From 5fbee2394522d8b0c7a78d2751783845d011b56d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 21 Aug 2013 11:17:29 +0200 Subject: Added flag to disable RC evaluation onboard of IO (raw values still forwarded) --- src/modules/px4iofirmware/mixer.cpp | 3 ++- src/modules/px4iofirmware/protocol.h | 3 ++- src/modules/px4iofirmware/registers.c | 10 +++++++++- 3 files changed, 13 insertions(+), 3 deletions(-) (limited to 'src/modules/px4iofirmware') diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index d8c0e58ba..3ddad9ef7 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -132,7 +132,8 @@ mixer_tick(void) if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && - (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) { + (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) && + !(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED)) { /* if allowed, mix from RC inputs directly */ source = MIX_OVERRIDE; diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 3c59a75a7..2dda59124 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -74,7 +74,7 @@ #define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f) #define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f)) -#define PX4IO_PROTOCOL_VERSION 2 +#define PX4IO_PROTOCOL_VERSION 3 /* static configuration page */ #define PX4IO_PAGE_CONFIG 0 @@ -157,6 +157,7 @@ #define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */ #define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM (1 << 3) /* use custom failsafe values, not 0 values of mixer */ #define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */ +#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 5) /* Disable the IO-internal evaluation of the RC */ #define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ #define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 3f241d29c..7cae09fef 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -158,7 +158,8 @@ volatile uint16_t r_page_setup[] = #define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_FMU_ARMED | \ PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \ PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | \ - PX4IO_P_SETUP_ARMING_IO_ARM_OK) + PX4IO_P_SETUP_ARMING_IO_ARM_OK | \ + PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) #define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1) #define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) @@ -335,6 +336,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; } + if (value & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) { + r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK; + } + r_setup_arming = value; break; @@ -427,6 +432,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) value &= PX4IO_P_RC_CONFIG_OPTIONS_VALID; r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK; + /* clear any existing RC disabled flag */ + r_setup_arming &= ~(PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED); + /* set all options except the enabled option */ conf[index] = value & ~PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; -- cgit v1.2.3