From e4a5ceb4293be165d38629c27ba83a4e47cf8159 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 23 May 2015 13:16:34 +0200 Subject: [PATCH] FMU driver: Support pwm reversal, prepare config parameters --- src/drivers/px4fmu/fmu.cpp | 4 +- src/drivers/px4fmu/module.mk | 3 +- src/drivers/px4fmu/px4fmu_params.c | 109 +++++++++++++++++++++++++++++ 3 files changed, 114 insertions(+), 2 deletions(-) create mode 100644 src/drivers/px4fmu/px4fmu_params.c diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 92afc7cd74..154bc5f78f 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -157,6 +157,7 @@ private: uint16_t _disarmed_pwm[_max_actuators]; uint16_t _min_pwm[_max_actuators]; uint16_t _max_pwm[_max_actuators]; + uint16_t _reverse_pwm_mask; unsigned _num_failsafe_set; unsigned _num_disarmed_set; @@ -269,6 +270,7 @@ PX4FMU::PX4FMU() : _pwm_limit{}, _failsafe_pwm{0}, _disarmed_pwm{0}, + _reverse_pwm_mask(0), _num_failsafe_set(0), _num_disarmed_set(0) { @@ -684,7 +686,7 @@ PX4FMU::task_main() uint16_t pwm_limited[num_outputs]; /* the PWM limit call takes care of out of band errors and constrains */ - pwm_limit_calc(_servo_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit); + pwm_limit_calc(_servo_armed, num_outputs, _reverse_pwm_mask, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit); /* output to the servos */ for (unsigned i = 0; i < num_outputs; i++) { diff --git a/src/drivers/px4fmu/module.mk b/src/drivers/px4fmu/module.mk index a06323a52f..5a2806f4b5 100644 --- a/src/drivers/px4fmu/module.mk +++ b/src/drivers/px4fmu/module.mk @@ -3,7 +3,8 @@ # MODULE_COMMAND = fmu -SRCS = fmu.cpp +SRCS = fmu.cpp \ + px4fmu_params.c MODULE_STACKSIZE = 1200 diff --git a/src/drivers/px4fmu/px4fmu_params.c b/src/drivers/px4fmu/px4fmu_params.c new file mode 100644 index 0000000000..4df1d92199 --- /dev/null +++ b/src/drivers/px4fmu/px4fmu_params.c @@ -0,0 +1,109 @@ +/**************************************************************************** + * + * Copyright (c) 2015 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file px4fmu_params.c + * + * Parameters defined by the PX4FMU driver + * + * @author Lorenz Meier + */ + +#include +#include + +/** + * Inverter for main output channel 1 + * + * Set to 1 to invert the channel. + * + * @min 0 + * @max 1 + * @group PWM Outputs + */ +PARAM_DEFINE_INT32(PWM_AUX_SCALE1, 1); + +/** + * Inverter for main output channel 2 + * + * Set to 1 to invert the channel. + * + * @min 0 + * @max 1 + * @group PWM Outputs + */ +PARAM_DEFINE_INT32(PWM_AUX_SCALE2, 1); + +/** + * Inverter for main output channel 3 + * + * Set to 1 to invert the channel. + * + * @min 0 + * @max 1 + * @group PWM Outputs + */ +PARAM_DEFINE_INT32(PWM_AUX_SCALE3, 1); + +/** + * Inverter for main output channel 4 + * + * Set to 1 to invert the channel. + * + * @min 0 + * @max 1 + * @group PWM Outputs + */ +PARAM_DEFINE_INT32(PWM_AUX_SCALE4, 1); + +/** + * Inverter for main output channel 5 + * + * Set to 1 to invert the channel. + * + * @min 0 + * @max 1 + * @group PWM Outputs + */ +PARAM_DEFINE_INT32(PWM_AUX_SCALE5, 1); + +/** + * Inverter for main output channel 6 + * + * Set to 1 to invert the channel. + * + * @min 0 + * @max 1 + * @group PWM Outputs + */ +PARAM_DEFINE_INT32(PWM_AUX_SCALE6, 1);