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px4io: add dynamic mixing support

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This commit is contained in:
Beat Küng
2021-10-18 18:45:19 -04:00
committed by Daniel Agar
parent 837a1066e0
commit f1686b1abf
9 changed files with 206 additions and 33 deletions
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src/modules/px4iofirmware/protocol.h
+4
View File
@@ -193,6 +193,10 @@ enum { /* DSM bind states */
#define PX4IO_P_SETUP_SBUS_RATE 16 /**< frame rate of SBUS1 output in Hz */
#define PX4IO_P_SETUP_THERMAL 17 /**< thermal management */
#define PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION 18 /**< flight termination; false if the circuit breaker (CBRK_FLIGHTTERM) is set */
#define PX4IO_P_SETUP_PWM_RATE_GROUP0 19 /* Configure timer group 0 update rate in Hz */
#define PX4IO_P_SETUP_PWM_RATE_GROUP1 20 /* Configure timer group 1 update rate in Hz */
#define PX4IO_P_SETUP_PWM_RATE_GROUP2 21 /* Configure timer group 2 update rate in Hz */
#define PX4IO_P_SETUP_PWM_RATE_GROUP3 22 /* Configure timer group 3 update rate in Hz */
#define PX4IO_THERMAL_IGNORE UINT16_MAX
#define PX4IO_THERMAL_OFF 0
src/modules/px4iofirmware/registers.c
+29 -1
View File
@@ -145,7 +145,8 @@ volatile uint16_t r_page_setup[] = {
[PX4IO_P_SETUP_REBOOT_BL] = 0,
[PX4IO_P_SETUP_CRC ...(PX4IO_P_SETUP_CRC + 1)] = 0,
[PX4IO_P_SETUP_THERMAL] = PX4IO_THERMAL_IGNORE,
[PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION] = 0
[PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION] = 0,
[PX4IO_P_SETUP_PWM_RATE_GROUP0 ... PX4IO_P_SETUP_PWM_RATE_GROUP3] = 0
};
#define PX4IO_P_SETUP_FEATURES_VALID (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT | PX4IO_P_SETUP_FEATURES_ADC_RSSI)
@@ -465,6 +466,33 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
r_page_setup[offset] = value;
break;
case PX4IO_P_SETUP_PWM_RATE_GROUP0:
case PX4IO_P_SETUP_PWM_RATE_GROUP1:
case PX4IO_P_SETUP_PWM_RATE_GROUP2:
case PX4IO_P_SETUP_PWM_RATE_GROUP3:
/* For PWM constrain to [25,400]Hz
* For Oneshot there is no rate, 0 is therefore used to select Oneshot mode
*/
if (value != 0) {
if (value < 25) {
value = 25;
}
if (value > 400) {
value = 400;
}
}
if (up_pwm_servo_set_rate_group_update(offset - PX4IO_P_SETUP_PWM_RATE_GROUP0, value) == OK) {
r_page_setup[offset] = value;
} else {
r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR;
}
break;
default:
return -1;
}