diff options
| -rwxr-xr-x | nuttx-configs/px4io-v2/include/board.h | 2 | ||||
| -rwxr-xr-x | nuttx-configs/px4io-v2/nsh/defconfig | 4 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 15 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/px4io.h | 2 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 15 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/sbus.c | 15 |
6 files changed, 44 insertions, 9 deletions
diff --git a/nuttx-configs/px4io-v2/include/board.h b/nuttx-configs/px4io-v2/include/board.h index 4b9c90638..17e77918b 100755 --- a/nuttx-configs/px4io-v2/include/board.h +++ b/nuttx-configs/px4io-v2/include/board.h @@ -103,8 +103,6 @@ #define GPIO_USART2_RTS 0xffffffff #undef GPIO_USART2_CK #define GPIO_USART2_CK 0xffffffff -#undef GPIO_USART3_TX -#define GPIO_USART3_TX 0xffffffff #undef GPIO_USART3_CK #define GPIO_USART3_CK 0xffffffff #undef GPIO_USART3_CTS diff --git a/nuttx-configs/px4io-v2/nsh/defconfig b/nuttx-configs/px4io-v2/nsh/defconfig index 4111e70eb..e6563e587 100755 --- a/nuttx-configs/px4io-v2/nsh/defconfig +++ b/nuttx-configs/px4io-v2/nsh/defconfig @@ -104,9 +104,9 @@ CONFIG_ARMV7M_CMNVECTOR=y # CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled # CONFIG_STM32_DFU=n -CONFIG_STM32_JTAG_FULL_ENABLE=y +CONFIG_STM32_JTAG_FULL_ENABLE=n CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n -CONFIG_STM32_JTAG_SW_ENABLE=n +CONFIG_STM32_JTAG_SW_ENABLE=y # # Individual subsystems can be enabled: diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 9558198f3..ebf4f3e8e 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -254,10 +254,25 @@ mixer_tick(void) for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) up_pwm_servo_set(i, r_page_servos[i]); + /* set S.BUS1 or S.BUS2 outputs */ + + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) { + sbus2_output(r_page_servos, PX4IO_SERVO_COUNT); + } else if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) { + sbus1_output(r_page_servos, PX4IO_SERVO_COUNT); + } + } else if (mixer_servos_armed && should_always_enable_pwm) { /* set the disarmed servo outputs. */ for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) up_pwm_servo_set(i, r_page_servo_disarmed[i]); + + /* set S.BUS1 or S.BUS2 outputs */ + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) + sbus1_output(r_page_servos, PX4IO_SERVO_COUNT); + + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) + sbus2_output(r_page_servos, PX4IO_SERVO_COUNT); } } diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index 4db948484..ca175bfbc 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -219,6 +219,8 @@ extern bool dsm_input(uint16_t *values, uint16_t *num_values); extern void dsm_bind(uint16_t cmd, int pulses); extern int sbus_init(const char *device); extern bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels); +extern bool sbus1_output(uint16_t *values, uint16_t num_values); +extern bool sbus2_output(uint16_t *values, uint16_t num_values); /** global debug level for isr_debug() */ extern volatile uint8_t debug_level; diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 9e5d7e7e2..fd7c6081f 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -463,9 +463,18 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) #ifdef ENABLE_SBUS_OUT ENABLE_SBUS_OUT(value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT)); - /* disable the conflicting options */ - if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT)) { - value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | PX4IO_P_SETUP_FEATURES_ADC_RSSI); + /* disable the conflicting options with SBUS 1 */ + if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT)) { + value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | + PX4IO_P_SETUP_FEATURES_ADC_RSSI | + PX4IO_P_SETUP_FEATURES_SBUS2_OUT); + } + + /* disable the conflicting options with SBUS 2 */ + if (value & (PX4IO_P_SETUP_FEATURES_SBUS2_OUT)) { + value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | + PX4IO_P_SETUP_FEATURES_ADC_RSSI | + PX4IO_P_SETUP_FEATURES_SBUS1_OUT); } #endif diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index f6ec542eb..0e7dc621c 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -93,7 +93,7 @@ int sbus_init(const char *device) { if (sbus_fd < 0) - sbus_fd = open(device, O_RDONLY | O_NONBLOCK); + sbus_fd = open(device, O_RDWR | O_NONBLOCK); if (sbus_fd >= 0) { struct termios t; @@ -113,11 +113,22 @@ sbus_init(const char *device) } else { debug("S.Bus: open failed"); } - return sbus_fd; } bool +sbus1_output(uint16_t *values, uint16_t num_values) +{ + write(sbus_fd, 'A', 1); +} + +bool +sbus2_output(uint16_t *values, uint16_t num_values) +{ + write(sbus_fd, 'B', 1); +} + +bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels) { ssize_t ret; |