diff options
Diffstat (limited to 'src/modules/px4iofirmware/registers.c')
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 18 |
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++; } |