Added support for a total of four control groups to the IO driver and IO firmware. This allows to run auxiliary payload. Cleaned up defines for RC input channel counts, this needs another sweep to then finally allow up to 16 mapped channels and up to 20-24 RAW RC channels

1 files changed, 9 insertions, 9 deletions

diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 86a40bc22..0533f1d76 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -68,7 +68,7 @@ static const uint16_t	r_page_config[] = {
 	[PX4IO_P_CONFIG_MAX_TRANSFER]		= 64,	/* XXX hardcoded magic number */
 	[PX4IO_P_CONFIG_CONTROL_COUNT]		= PX4IO_CONTROL_CHANNELS,
 	[PX4IO_P_CONFIG_ACTUATOR_COUNT]		= PX4IO_SERVO_COUNT,
-	[PX4IO_P_CONFIG_RC_INPUT_COUNT]		= PX4IO_CONTROL_CHANNELS,
+	[PX4IO_P_CONFIG_RC_INPUT_COUNT]		= PX4IO_RC_INPUT_CHANNELS,
 	[PX4IO_P_CONFIG_ADC_INPUT_COUNT]	= PX4IO_ADC_CHANNEL_COUNT,
 	[PX4IO_P_CONFIG_RELAY_COUNT]		= PX4IO_RELAY_CHANNELS,
 };
@@ -112,7 +112,7 @@ uint16_t		r_page_servos[PX4IO_SERVO_COUNT];
 uint16_t		r_page_raw_rc_input[] =
 {
 	[PX4IO_P_RAW_RC_COUNT]			= 0,
-	[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0
+	[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_RC_INPUT_CHANNELS)] = 0
 };
 
 /**
@@ -122,7 +122,7 @@ uint16_t		r_page_raw_rc_input[] =
  */
 uint16_t		r_page_rc_input[] = {
 	[PX4IO_P_RC_VALID]			= 0,
-	[PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0
+	[PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + PX4IO_RC_MAPPED_CONTROL_CHANNELS)] = 0
 };
 
 /**
@@ -172,7 +172,7 @@ volatile uint16_t	r_page_setup[] =
  *
  * Control values from the FMU.
  */
-volatile uint16_t	r_page_controls[PX4IO_CONTROL_CHANNELS];
+volatile uint16_t	r_page_controls[PX4IO_CONTROL_GROUPS * PX4IO_CONTROL_CHANNELS];
 
 /*
  * PAGE 102 does not have a buffer.
@@ -183,7 +183,7 @@ volatile uint16_t	r_page_controls[PX4IO_CONTROL_CHANNELS];
  *
  * R/C channel input configuration.
  */
-uint16_t		r_page_rc_input_config[PX4IO_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE];
+uint16_t		r_page_rc_input_config[PX4IO_RC_INPUT_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE];
 
 /* valid options */
 #define PX4IO_P_RC_CONFIG_OPTIONS_VALID	(PX4IO_P_RC_CONFIG_OPTIONS_REVERSE | PX4IO_P_RC_CONFIG_OPTIONS_ENABLED)
@@ -235,7 +235,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
 	case PX4IO_PAGE_CONTROLS:
 
 		/* copy channel data */
-		while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
+		while ((offset < PX4IO_CONTROL_GROUPS * PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
 
 			/* XXX range-check value? */
 			r_page_controls[offset] = *values;
@@ -525,7 +525,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 		unsigned index = offset - channel * PX4IO_P_RC_CONFIG_STRIDE;
 		uint16_t *conf = &r_page_rc_input_config[channel * PX4IO_P_RC_CONFIG_STRIDE];
 
-		if (channel >= PX4IO_CONTROL_CHANNELS)
+		if (channel >= PX4IO_RC_INPUT_CHANNELS)
 			return -1;
 
 		/* disable the channel until we have a chance to sanity-check it */
@@ -573,7 +573,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 				if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) {
 					count++;
 				}
-				if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_CONTROL_CHANNELS) {
+				if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
 					count++;
 				}