From 39d9e93904688f730a036ef422b53da228f3edc1 Mon Sep 17 00:00:00 2001
From: Emile Castelnuovo <emile.castelnuovo@gmail.com>
Date: Mon, 31 Mar 2014 19:53:16 +0200
Subject: [PATCH] AP_BoardConfig: added #defines for VRBRAIN board
---
libraries/AP_BoardConfig/AP_BoardConfig.cpp | 29 +++++++++++++++++++++
libraries/AP_BoardConfig/AP_BoardConfig.h | 3 +++
2 files changed, 32 insertions(+)
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.cpp b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
index bdad29233..0409417a7 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.cpp
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
@@ -36,6 +36,14 @@
#define BOARD_PWM_COUNT_DEFAULT 4
#define BOARD_SER1_RTSCTS_DEFAULT 2
#endif
+#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <drivers/drv_pwm_output.h>
+
+#define BOARD_PWM_COUNT_DEFAULT 8
#endif
extern const AP_HAL::HAL& hal;
@@ -66,6 +74,12 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] PROGMEM = {
// @Description: Disabling this option will disable the use of the safety switch on PX4 for arming. Use of the safety switch is highly recommended, so you should leave this option set to 1 except in unusual circumstances.
// @Values: 0:Disabled,1:Enabled
AP_GROUPINFO("SAFETYENABLE", 3, AP_BoardConfig, _safety_enable, 1),
+#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
+ // @Param: PWM_COUNT
+ // @DisplayName: PWM Count
+ // @Description: Number of auxillary PWMs to enable
+ // @Values: 0:No PWMs,2:Two PWMs,4:Four PWMs,6:Six PWMs,8:Six PWMs
+ AP_GROUPINFO("PWM_COUNT", 0, AP_BoardConfig, _pwm_count, BOARD_PWM_COUNT_DEFAULT),
#endif
AP_GROUPEND
@@ -100,5 +114,20 @@ void AP_BoardConfig::init()
if (_safety_enable.get() == 0) {
hal.rcout->force_safety_off();
}
+#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
+ /* configure the VRBRAIN driver for the right number of PWMs */
+
+ // ensure only valid values are set, rounding up
+ if (_pwm_count > 8) _pwm_count.set(8);
+ if (_pwm_count < 0) _pwm_count.set(0);
+
+ int fd = open("/dev/px4fmu", 0);
+ if (fd == -1) {
+ hal.scheduler->panic("Unable to open /dev/px4fmu");
+ }
+ if (ioctl(fd, PWM_SERVO_SET_COUNT, _pwm_count.get()) != 0) {
+ hal.console->printf("RCOutput: Unable to setup alt PWM to %u channels\n", _pwm_count.get());
+ }
+ close(fd);
#endif
}
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index 298298cf3..5d1ba9879 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -27,6 +27,9 @@ private:
AP_Int8 _ser2_rtscts;
AP_Int8 _safety_enable;
#endif
+#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
+ AP_Int8 _pwm_count;
+#endif
};
#endif // __AP_BOARDCONFIG_H__
--
GitLab