T: %d \n", + // system_state.rc_min[THROTTLE], system_state.rc_trim[THROTTLE], system_state.rc_max[THROTTLE], rc_channel_data[THROTTLE]); control_values = &rc_channel_data[0]; sched_unlock(); diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h index 2632604ca..303e4a674 100644 --- a/apps/px4io/protocol.h +++ b/apps/px4io/protocol.h @@ -60,12 +60,6 @@ struct px4io_command { bool arm_ok; /**< FMU allows full arming */ bool vector_flight_mode_ok; /**< FMU aquired a valid position lock, ready for pos control */ bool manual_override_ok; /**< if true, IO performs a direct manual override */ - uint16_t rc_map[4]; /**< channel ordering of roll, pitch, yaw, throttle */ - uint16_t rc_min[4]; /**< min value for each channel */ - uint16_t rc_trim[4]; /**< trim value for each channel */ - uint16_t rc_max[4]; /**< max value for each channel */ - uint16_t rc_rev[4]; /**< rev value for each channel */ - uint16_t rc_dz[4]; /**< dz value for each channel */ }; /** @@ -87,7 +81,12 @@ struct px4io_config { uint16_t f2i_config_magic; #define F2I_CONFIG_MAGIC 0x6366 - /* XXX currently nothing here */ + uint8_t rc_map[4]; /**< channel ordering of roll, pitch, yaw, throttle */ + uint16_t rc_min[4]; /**< min value for each channel */ + uint16_t rc_trim[4]; /**< trim value for each channel */ + uint16_t rc_max[4]; /**< max value for each channel */ + uint16_t rc_rev[4]; /**< rev value for each channel */ + uint16_t rc_dz[4]; /**< dz value for each channel */ }; /** diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h index ef1584026..01829e520 100644 --- a/apps/px4io/px4io.h +++ b/apps/px4io/px4io.h @@ -75,7 +75,7 @@ struct sys_state_s { /** * Remote control input(s) channel mappings */ - uint16_t rc_map[4]; + uint8_t rc_map[4]; /** * Remote control channel attributes @@ -85,7 +85,7 @@ struct sys_state_s { uint16_t rc_max[4]; uint16_t rc_rev[4]; uint16_t rc_dz[4]; - + /** * Data from the remote control input(s) */ |