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Merge pull request #964 from PX4/px4io_fixes

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Px4io fixes
This commit is contained in:
Lorenz Meier
2014-05-16 02:25:56 -07:00
parent b903fc1ed3 1b491005d1
commit a63fc9bedb
3 changed files with 30 additions and 10 deletions
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src/drivers/px4io/px4io.cpp
+9 -5
View File
@@ -994,13 +994,17 @@ PX4IO::task_main()
int32_t failsafe_param_val;
param_t failsafe_param = param_find("RC_FAILS_THR");
if (failsafe_param > 0) {
if (failsafe_param != PARAM_INVALID) {
param_get(failsafe_param, &failsafe_param_val);
uint16_t failsafe_thr = failsafe_param_val;
pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1);
if (pret != OK) {
log("failsafe upload failed");
if (failsafe_param_val > 0) {
uint16_t failsafe_thr = failsafe_param_val;
pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1);
if (pret != OK) {
log("failsafe upload failed, FS: %d us", (int)failsafe_thr);
}
}
}
src/modules/px4iofirmware/protocol.h
+2
View File
@@ -190,6 +190,8 @@
#define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* hardware rev [1] power relay 2 */
#define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* hardware rev [1] accessory power 1 */
#define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* hardware rev [1] accessory power 2 */
#else
#define PX4IO_P_SETUP_RELAYS_PAD 5
#endif
#define PX4IO_P_SETUP_VBATT_SCALE 6 /* hardware rev [1] battery voltage correction factor (float) */
src/modules/px4iofirmware/registers.c
+19 -5
View File
@@ -160,6 +160,9 @@ volatile uint16_t r_page_setup[] =
[PX4IO_P_SETUP_PWM_ALTRATE] = 200,
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
[PX4IO_P_SETUP_RELAYS] = 0,
#else
/* this is unused, but we will pad it for readability (the compiler pads it automatically) */
[PX4IO_P_SETUP_RELAYS_PAD] = 0,
#endif
#ifdef ADC_VSERVO
[PX4IO_P_SETUP_VSERVO_SCALE] = 10000,
@@ -523,18 +526,22 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
break;
case PX4IO_P_SETUP_PWM_DEFAULTRATE:
if (value < 50)
if (value < 50) {
value = 50;
if (value > 400)
}
if (value > 400) {
value = 400;
}
pwm_configure_rates(r_setup_pwm_rates, value, r_setup_pwm_altrate);
break;
case PX4IO_P_SETUP_PWM_ALTRATE:
if (value < 50)
if (value < 50) {
value = 50;
if (value > 400)
}
if (value > 400) {
value = 400;
}
pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value);
break;
@@ -566,8 +573,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
}
// check the magic value
if (value != PX4IO_REBOOT_BL_MAGIC)
if (value != PX4IO_REBOOT_BL_MAGIC) {
break;
}
// we schedule a reboot rather than rebooting
// immediately to allow the IO board to ACK
@@ -585,6 +593,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
}
break;
case PX4IO_P_SETUP_RC_THR_FAILSAFE_US:
if (value > 650 && value < 2350) {
r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = value;
}
break;
default:
return -1;
}