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-rw-r--r--src/modules/commander/gyro_calibration.cpp12
-rw-r--r--src/modules/px4iofirmware/dsm.c21
-rw-r--r--src/modules/px4iofirmware/protocol.h2
-rw-r--r--src/modules/px4iofirmware/px4io.h2
-rw-r--r--src/modules/px4iofirmware/registers.c12
-rw-r--r--src/modules/sensors/sensor_params.c6
-rw-r--r--src/modules/systemlib/param/param.c13
7 files changed, 45 insertions, 23 deletions
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp
index 82a0349c9..369e6da62 100644
--- a/src/modules/commander/gyro_calibration.cpp
+++ b/src/modules/commander/gyro_calibration.cpp
@@ -163,7 +163,9 @@ int do_gyro_calibration(int mavlink_fd)
return ERROR;
}
+ mavlink_log_info(mavlink_fd, "offset calibration done.");
+#if 0
/*** --- SCALING --- ***/
mavlink_log_info(mavlink_fd, "offset done. Rotate for scale 30x or wait 5s to skip.");
@@ -241,9 +243,14 @@ int do_gyro_calibration(int mavlink_fd)
}
float gyro_scale = baseline_integral / gyro_integral;
- float gyro_scales[] = { gyro_scale, gyro_scale, gyro_scale };
+
warnx("gyro scale: yaw (z): %6.4f", (double)gyro_scale);
mavlink_log_info(mavlink_fd, "gyro scale: yaw (z): %6.4f", (double)gyro_scale);
+#else
+ float gyro_scales[] = { 1.0f, 1.0f, 1.0f };
+#endif
+
+
if (isfinite(gyro_scales[0]) && isfinite(gyro_scales[1]) && isfinite(gyro_scales[2])) {
@@ -277,9 +284,6 @@ int do_gyro_calibration(int mavlink_fd)
warn("WARNING: auto-save of params to storage failed");
}
- // char buf[50];
- // sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
- // mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "gyro calibration done");
/* third beep by cal end routine */
diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c
index 206e27db5..433976656 100644
--- a/src/modules/px4iofirmware/dsm.c
+++ b/src/modules/px4iofirmware/dsm.c
@@ -243,28 +243,35 @@ dsm_init(const char *device)
void
dsm_bind(uint16_t cmd, int pulses)
{
+#if !defined(CONFIG_ARCH_BOARD_PX4IO_V1) && !defined(CONFIG_ARCH_BOARD_PX4IO_V2)
+ #warning DSM BIND NOT IMPLEMENTED ON UNKNOWN PLATFORM
+#else
const uint32_t usart1RxAsOutp =
GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN10;
if (dsm_fd < 0)
return;
-#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
- // XXX implement
- #warning DSM BIND NOT IMPLEMENTED ON PX4IO V2
-#else
switch (cmd) {
case dsm_bind_power_down:
/*power down DSM satellite*/
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
POWER_RELAY1(0);
+#else /* CONFIG_ARCH_BOARD_PX4IO_V2 */
+ POWER_SPEKTRUM(0);
+#endif
break;
case dsm_bind_power_up:
/*power up DSM satellite*/
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
POWER_RELAY1(1);
+#else /* CONFIG_ARCH_BOARD_PX4IO_V2 */
+ POWER_SPEKTRUM(1);
+#endif
dsm_guess_format(true);
break;
@@ -387,8 +394,10 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
values[channel] = value;
}
- if (dsm_channel_shift == 11)
+ if (dsm_channel_shift == 11) {
+ /* Set the 11-bit data indicator */
*num_values |= 0x8000;
+ }
/*
* XXX Note that we may be in failsafe here; we need to work out how to detect that.
@@ -412,7 +421,7 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
* Upon receiving a full dsm frame we attempt to decode it.
