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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-09 21:10:35 +08:00
more px4fmu-v1 cleanup (#7981)
This commit is contained in:
Daniel Agar
@@ -39,7 +39,6 @@ px4_add_module(
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px4io.cpp
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px4io_uploader.cpp
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px4io_serial.cpp
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px4io_i2c.cpp
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DEPENDS
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platforms__common
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)
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@@ -3066,14 +3066,6 @@ get_interface()
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goto got;
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}
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#ifdef PX4_I2C_OBDEV_PX4IO
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interface = PX4IO_i2c_interface();
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#endif
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if (interface != nullptr) {
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goto got;
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}
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errx(1, "cannot alloc interface");
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got:
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@@ -41,10 +41,6 @@
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#include <board_config.h>
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#ifdef PX4_I2C_OBDEV_PX4IO
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device::Device *PX4IO_i2c_interface();
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#endif
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#ifdef PX4IO_SERIAL_BASE
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device::Device *PX4IO_serial_interface();
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#endif
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@@ -1,177 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file px4io_i2c.cpp
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*
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* I2C interface for PX4IO
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*/
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/* XXX trim includes */
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#include <px4_config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <assert.h>
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#include <debug.h>
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#include <errno.h>
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#include <unistd.h>
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#include <arch/board/board.h>
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#include <board_config.h>
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#include <drivers/device/i2c.h>
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#include "px4io_driver.h"
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#ifdef PX4_I2C_OBDEV_PX4IO
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class PX4IO_I2C : public device::I2C
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{
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public:
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PX4IO_I2C(int bus, uint8_t address);
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virtual ~PX4IO_I2C();
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virtual int init();
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virtual int read(unsigned offset, void *data, unsigned count = 1);
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virtual int write(unsigned address, void *data, unsigned count = 1);
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virtual int ioctl(unsigned operation, unsigned &arg);
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private:
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};
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device::Device
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*PX4IO_i2c_interface()
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{
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return new PX4IO_I2C(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO);
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}
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PX4IO_I2C::PX4IO_I2C(int bus, uint8_t address) :
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I2C("PX4IO_i2c", nullptr, bus, address, 400000)
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{
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_retries = 3;
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}
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PX4IO_I2C::~PX4IO_I2C()
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{
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}
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int
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PX4IO_I2C::init()
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{
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int ret;
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ret = I2C::init();
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if (ret != OK) {
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goto out;
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}
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/* XXX really should do something more here */
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out:
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return 0;
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}
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int
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PX4IO_I2C::ioctl(unsigned operation, unsigned &arg)
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{
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return 0;
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}
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int
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PX4IO_I2C::write(unsigned address, void *data, unsigned count)
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{
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uint8_t page = address >> 8;
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uint8_t offset = address & 0xff;
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const uint16_t *values = reinterpret_cast<const uint16_t *>(data);
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/* set up the transfer */
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uint8_t addr[2] = {
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page,
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offset
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};
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i2c_msg_s msgv[2];
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msgv[0].flags = 0;
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msgv[0].buffer = addr;
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msgv[0].length = 2;
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msgv[1].flags = I2C_M_NORESTART;
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msgv[1].buffer = (uint8_t *)values;
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msgv[1].length = 2 * count;
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int ret = transfer(msgv, 2);
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if (ret == OK) {
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ret = count;
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}
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return ret;
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}
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int
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PX4IO_I2C::read(unsigned address, void *data, unsigned count)
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{
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uint8_t page = address >> 8;
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uint8_t offset = address & 0xff;
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const uint16_t *values = reinterpret_cast<const uint16_t *>(data);
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/* set up the transfer */
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uint8_t addr[2] = {
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page,
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offset
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};
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i2c_msg_s msgv[2];
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msgv[0].flags = 0;
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msgv[0].buffer = addr;
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msgv[0].length = 2;
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msgv[1].flags = I2C_M_READ;
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msgv[1].buffer = (uint8_t *)values;
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msgv[1].length = 2 * count;
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int ret = transfer(msgv, 2);
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if (ret == OK) {
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ret = count;
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}
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return ret;
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}
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#endif /* PX4_I2C_OBDEV_PX4IO */
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@@ -42,6 +42,19 @@
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#include <px4_config.h>
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#include <systemlib/param/param.h>
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/**
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* Set usage of IO board
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*
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* Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up.
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*
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* @boolean
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* @min 0
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* @max 1
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* @reboot_required true
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* @group System
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*/
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PARAM_DEFINE_INT32(SYS_USE_IO, 1);
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/**
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* Invert direction of main output channel 1
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*
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@@ -235,3 +248,61 @@ PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM8, 0);
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_SBUS_MODE, 0);
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/**
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* PWM input channel that provides RSSI.
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*
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* 0: do not read RSSI from input channel
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* 1-18: read RSSI from specified input channel
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*
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* Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.
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*
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* @min 0
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* @max 18
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* @value 0 Unassigned
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* @value 1 Channel 1
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* @value 2 Channel 2
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* @value 3 Channel 3
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* @value 4 Channel 4
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* @value 5 Channel 5
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* @value 6 Channel 6
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* @value 7 Channel 7
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* @value 8 Channel 8
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* @value 9 Channel 9
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* @value 10 Channel 10
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* @value 11 Channel 11
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* @value 12 Channel 12
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* @value 13 Channel 13
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* @value 14 Channel 14
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* @value 15 Channel 15
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* @value 16 Channel 16
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* @value 17 Channel 17
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* @value 18 Channel 18
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* @group Radio Calibration
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*
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*/
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PARAM_DEFINE_INT32(RC_RSSI_PWM_CHAN, 0);
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/**
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* Max input value for RSSI reading.
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*
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* Only used if RC_RSSI_PWM_CHAN > 0
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*
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* @min 0
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* @max 2000
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* @group Radio Calibration
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*
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*/
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PARAM_DEFINE_INT32(RC_RSSI_PWM_MAX, 1000);
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/**
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* Min input value for RSSI reading.
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*
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* Only used if RC_RSSI_PWM_CHAN > 0
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*
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* @min 0
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* @max 2000
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* @group Radio Calibration
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*
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*/
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PARAM_DEFINE_INT32(RC_RSSI_PWM_MIN, 2000);
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