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Tweak protocol register assignments and add new registers to accommodate differences in IOv2.

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px4dev
2013-07-06 23:59:35 -07:00
parent a65a1237f0
commit 8fa226c909
7 changed files with 198 additions and 98 deletions
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src/modules/px4iofirmware/controls.c
+6 -6
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@@ -66,7 +66,7 @@ controls_init(void)
sbus_init("/dev/ttyS2");
/* default to a 1:1 input map, all enabled */
for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) {
for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = 0;
@@ -117,7 +117,7 @@ controls_tick() {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
perf_end(c_gather_ppm);
ASSERT(r_raw_rc_count <= MAX_CONTROL_CHANNELS);
ASSERT(r_raw_rc_count <= PX4IO_CONTROL_CHANNELS);
/*
* In some cases we may have received a frame, but input has still
@@ -190,7 +190,7 @@ controls_tick() {
/* and update the scaled/mapped version */
unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
ASSERT(mapped < MAX_CONTROL_CHANNELS);
ASSERT(mapped < PX4IO_CONTROL_CHANNELS);
/* invert channel if pitch - pulling the lever down means pitching up by convention */
if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */
@@ -202,7 +202,7 @@ controls_tick() {
}
/* set un-assigned controls to zero */
for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) {
for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) {
if (!(assigned_channels & (1 << i)))
r_rc_values[i] = 0;
}
@@ -312,8 +312,8 @@ ppm_input(uint16_t *values, uint16_t *num_values)
/* PPM data exists, copy it */
*num_values = ppm_decoded_channels;
if (*num_values > MAX_CONTROL_CHANNELS)
*num_values = MAX_CONTROL_CHANNELS;
if (*num_values > PX4IO_CONTROL_CHANNELS)
*num_values = PX4IO_CONTROL_CHANNELS;
for (unsigned i = 0; i < *num_values; i++)
values[i] = ppm_buffer[i];