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IO: Allow control of the blue led state as function of a Pixhawk 2.1 heater

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This commit is contained in:
Lorenz Meier
2016-12-04 12:14:17 +01:00
committed by Lorenz Meier
parent 4b6a11161e
commit 9f14ace0fa
3 changed files with 34 additions and 13 deletions
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src/modules/px4iofirmware/protocol.h
+5
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@@ -244,6 +244,11 @@ enum { /* DSM bind states */
#define PX4IO_P_SETUP_MOTOR_SLEW_MAX 24 /* max motor slew rate */
#define PX4IO_P_SETUP_THERMAL 25 /* thermal management */
#define PX4IO_THERMAL_IGNORE UINT16_MAX
#define PX4IO_THERMAL_OFF 0
#define PX4IO_THERMAL_FULL 10000
/* autopilot control values, -10000..10000 */
#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */
#define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
src/modules/px4iofirmware/px4io.c
+27 -12
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@@ -376,21 +376,36 @@ user_start(int argc, char *argv[])
controls_tick();
perf_end(controls_perf);
/*
blink blue LED at 4Hz in normal operation. When in
override blink 4x faster so the user can clearly see
that override is happening. This helps when
pre-flight testing the override system
/* some boards such as Pixhawk 2.1 made
the unfortunate choice to combine the blue led channel with
the IMU heater. We need a software hack to fix the hardware hack
by allowing to disable the LED / heater.
*/
uint32_t heartbeat_period_us = 250 * 1000UL;
if (r_page_setup[PX4IO_P_SETUP_THERMAL] == PX4IO_THERMAL_IGNORE) {
/*
blink blue LED at 4Hz in normal operation. When in
override blink 4x faster so the user can clearly see
that override is happening. This helps when
pre-flight testing the override system
*/
uint32_t heartbeat_period_us = 250 * 1000UL;
if (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) {
heartbeat_period_us /= 4;
}
if (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) {
heartbeat_period_us /= 4;
}
if ((hrt_absolute_time() - last_heartbeat_time) > heartbeat_period_us) {
last_heartbeat_time = hrt_absolute_time();
heartbeat_blink();
if ((hrt_absolute_time() - last_heartbeat_time) > heartbeat_period_us) {
last_heartbeat_time = hrt_absolute_time();
heartbeat_blink();
}
} else if (r_page_setup[PX4IO_P_SETUP_THERMAL] < PX4IO_THERMAL_FULL) {
/* switch resistive heater off */
LED_BLUE(false);
} else {
/* switch resistive heater hard on */
LED_BLUE(true);
}
ring_blink();
src/modules/px4iofirmware/registers.c
+2 -1
View File
@@ -181,7 +181,8 @@ volatile uint16_t r_page_setup[] = {
[PX4IO_P_SETUP_SCALE_ROLL] = 10000,
[PX4IO_P_SETUP_SCALE_PITCH] = 10000,
[PX4IO_P_SETUP_SCALE_YAW] = 10000,
[PX4IO_P_SETUP_MOTOR_SLEW_MAX] = 0
[PX4IO_P_SETUP_MOTOR_SLEW_MAX] = 0,
[PX4IO_P_SETUP_THERMAL] = PX4IO_THERMAL_IGNORE
};
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2