diff options
Diffstat (limited to 'src/modules/px4iofirmware/registers.c')
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 72 |
1 files changed, 42 insertions, 30 deletions
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 9e5d7e7e2..43161aa70 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -119,7 +119,6 @@ uint16_t r_page_raw_rc_input[] = [PX4IO_P_RAW_RC_DATA] = 0, [PX4IO_P_RAW_FRAME_COUNT] = 0, [PX4IO_P_RAW_LOST_FRAME_COUNT] = 0, - [PX4IO_P_RAW_RC_DATA] = 0, [PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_RC_INPUT_CHANNELS)] = 0 }; @@ -160,6 +159,9 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_PWM_ALTRATE] = 200, #ifdef CONFIG_ARCH_BOARD_PX4IO_V1 [PX4IO_P_SETUP_RELAYS] = 0, +#else + /* this is unused, but we will pad it for readability (the compiler pads it automatically) */ + [PX4IO_P_SETUP_RELAYS_PAD] = 0, #endif #ifdef ADC_VSERVO [PX4IO_P_SETUP_VSERVO_SCALE] = 10000, @@ -187,7 +189,8 @@ volatile uint16_t r_page_setup[] = PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM | \ PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE | \ PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED | \ - PX4IO_P_SETUP_ARMING_LOCKDOWN) + PX4IO_P_SETUP_ARMING_LOCKDOWN | \ + PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) #define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1) #define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) @@ -463,9 +466,18 @@ 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 @@ -514,18 +526,22 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) break; case PX4IO_P_SETUP_PWM_DEFAULTRATE: - if (value < 50) + if (value < 50) { value = 50; - if (value > 400) + } + if (value > 400) { value = 400; + } pwm_configure_rates(r_setup_pwm_rates, value, r_setup_pwm_altrate); break; case PX4IO_P_SETUP_PWM_ALTRATE: - if (value < 50) + if (value < 50) { value = 50; - if (value > 400) + } + if (value > 400) { value = 400; + } pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value); break; @@ -557,8 +573,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) } // check the magic value - if (value != PX4IO_REBOOT_BL_MAGIC) + if (value != PX4IO_REBOOT_BL_MAGIC) { break; + } // we schedule a reboot rather than rebooting // immediately to allow the IO board to ACK @@ -576,6 +593,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) } break; + case PX4IO_P_SETUP_RC_THR_FAILSAFE_US: + if (value > 650 && value < 2350) { + r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = value; + } + break; + default: return -1; } @@ -647,7 +670,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) { disabled = true; - } else if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) { + } else if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) { count++; } @@ -689,7 +712,7 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val { #define SELECT_PAGE(_page_name) \ do { \ - *values = &_page_name[0]; \ + *values = (uint16_t *)&_page_name[0]; \ *num_values = sizeof(_page_name) / sizeof(_page_name[0]); \ } while(0) @@ -716,30 +739,19 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val { /* * Coefficients here derived by measurement of the 5-16V - * range on one unit: + * range on one unit, validated on sample points of another unit * - * V counts - * 5 1001 - * 6 1219 - * 7 1436 - * 8 1653 - * 9 1870 - * 10 2086 - * 11 2303 - * 12 2522 - * 13 2738 - * 14 2956 - * 15 3172 - * 16 3389 + * Data in Tools/tests-host/data folder. * - * slope = 0.0046067 - * intercept = 0.3863 + * measured slope = 0.004585267878277 (int: 4585) + * nominal theoretic slope: 0.00459340659 (int: 4593) + * intercept = 0.016646394188076 (int: 16646) + * nominal theoretic intercept: 0.00 (int: 0) * - * Intercept corrected for best results @ 12V. */ unsigned counts = adc_measure(ADC_VBATT); if (counts != 0xffff) { - unsigned mV = (4150 + (counts * 46)) / 10 - 200; + unsigned mV = (166460 + (counts * 45934)) / 10000; unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000; r_page_status[PX4IO_P_STATUS_VBATT] = corrected; |