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FMU driver: Use generic configs and less defines

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This commit is contained in:
Lorenz Meier
2015-12-24 09:47:29 +01:00
parent a5835bfb4f
commit 9e45768ec2
1 changed files with 10 additions and 24 deletions
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src/drivers/px4fmu/fmu.cpp
+10 -24
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@@ -90,12 +90,8 @@
# include <systemlib/ppm_decode.h> # include <systemlib/ppm_decode.h>
#endif #endif
/* #define SCHEDULE_INTERVAL 2000 /**< The schedule interval in usec (500 Hz) */
* This is the analog to FMU_INPUT_DROP_LIMIT_US on the IO side #define NAN_VALUE (0.0f/0.0f) /**< NaN value for throttle lock mode */
*/
#define CONTROL_INPUT_DROP_LIMIT_US 2000
#define NAN_VALUE (0.0f/0.0f)
class PX4FMU : public device::CDev class PX4FMU : public device::CDev
{ {
@@ -123,15 +119,7 @@ public:
int set_i2c_bus_clock(unsigned bus, unsigned clock_hz); int set_i2c_bus_clock(unsigned bus, unsigned clock_hz);
private: private:
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) static const unsigned _max_actuators = DIRECT_PWM_OUTPUT_CHANNELS;
static const unsigned _max_actuators = 4;
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
static const unsigned _max_actuators = 6;
#endif
#if defined(CONFIG_ARCH_BOARD_AEROCORE)
static const unsigned _max_actuators = 8;
#endif
Mode _mode; Mode _mode;
unsigned _pwm_default_rate; unsigned _pwm_default_rate;
@@ -189,7 +177,7 @@ private:
int set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate); int set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate);
int pwm_ioctl(file *filp, int cmd, unsigned long arg); int pwm_ioctl(file *filp, int cmd, unsigned long arg);
void update_pwm_rev_mask(); void update_pwm_rev_mask();
void publish_pwm_outputs(uint16_t *values, size_t numvalues); void publish_pwm_outputs(uint16_t *values, size_t numvalues);
struct GPIOConfig { struct GPIOConfig {
uint32_t input; uint32_t input;
@@ -321,11 +309,9 @@ PX4FMU::PX4FMU() :
memset(_controls, 0, sizeof(_controls)); memset(_controls, 0, sizeof(_controls));
memset(_poll_fds, 0, sizeof(_poll_fds)); memset(_poll_fds, 0, sizeof(_poll_fds));
#ifdef HRT_PPM_CHANNEL
// rc input, published to ORB // rc input, published to ORB
memset(&_rc_in, 0, sizeof(_rc_in)); memset(&_rc_in, 0, sizeof(_rc_in));
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM; _rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
#endif
#ifdef GPIO_SBUS_INV #ifdef GPIO_SBUS_INV
// this board has a GPIO to control SBUS inversion // this board has a GPIO to control SBUS inversion
@@ -728,8 +714,8 @@ PX4FMU::cycle()
//main_out_latency = hrt_absolute_time() - _controls[i].timestamp - 250; //main_out_latency = hrt_absolute_time() - _controls[i].timestamp - 250;
/* do only correct within the current phase */ /* do only correct within the current phase */
if (abs(main_out_latency) > CONTROL_INPUT_DROP_LIMIT_US) { if (abs(main_out_latency) > SCHEDULE_INTERVAL) {
main_out_latency = CONTROL_INPUT_DROP_LIMIT_US; main_out_latency = SCHEDULE_INTERVAL;
} }
if (main_out_latency < 250) { if (main_out_latency < 250) {
@@ -905,7 +891,7 @@ PX4FMU::cycle()
} }
work_queue(HPWORK, &_work, (worker_t)&PX4FMU::cycle_trampoline, this, work_queue(HPWORK, &_work, (worker_t)&PX4FMU::cycle_trampoline, this,
USEC2TICK(CONTROL_INPUT_DROP_LIMIT_US - main_out_latency)); USEC2TICK(SCHEDULE_INTERVAL - main_out_latency));
} }
void PX4FMU::work_stop() void PX4FMU::work_stop()
@@ -1683,9 +1669,9 @@ PX4FMU::peripheral_reset(int ms)
stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 0); stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 0);
bool last = stm32_gpioread(GPIO_SPEKTRUM_POWER); bool last = stm32_gpioread(GPIO_SPEKTRUM_PWR_EN);
/* Keep Spektum on to discharge rail*/ /* Keep Spektum on to discharge rail*/
stm32_gpiowrite(GPIO_SPEKTRUM_POWER, 1); stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, 1);
/* wait for the peripheral rail to reach GND */ /* wait for the peripheral rail to reach GND */
usleep(ms * 1000); usleep(ms * 1000);
@@ -1694,7 +1680,7 @@ PX4FMU::peripheral_reset(int ms)
/* re-enable power */ /* re-enable power */
/* switch the peripheral rail back on */ /* switch the peripheral rail back on */
stm32_gpiowrite(GPIO_SPEKTRUM_POWER, last); stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, last);
stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 1); stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 1);
#endif #endif
} }