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| author | Jean Cyr <jcyr@dillobits.com> | 2013-07-09 20:37:00 -0400 |
|---|---|---|
| committer | Jean Cyr <jcyr@dillobits.com> | 2013-07-09 20:37:00 -0400 |
| commit | 897b541b12d5782af51ce0a78658cc153bd13544 (patch) | |
| tree | 9f4ff4b364a7967f96ce3b38fb45e2518f497213 /src/modules/px4iofirmware | |
| parent | 328f4f8c872a0e33857fd9a1112963438a87165b (diff) | |
| download | px4-firmware-897b541b12d5782af51ce0a78658cc153bd13544.tar.gz px4-firmware-897b541b12d5782af51ce0a78658cc153bd13544.tar.bz2 px4-firmware-897b541b12d5782af51ce0a78658cc153bd13544.zip | |
General cleanup of /dev/px4io and /dev/px4fmu
- Use distinct common symbols for px4io and px4fmu device files, and use
instead of hardcoded filenames
- Use common symbols defining px4io bits consistently between px4fmu and
px4io builds.
Diffstat (limited to 'src/modules/px4iofirmware')
| -rw-r--r-- | src/modules/px4iofirmware/protocol.h | 7 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 8 |
2 files changed, 11 insertions, 4 deletions
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 6ee5c2834..88d8cc87c 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -157,6 +157,13 @@ #define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ #define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */ #define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */ + +/* px4io relay bit definitions */ +#define PX4IO_RELAY1 (1<<0) +#define PX4IO_RELAY2 (1<<1) +#define PX4IO_ACC1 (1<<2) +#define PX4IO_ACC2 (1<<3) + #define PX4IO_P_SETUP_VBATT_SCALE 6 /* battery voltage correction factor (float) */ #define PX4IO_P_SETUP_DSM 7 /* DSM bind state */ enum { /* DSM bind states */ diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 805eb7ecc..a922362b6 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -349,10 +349,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_P_SETUP_RELAYS: value &= PX4IO_P_SETUP_RELAYS_VALID; r_setup_relays = value; - POWER_RELAY1(value & (1 << 0) ? 1 : 0); - POWER_RELAY2(value & (1 << 1) ? 1 : 0); - POWER_ACC1(value & (1 << 2) ? 1 : 0); - POWER_ACC2(value & (1 << 3) ? 1 : 0); + POWER_RELAY1(value & PX4IO_RELAY1 ? 1 : 0); + POWER_RELAY2(value & PX4IO_RELAY2 ? 1 : 0); + POWER_ACC1(value & PX4IO_ACC1 ? 1 : 0); + POWER_ACC2(value & PX4IO_ACC2 ? 1 : 0); break; case PX4IO_P_SETUP_SET_DEBUG: |