*
* @param[out] values pointer to per channel array of decoded values
- * @param[out] num_values pointer to number of raw channel values returned
+ * @param[out] num_values pointer to number of raw channel values returned, high order bit 0:10 bit data, 1:11 bit data
* @return true=decoded raw channel values updated, false=no update
*/
bool
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index f5fa0ba75..0e2cd1689 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -165,11 +165,13 @@
#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 */
+#if defined(CONFIG_ARCH_BOARD_PX4IO_V1) || defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */
#define PX4IO_P_SETUP_RELAYS_POWER1 (1<<0) /* hardware rev [1] power relay 1 */
#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 */
+#endif
#define PX4IO_P_SETUP_VBATT_SCALE 6 /* hardware rev [1] battery voltage correction factor (float) */
#define PX4IO_P_SETUP_VSERVO_SCALE 6 /* hardware rev [2] servo voltage correction factor (float) */
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index 11f4d053d..66c4ca906 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -100,7 +100,9 @@ extern uint16_t r_page_servo_idle[]; /* PX4IO_PAGE_IDLE_PWM */
#define r_setup_pwm_rates r_page_setup[PX4IO_P_SETUP_PWM_RATES]
#define r_setup_pwm_defaultrate r_page_setup[PX4IO_P_SETUP_PWM_DEFAULTRATE]
#define r_setup_pwm_altrate r_page_setup[PX4IO_P_SETUP_PWM_ALTRATE]
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
#define r_setup_relays r_page_setup[PX4IO_P_SETUP_RELAYS]
+#endif
#define r_control_values (&r_page_controls[0])
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 9c95fd1c5..8cb21e54f 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -145,7 +145,9 @@ volatile uint16_t r_page_setup[] =
[PX4IO_P_SETUP_PWM_RATES] = 0,
[PX4IO_P_SETUP_PWM_DEFAULTRATE] = 50,
[PX4IO_P_SETUP_PWM_ALTRATE] = 200,
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
[PX4IO_P_SETUP_RELAYS] = 0,
+#endif
#ifdef ADC_VSERVO
[PX4IO_P_SETUP_VSERVO_SCALE] = 10000,
#else
@@ -462,22 +464,16 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value);
break;
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
case PX4IO_P_SETUP_RELAYS:
value &= PX4IO_P_SETUP_RELAYS_VALID;
r_setup_relays = value;
-#ifdef POWER_RELAY1
POWER_RELAY1((value & PX4IO_P_SETUP_RELAYS_POWER1) ? 1 : 0);
-#endif
-#ifdef POWER_RELAY2
POWER_RELAY2((value & PX4IO_P_SETUP_RELAYS_POWER2) ? 1 : 0);
-#endif
-#ifdef POWER_ACC1
POWER_ACC1((value & PX4IO_P_SETUP_RELAYS_ACC1) ? 1 : 0);
-#endif
-#ifdef POWER_ACC2
POWER_ACC2((value & PX4IO_P_SETUP_RELAYS_ACC2) ? 1 : 0);
-#endif
break;
+#endif
case PX4IO_P_SETUP_VBATT_SCALE:
r_page_setup[PX4IO_P_SETUP_VBATT_SCALE] = value;
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 950af2eba..4d719e0e1 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -164,8 +164,9 @@ PARAM_DEFINE_FLOAT(RC15_MAX, 2000);
PARAM_DEFINE_FLOAT(RC15_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f);
-
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
+#endif
PARAM_DEFINE_INT32(RC_DSM_BIND, -1); /* -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind */
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
@@ -174,7 +175,8 @@ PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
/* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */
/* PX4IOAR: 0.00838095238 */
/* FMU standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659 */
-PARAM_DEFINE_FLOAT(BAT_V_SCALING, (3.3f * 52.0f / 5.0f / 4095.0f));
+/* FMU with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) */
+PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.00459340659f);
#endif
PARAM_DEFINE_INT32(RC_MAP_ROLL, 1);
diff --git a/src/modules/systemlib/param/param.c b/src/modules/systemlib/param/param.c
index c69de52b7..59cbcf5fb 100644
--- a/src/modules/systemlib/param/param.c
+++ b/src/modules/systemlib/param/param.c
@@ -48,6 +48,7 @@
#include <unistd.h>
#include <systemlib/err.h>
#include <errno.h>
+#include <semaphore.h>
#include <sys/stat.h>
@@ -95,18 +96,20 @@ ORB_DEFINE(parameter_update, struct parameter_update_s);
/** parameter update topic handle */
static orb_advert_t param_topic = -1;
+static sem_t param_sem = { .semcount = 1 };
+
/** lock the parameter store */
static void
param_lock(void)
{
- /* XXX */
+ //do {} while (sem_wait(&param_sem) != 0);
}
/** unlock the parameter store */
static void
param_unlock(void)
{
- /* XXX */
+ //sem_post(&param_sem);
}
/** assert that the parameter store is locked */
@@ -519,6 +522,10 @@ param_save_default(void)
int fd = open(param_get_default_file(), O_WRONLY | O_CREAT | O_EXCL);
if (fd < 0) {
+ /* do another attempt in case the unlink call is not synced yet */
+ usleep(5000);
+ fd = open(param_get_default_file(), O_WRONLY | O_CREAT | O_EXCL);
+
warn("opening '%s' for writing failed", param_get_default_file());
return fd;
}
@@ -528,7 +535,7 @@ param_save_default(void)
if (result != 0) {
warn("error exporting parameters to '%s'", param_get_default_file());
- unlink(param_get_default_file());
+ (void)unlink(param_get_default_file());
return result;
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-09 15:09:37 +0000