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-rw-r--r--src/modules/px4iofirmware/controls.c7
-rw-r--r--src/modules/px4iofirmware/mixer.cpp16
-rw-r--r--src/modules/px4iofirmware/protocol.h14
-rw-r--r--src/modules/px4iofirmware/px4io.h2
-rw-r--r--src/modules/px4iofirmware/registers.c39
-rw-r--r--src/modules/px4iofirmware/sbus.c15
6 files changed, 77 insertions, 16 deletions
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index 56c5aa005..62e6b12cb 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -291,6 +291,7 @@ controls_tick() {
/* set RC OK flag, as we got an update */
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK;
+ r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_OK;
/* if we have enough channels (5) to control the vehicle, the mapping is ok */
if (assigned_channels > 4) {
@@ -336,6 +337,9 @@ controls_tick() {
PX4IO_P_STATUS_FLAGS_OVERRIDE |
PX4IO_P_STATUS_FLAGS_RC_OK);
+ /* flag raw RC as lost */
+ r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_RC_OK);
+
/* Mark all channels as invalid, as we just lost the RX */
r_rc_valid = 0;
@@ -405,8 +409,9 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
if (*num_values > PX4IO_RC_INPUT_CHANNELS)
*num_values = PX4IO_RC_INPUT_CHANNELS;
- for (unsigned i = 0; i < *num_values; i++)
+ for (unsigned i = 0; i < *num_values; i++) {
values[i] = ppm_buffer[i];
+ }
/* clear validity */
ppm_last_valid_decode = 0;
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 9558198f3..2f721bf1e 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -213,6 +213,7 @@ mixer_tick(void)
mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT);
in_mixer = false;
+ /* the pwm limit call takes care of out of band errors */
pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++)
@@ -254,10 +255,25 @@ 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/protocol.h b/src/modules/px4iofirmware/protocol.h
index 6c20d6006..7471faec7 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -142,6 +142,7 @@
#define PX4IO_P_RAW_RC_FLAGS_FAILSAFE (1 << 1) /* receiver is in failsafe mode */
#define PX4IO_P_RAW_RC_FLAGS_RC_DSM11 (1 << 2) /* DSM decoding is 11 bit mode */
#define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK (1 << 3) /* Channel mapping is ok */
+#define PX4IO_P_RAW_RC_FLAGS_RC_OK (1 << 4) /* RC reception ok */
#define PX4IO_P_RAW_RC_NRSSI 2 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
#define PX4IO_P_RAW_RC_DATA 3 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
@@ -189,6 +190,8 @@
#define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* hardware rev [1] power relay 2 */
#define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* hardware rev [1] accessory power 1 */
#define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* hardware rev [1] accessory power 2 */
+#else
+#define PX4IO_P_SETUP_RELAYS_PAD 5
#endif
#define PX4IO_P_SETUP_VBATT_SCALE 6 /* hardware rev [1] battery voltage correction factor (float) */
@@ -208,15 +211,16 @@ enum { /* DSM bind states */
#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */
#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */
- /* 12 occupied by CRC */
+ /* storage space of 12 occupied by CRC */
+#define PX4IO_P_SETUP_FORCE_SAFETY_OFF 12 /* force safety switch into
+ 'armed' (PWM enabled) state - this is a non-data write and
+ hence index 12 can safely be used. */
#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */
-#define PX4IO_P_SETUP_FORCE_SAFETY_OFF 12 /* force safety switch into
- 'armed' (PWM enabled) state */
-#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */
+#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */
/* autopilot control values, -10000..10000 */
-#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */
+#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */
#define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
#define PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
#define PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
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..db1836f4a 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -160,6 +160,9 @@ 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,
@@ -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;
}
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;
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-24 21:07:04 +0000