Merged release_v1.0.0 into master

2026-11-07 03:41:35 +08:00 · 2015-05-27 15:28:41 -07:00
parent a2bb8cd766 d7547d388f
commit 4565f57468
102 changed files with 977 additions and 2266 deletions
@@ -40,7 +40,8 @@ MODULE_COMMAND		= px4io
 SRCS			= px4io.cpp \
 			  px4io_uploader.cpp \
 			  px4io_serial.cpp \
-			  px4io_i2c.cpp
+			  px4io_i2c.cpp \
+			  px4io_params.c

 # XXX prune to just get UART registers
 INCLUDE_DIRS    += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
@@ -281,6 +281,7 @@ private:
 	int			_t_actuator_armed;	///< system armed control topic
 	int 			_t_vehicle_control_mode;///< vehicle control mode topic
 	int			_t_param;		///< parameter update topic
+	bool			_param_update_force;	///< force a parameter update
 	int			_t_vehicle_command;	///< vehicle command topic

 	/* advertised topics */
@@ -514,6 +515,7 @@ PX4IO::PX4IO(device::Device *interface) :
 	_t_actuator_armed(-1),
 	_t_vehicle_control_mode(-1),
 	_t_param(-1),
+	_param_update_force(false),
 	_t_vehicle_command(-1),
 	_to_input_rc(nullptr),
 	_to_outputs(nullptr),
@@ -766,7 +768,7 @@ PX4IO::init()
 		cmd.param5 = 0;
 		cmd.param6 = 0;
 		cmd.param7 = 0;
-		cmd.command = VEHICLE_CMD_COMPONENT_ARM_DISARM;
+		cmd.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM;

 		/* ask to confirm command */
 		cmd.confirmation =  1;
@@ -917,6 +919,8 @@ PX4IO::task_main()
 	fds[0].fd = _t_actuator_controls_0;
 	fds[0].events = POLLIN;

+	_param_update_force = true;
+
 	/* lock against the ioctl handler */
 	lock();

@@ -1005,7 +1009,7 @@ PX4IO::task_main()
 				orb_copy(ORB_ID(vehicle_command), _t_vehicle_command, &cmd);

 				// Check for a DSM pairing command
-				if (((int)cmd.command == VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) {
+				if (((int)cmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) {
 					dsm_bind_ioctl((int)cmd.param2);
 				}
 			}
@@ -1017,7 +1021,8 @@ PX4IO::task_main()
 			 */
 			orb_check(_t_param, &updated);

-			if (updated) {
+			if (updated || _param_update_force) {
+				_param_update_force = false;
 				parameter_update_s pupdate;
 				orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);

@@ -1089,6 +1094,26 @@ PX4IO::task_main()
 				param_get(param_find("RC_RSSI_PWM_MAX"), &_rssi_pwm_max);
 				param_get(param_find("RC_RSSI_PWM_MIN"), &_rssi_pwm_min);

+				/*
+				 * Set invert mask for PWM outputs (does not apply to S.Bus)
+				 */
+				int16_t pwm_invert_mask = 0;
+
+				for (unsigned i = 0; i < _max_actuators; i++) {
+					char pname[16];
+					int32_t ival;
+
+					/* fill the channel reverse mask from parameters */
+					sprintf(pname, "PWM_MAIN_REV%d", i + 1);
+					param_t param_h = param_find(pname);
+
+					if (param_h != PARAM_INVALID) {
+						param_get(param_h, &ival);
+						pwm_invert_mask |= ((int16_t)(ival != 0)) << i;
+					}
+				}
+
+				(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE, pwm_invert_mask);
 			}

 		}
@@ -2095,7 +2120,15 @@ PX4IO::print_status(bool extended_status)
 	for (unsigned i = 0; i < _max_actuators; i++)
 		printf(" %u", io_reg_get(PX4IO_PAGE_SERVOS, i));

+	uint16_t pwm_invert_mask = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE);
+
 	printf("\n");
+	printf("reversed outputs: [");
+	for (unsigned i = 0; i < _max_actuators; i++) {
+		printf("%s", (pwm_invert_mask & (1 << i)) ? "x" : "_");
+	}
+	printf("]\n");
+
 	uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT);
 	printf("%d raw R/C inputs", raw_inputs);

@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4io_params.c
+ *
+ * Parameters defined by the PX4IO driver
+ *
+ * @author Lorenz Meier <lorenz@px4.io>
+ */
+
+#include <nuttx/config.h>
+#include <systemlib/param/param.h>
+
+/**
+ * Invert direction of main output channel 1
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV1, 0);
+
+/**
+ * Invert direction of main output channel 2
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV2, 0);
+
+/**
+ * Invert direction of main output channel 3
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV3, 0);
+
+/**
+ * Invert direction of main output channel 4
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV4, 0);
+
+/**
+ * Invert direction of main output channel 5
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV5, 0);
+
+/**
+ * Invert direction of main output channel 6
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV6, 0);
+
+/**
+ * Invert direction of main output channel 7
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV7, 0);
+
+/**
+ * Invert direction of main output channel 8
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV8, 0);