fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-14 21:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

px4fmu:Removed FMUv1 only modes

Browse Source
This commit is contained in:
David Sidrane
2017-09-10 13:37:23 -04:00
committed by Daniel Agar
parent 60ac35b0ac
commit f5e9ae6682
1 changed files with 1 additions and 90 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4fmu/fmu.cpp
+1 -90
View File
@@ -116,12 +116,8 @@
enum PortMode {
PORT_MODE_UNSET = 0,
PORT_FULL_GPIO,
PORT_FULL_SERIAL,
PORT_FULL_PWM,
PORT_RC_IN,
PORT_GPIO_AND_SERIAL,
PORT_PWM_AND_SERIAL,
PORT_PWM_AND_GPIO,
PORT_PWM4,
PORT_PWM3,
PORT_PWM2,
@@ -2357,9 +2353,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
/* change the number of outputs that are enabled for
* PWM. This is used to change the split between GPIO
* and PWM under control of the flight config
* parameters. Note that this does not allow for
* changing a set of pins to be used for serial on
* FMUv1
* parameters.
*/
switch (arg) {
case 0:
@@ -2657,24 +2651,6 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function)
#if !defined(BOARD_HAS_FMU_GPIO)
return -EINVAL;
#else
# if defined(BOARD_GPIO_SHARED_BUFFERED_BITS) && defined(GPIO_GPIO_DIR)
/*
* GPIOs 0 and 1 must have the same direction as they are buffered
* by a shared 2-port driver. Any attempt to set either sets both.
*/
if ((gpios & BOARD_GPIO_SHARED_BUFFERED_BITS)) {
gpios |= BOARD_GPIO_SHARED_BUFFERED_BITS;
/* flip the buffer to output mode if required */
if (GPIO_SET_OUTPUT == function ||
GPIO_SET_OUTPUT_LOW == function ||
GPIO_SET_OUTPUT_HIGH == function) {
px4_arch_gpiowrite(GPIO_GPIO_DIR, 1);
}
}
# endif
/* configure selected GPIOs as required */
for (unsigned i = 0; i < _ngpio; i++) {
@@ -2718,14 +2694,6 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function)
}
}
# if defined(BOARD_GPIO_SHARED_BUFFERED_BITS) && defined(GPIO_GPIO_DIR)
/* flip buffer to input mode if required */
if ((GPIO_SET_INPUT == function) && (gpios & BOARD_GPIO_SHARED_BUFFERED_BITS)) {
px4_arch_gpiowrite(GPIO_GPIO_DIR, 0);
}
# endif
return OK;
#endif // !defined(BOARD_HAS_FMU_GPIO)
@@ -2985,11 +2953,9 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
return -1;
}
uint32_t gpio_bits;
PX4FMU::Mode servo_mode;
bool mode_with_input = false;
gpio_bits = 0;
servo_mode = PX4FMU::MODE_NONE;
switch (new_mode) {
@@ -3050,36 +3016,6 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
break;
#endif
/* mixed modes supported on v1 board only */
#if defined(BOARD_HAS_MULTI_PURPOSE_GPIO)
case PORT_FULL_SERIAL:
/* set all multi-GPIOs to serial mode */
gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4;
mode_with_input = true;
break;
case PORT_GPIO_AND_SERIAL:
/* set RX/TX multi-GPIOs to serial mode */
gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
mode_with_input = true;
break;
case PORT_PWM_AND_SERIAL:
/* select 2-pin PWM mode */
servo_mode = PX4FMU::MODE_2PWM;
/* set RX/TX multi-GPIOs to serial mode */
gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
mode_with_input = true;
break;
case PORT_PWM_AND_GPIO:
/* select 2-pin PWM mode */
servo_mode = PX4FMU::MODE_2PWM;
mode_with_input = true;
break;
#endif
default:
return -1;
}
@@ -3091,11 +3027,6 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
/* reset to all-inputs */
if (mode_with_input) {
object->ioctl(0, GPIO_RESET, 0);
/* adjust GPIO config for serial mode(s) */
if (gpio_bits != 0) {
object->ioctl(0, GPIO_SET_ALT_1, gpio_bits);
}
}
/* (re)set the PWM output mode */
@@ -3480,20 +3411,6 @@ int PX4FMU::custom_command(int argc, char *argv[])
} else if (!strcmp(verb, "mode_pwm2cap2")) {
new_mode = PORT_PWM2CAP2;
#endif
#if defined(BOARD_HAS_MULTI_PURPOSE_GPIO)
} else if (!strcmp(verb, "mode_serial")) {
new_mode = PORT_FULL_SERIAL;
} else if (!strcmp(verb, "mode_gpio_serial")) {
new_mode = PORT_GPIO_AND_SERIAL;
} else if (!strcmp(verb, "mode_pwm_serial")) {
new_mode = PORT_PWM_AND_SERIAL;
} else if (!strcmp(verb, "mode_pwm_gpio")) {
new_mode = PORT_PWM_AND_GPIO;
#endif
}
@@ -3581,12 +3498,6 @@ mixer files.
PRINT_MODULE_USAGE_COMMAND("mode_pwm3cap1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm2cap2");
#endif
#if defined(BOARD_HAS_MULTI_PURPOSE_GPIO) // only used by px4fmu-v1 HW
PRINT_MODULE_USAGE_COMMAND("mode_serial");
PRINT_MODULE_USAGE_COMMAND("mode_gpio_serial");
PRINT_MODULE_USAGE_COMMAND("mode_pwm_serial");
PRINT_MODULE_USAGE_COMMAND("mode_pwm_gpio");
#endif
PRINT_MODULE_USAGE_COMMAND_DESCR("bind", "Send a DSM bind command (module must be running)");