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tap: add landing gear capability

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This configures the PWM output for the landing gear.
This commit is contained in:
Julian Oes
2016-10-20 23:17:05 +02:00
committed by Lorenz Meier
parent 2fff2ab9ac
commit 78b0d1a01f
10 changed files with 100 additions and 88 deletions
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src/drivers/px4fmu/fmu.cpp
+42 -1
View File
@@ -116,6 +116,7 @@ class PX4FMU : public device::CDev
public:
enum Mode {
MODE_NONE,
MODE_1PWM,
MODE_2PWM,
MODE_2PWM2CAP,
MODE_3PWM,
@@ -529,6 +530,15 @@ PX4FMU::set_mode(Mode mode)
* are presented on the output pins.
*/
switch (mode) {
case MODE_1PWM:
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0x1;
_pwm_initialized = false;
break;
case MODE_2PWM2CAP: // v1 multi-port with flow control lines as PWM
up_input_capture_set(2, Rising, 0, NULL, NULL);
up_input_capture_set(3, Rising, 0, NULL, NULL);
@@ -1041,6 +1051,10 @@ PX4FMU::cycle()
size_t num_outputs;
switch (_mode) {
case MODE_1PWM:
num_outputs = 1;
break;
case MODE_2PWM:
case MODE_2PWM2CAP:
num_outputs = 2;
@@ -1588,6 +1602,7 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
/* if we are in valid PWM mode, try it as a PWM ioctl as well */
switch (_mode) {
case MODE_1PWM:
case MODE_2PWM:
case MODE_3PWM:
case MODE_4PWM:
@@ -2002,6 +2017,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
*(unsigned *)arg = 2;
break;
case MODE_1PWM:
*(unsigned *)arg = 1;
break;
default:
ret = -EINVAL;
break;
@@ -2022,6 +2041,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
set_mode(MODE_NONE);
break;
case 1:
set_mode(MODE_1PWM);
break;
case 2:
set_mode(MODE_2PWM);
break;
@@ -2062,6 +2085,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
ret = set_mode(MODE_NONE);
break;
case PWM_SERVO_MODE_1PWM:
ret = set_mode(MODE_1PWM);
break;
case PWM_SERVO_MODE_2PWM:
ret = set_mode(MODE_2PWM);
break;
@@ -2616,6 +2643,7 @@ enum PortMode {
PORT_PWM4,
PORT_PWM3,
PORT_PWM2,
PORT_PWM1,
PORT_PWM3CAP1,
PORT_PWM2CAP2,
PORT_CAPTURE,
@@ -2639,6 +2667,12 @@ fmu_new_mode(PortMode new_mode)
break;
case PORT_FULL_PWM:
case PORT_PWM1:
/* select 2-pin PWM mode */
servo_mode = PX4FMU::MODE_1PWM;
break;
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 4
/* select 4-pin PWM mode */
servo_mode = PX4FMU::MODE_4PWM;
@@ -3092,7 +3126,14 @@ fmu_main(int argc, char *argv[])
} else if (!strcmp(verb, "mode_pwm")) {
new_mode = PORT_FULL_PWM;
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
#if defined(BOARD_HAS_PWM)
} else if (!strcmp(verb, "mode_pwm1")) {
new_mode = PORT_PWM1;
#elif defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
} else if (!strcmp(verb, "mode_pwm4")) {
new_mode = PORT_PWM4;