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IO compiling

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Lorenz Meier
2013-04-28 14:54:44 +02:00
parent 6479ebcc73
commit 0eafc2ade1
9 changed files with 56 additions and 25 deletions
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src/modules/px4iofirmware/controls.c
+2 -2
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@@ -288,8 +288,8 @@ controls_tick() {
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
/* mix new RC input control values to servos */
if (dsm_updated || sbus_updated || ppm_updated)
mixer_tick();
//if (dsm_updated || sbus_updated || ppm_updated)
// mixer_tick();
} else {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
src/modules/px4iofirmware/module.mk
+6 -5
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@@ -8,11 +8,12 @@ SRCS = adc.c \
registers.c \
safety.c \
sbus.c \
mixer.cpp \
../systemlib/mixer/mixer.cpp \
../systemlib/mixer/mixer_group.cpp \
../systemlib/mixer/mixer_multirotor.cpp \
../systemlib/mixer/mixer_simple.cpp \
../systemlib/up_cxxinitialize.c \
../systemlib/hx_stream.c \
../systemlib/perf_counter.c
# mixer.cpp \
# ../systemlib/mixer/mixer.cpp \
# ../systemlib/mixer/mixer_group.cpp \
# ../systemlib/mixer/mixer_multirotor.cpp \
# ../systemlib/mixer/mixer_simple.cpp \
src/modules/px4iofirmware/px4io.c
+7 -1
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@@ -64,8 +64,10 @@ struct sys_state_s system_state;
static struct hrt_call serial_dma_call;
#ifdef CONFIG_STM32_I2C1
/* store i2c reset count XXX this should be a register, together with other error counters */
volatile uint32_t i2c_loop_resets = 0;
#endif
/*
* a set of debug buffers to allow us to send debug information from ISRs
@@ -133,7 +135,9 @@ user_start(int argc, char *argv[])
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
#ifdef CONFIG_ARCH_DMA
hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
#endif
/* print some startup info */
lowsyslog("\nPX4IO: starting\n");
@@ -155,8 +159,10 @@ user_start(int argc, char *argv[])
/* initialise the control inputs */
controls_init();
#ifdef CONFIG_STM32_I2C1
/* start the i2c handler */
i2c_init();
#endif
/* add a performance counter for mixing */
perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix");
@@ -201,7 +207,7 @@ user_start(int argc, char *argv[])
/* kick the mixer */
perf_begin(mixer_perf);
mixer_tick();
// mixer_tick();
perf_end(mixer_perf);
/* kick the control inputs */
src/modules/px4iofirmware/px4io.h
+18 -7
View File
@@ -124,10 +124,18 @@ extern struct sys_state_s system_state;
#define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s))
#define POWER_SERVO(_s) stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s))
#define POWER_ACC1(_s) stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s))
#define POWER_ACC2(_s) stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s))
#define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
#define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
#ifdef GPIO_ACC1_PWR_EN
#define POWER_ACC1(_s) stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s))
#endif
#ifdef GPIO_ACC2_PWR_EN
#define POWER_ACC2(_s) stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s))
#endif
#ifdef GPIO_RELAY1_EN
#define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
#endif
#ifdef GPIO_RELAY2_EN
#define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
#endif
#define OVERCURRENT_ACC (!stm32_gpioread(GPIO_ACC_OC_DETECT))
#define OVERCURRENT_SERVO (!stm32_gpioread(GPIO_SERVO_OC_DETECT))
@@ -140,18 +148,20 @@ extern struct sys_state_s system_state;
/*
* Mixer
*/
extern void mixer_tick(void);
extern void mixer_handle_text(const void *buffer, size_t length);
//extern void mixer_tick(void);
//extern void mixer_handle_text(const void *buffer, size_t length);
/**
* Safety switch/LED.
*/
extern void safety_init(void);
#ifdef CONFIG_STM32_I2C1
/**
* FMU communications
*/
extern void i2c_init(void);
#endif
/**
* Register space
@@ -183,6 +193,7 @@ extern volatile uint8_t debug_level;
/* send a debug message to the console */
extern void isr_debug(uint8_t level, const char *fmt, ...);
#ifdef CONFIG_STM32_I2C1
void i2c_dump(void);
void i2c_reset(void);
#endif
src/modules/px4iofirmware/registers.c
+1 -1
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@@ -245,7 +245,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
/* handle text going to the mixer parser */
case PX4IO_PAGE_MIXERLOAD:
mixer_handle_text(values, num_values * sizeof(*values));
//mixer_handle_text(values, num_values * sizeof(*values));
break;
default: