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px4iofirmware:Removed FMUv1 and px4io-v1

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Removed FMUv1 and px4io-v1, defaulting to px4io-v2
   were appicable.
This commit is contained in:
David Sidrane
2017-08-10 09:31:27 -10:00
committed by Daniel Agar
parent e07cb71a11
commit bcb89f54e2
4 changed files with 2 additions and 66 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/px4iofirmware/CMakeLists.txt
+1 -5
View File
@@ -99,11 +99,7 @@ set(srcs
safety.c
)
if(${config_io_board} STREQUAL "px4io-v1")
list(APPEND srcs
i2c.c
)
elseif(${config_io_board} STREQUAL "px4io-v2")
if(${config_io_board} STREQUAL "px4io-v2")
list(APPEND srcs
serial.c
${PX4_SOURCE_DIR}/src/modules/systemlib/hx_stream.c
src/modules/px4iofirmware/protocol.h
-9
View File
@@ -193,16 +193,7 @@
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
#define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */
#define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */
#if defined(CONFIG_ARCH_BOARD_PX4IO_V1) || defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */
#define PX4IO_P_SETUP_RELAYS_POWER1 (1<<0) /* hardware rev [1] power relay 1 */
#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) */
#define PX4IO_P_SETUP_VSERVO_SCALE 6 /* hardware rev [2] servo voltage correction factor (float) */
src/modules/px4iofirmware/px4io.h
-24
View File
@@ -115,9 +115,6 @@ extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */
#define r_setup_pwm_rates r_page_setup[PX4IO_P_SETUP_PWM_RATES]
#define r_setup_pwm_defaultrate r_page_setup[PX4IO_P_SETUP_PWM_DEFAULTRATE]
#define r_setup_pwm_altrate r_page_setup[PX4IO_P_SETUP_PWM_ALTRATE]
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
#define r_setup_relays r_page_setup[PX4IO_P_SETUP_RELAYS]
#endif
#define r_setup_rc_thr_failsafe r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US]
#define r_setup_pwm_reverse r_page_setup[PX4IO_P_SETUP_PWM_REVERSE]
@@ -166,25 +163,6 @@ extern pwm_limit_t pwm_limit;
#define LED_SAFETY(_s) px4_arch_gpiowrite(GPIO_LED3, !(_s))
#define LED_RING(_s) px4_arch_gpiowrite(GPIO_LED4, (_s))
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
# define PX4IO_RELAY_CHANNELS 4
# define POWER_SERVO(_s) px4_arch_gpiowrite(GPIO_SERVO_PWR_EN, (_s))
# define POWER_ACC1(_s) px4_arch_gpiowrite(GPIO_ACC1_PWR_EN, (_s))
# define POWER_ACC2(_s) px4_arch_gpiowrite(GPIO_ACC2_PWR_EN, (_s))
# define POWER_RELAY1(_s) px4_arch_gpiowrite(GPIO_RELAY1_EN, (_s))
# define POWER_RELAY2(_s) px4_arch_gpiowrite(GPIO_RELAY2_EN, (_s))
# define OVERCURRENT_ACC (!px4_arch_gpioread(GPIO_ACC_OC_DETECT))
# define OVERCURRENT_SERVO (!px4_arch_gpioread(GPIO_SERVO_OC_DETECT))
# define PX4IO_ADC_CHANNEL_COUNT 2
# define ADC_VBATT 4
# define ADC_IN5 5
#endif
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
# define PX4IO_RELAY_CHANNELS 0
# define ENABLE_SBUS_OUT(_s) px4_arch_gpiowrite(GPIO_SBUS_OENABLE, !(_s))
@@ -195,8 +173,6 @@ extern pwm_limit_t pwm_limit;
# define ADC_VSERVO 4
# define ADC_RSSI 5
#endif
#define BUTTON_SAFETY px4_arch_gpioread(GPIO_BTN_SAFETY)
#define CONTROL_PAGE_INDEX(_group, _channel) (_group * PX4IO_CONTROL_CHANNELS + _channel)
src/modules/px4iofirmware/registers.c
+1 -28
View File
@@ -64,11 +64,7 @@ bool update_mc_thrust_param;
*/
static const uint16_t r_page_config[] = {
[PX4IO_P_CONFIG_PROTOCOL_VERSION] = PX4IO_PROTOCOL_VERSION,
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
[PX4IO_P_CONFIG_HARDWARE_VERSION] = 2,
#else
[PX4IO_P_CONFIG_HARDWARE_VERSION] = 1,
#endif
[PX4IO_P_CONFIG_BOOTLOADER_VERSION] = PX4IO_BL_VERSION,
[PX4IO_P_CONFIG_MAX_TRANSFER] = PX4IO_MAX_TRANSFER_LEN,
[PX4IO_P_CONFIG_CONTROL_COUNT] = PX4IO_CONTROL_CHANNELS,
@@ -156,23 +152,15 @@ uint16_t r_page_direct_pwm[PX4IO_SERVO_COUNT];
* Setup registers
*/
volatile uint16_t r_page_setup[] = {
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
/* default to RSSI ADC functionality */
[PX4IO_P_SETUP_FEATURES] = PX4IO_P_SETUP_FEATURES_ADC_RSSI,
#else
[PX4IO_P_SETUP_FEATURES] = 0,
#endif
[PX4IO_P_SETUP_ARMING] = (PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE),
[PX4IO_P_SETUP_PWM_RATES] = 0,
[PX4IO_P_SETUP_PWM_DEFAULTRATE] = 50,
[PX4IO_P_SETUP_PWM_ALTRATE] = 200,
[PX4IO_P_SETUP_SBUS_RATE] = 72,
#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,
#else
@@ -194,14 +182,11 @@ volatile uint16_t r_page_setup[] = {
[PX4IO_P_SETUP_THERMAL] = PX4IO_THERMAL_IGNORE
};
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
#define PX4IO_P_SETUP_FEATURES_VALID (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | \
PX4IO_P_SETUP_FEATURES_SBUS2_OUT | \
PX4IO_P_SETUP_FEATURES_ADC_RSSI | \
PX4IO_P_SETUP_FEATURES_PWM_RSSI)
#else
#define PX4IO_P_SETUP_FEATURES_VALID 0
#endif
#define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_FMU_ARMED | \
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \
PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | \
@@ -650,18 +635,6 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value);
break;
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
case PX4IO_P_SETUP_RELAYS:
value &= PX4IO_P_SETUP_RELAYS_VALID;
r_setup_relays = value;
POWER_RELAY1((value & PX4IO_P_SETUP_RELAYS_POWER1) ? 1 : 0);
POWER_RELAY2((value & PX4IO_P_SETUP_RELAYS_POWER2) ? 1 : 0);
POWER_ACC1((value & PX4IO_P_SETUP_RELAYS_ACC1) ? 1 : 0);
POWER_ACC2((value & PX4IO_P_SETUP_RELAYS_ACC2) ? 1 : 0);
break;
#endif
case PX4IO_P_SETUP_VBATT_SCALE:
r_page_setup[PX4IO_P_SETUP_VBATT_SCALE] = value;
break;