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Commit e07cb71a authored by David Sidrane's avatar David Sidrane Committed by Daniel Agar
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px4io:Removed FMUv1 hardware dependancies 

   Removed conditional compilation for FMUv1 and defaulted to
   FMUv2.
parent 5782e5c5
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src/drivers/px4io/px4io.cpp
+ 0
− 166
View file @ e07cb71a
......@@ -228,28 +228,6 @@ public:
_test_fmu_fail = is_fail;
};
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/**
* Set the DSM VCC is controlled by relay one flag
*
* @param[in] enable true=DSM satellite VCC is controlled by relay1, false=DSM satellite VCC not controlled
*/
inline void set_dsm_vcc_ctl(bool enable)
{
_dsm_vcc_ctl = enable;
};
/**
* Get the DSM VCC is controlled by relay one flag
*
* @return true=DSM satellite VCC is controlled by relay1, false=DSM satellite VCC not controlled
*/
inline bool get_dsm_vcc_ctl()
{
return _dsm_vcc_ctl;
};
#endif
inline uint16_t system_status() const {return _status;}
private:
......@@ -328,10 +306,6 @@ private:
float _last_throttle; ///< last throttle value for battery calculation
bool _test_fmu_fail; ///< To test what happens if IO looses FMU
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
bool _dsm_vcc_ctl; ///< true if relay 1 controls DSM satellite RX power
#endif
/**
* Trampoline to the worker task
*/
......@@ -474,16 +448,6 @@ private:
*/
void dsm_bind_ioctl(int dsmMode);
/**
* Handle a battery update from IO.
*
* Publish IO battery information if necessary.
*
* @param vbatt vbatt register
* @param ibatt ibatt register
*/
void io_handle_battery(uint16_t vbatt, uint16_t ibatt);
/**
* Handle a servorail update from IO.
*
......@@ -564,10 +528,6 @@ PX4IO::PX4IO(device::Device *interface) :
_analog_rc_rssi_volt(-1.0f),
_last_throttle(0.0f),
_test_fmu_fail(false)
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
, _dsm_vcc_ctl(false)
#endif
{
/* we need this potentially before it could be set in task_main */
g_dev = this;
......@@ -1777,43 +1737,6 @@ PX4IO::io_handle_alarms(uint16_t alarms)
return 0;
}
void
PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt)
{
/* only publish if battery has a valid minimum voltage */
if (vbatt <= 4900) {
return;
}
battery_status_s battery_status;
const hrt_abstime timestamp = hrt_absolute_time();
/* voltage is scaled to mV */
const float voltage_v = vbatt / 1000.0f;
/*
ibatt contains the raw ADC count, as 12 bit ADC
value, with full range being 3.3v
*/
float current_a = ibatt * (3.3f / 4096.0f) * _battery_amp_per_volt;
current_a += _battery_amp_bias;
_battery.updateBatteryStatus(timestamp, voltage_v, current_a, true, true, 0,
_last_throttle,
_armed, &battery_status);
/* the announced battery status would conflict with the simulated battery status in HIL */
if (!(_pub_blocked)) {
/* lazily publish the battery voltage */
if (_to_battery != nullptr) {
orb_publish(ORB_ID(battery_status), _to_battery, &battery_status);
} else {
_to_battery = orb_advertise(ORB_ID(battery_status), &battery_status);
}
}
}
void
PX4IO::io_handle_vservo(uint16_t vservo, uint16_t vrssi)
{
......@@ -1861,13 +1784,7 @@ PX4IO::io_get_status()
io_handle_status(regs[0]);
io_handle_alarms(regs[1]);
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
io_handle_battery(regs[2], regs[3]);
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
io_handle_vservo(regs[4], regs[5]);
#endif
return ret;
}
......@@ -2477,20 +2394,11 @@ PX4IO::print_status(bool extended_status)
((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : ""),
((arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) ? " OVERRIDE_IMMEDIATE" : "")
);
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS));
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
printf("rates 0x%04x default %u alt %u sbus %u\n",
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SBUS_RATE));
#endif
printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG));
for (unsigned group = 0; group < 4; group++) {
......@@ -2908,68 +2816,20 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
}
case GPIO_RESET: {
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
uint32_t bits = (1 << _max_relays) - 1;
/* don't touch relay1 if it's controlling RX vcc */
if (_dsm_vcc_ctl) {
bits &= ~PX4IO_P_SETUP_RELAYS_POWER1;
}
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, bits, 0);
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
ret = -EINVAL;
#endif
break;
}
case GPIO_SET:
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
arg &= ((1 << _max_relays) - 1);
/* don't touch relay1 if it's controlling RX vcc */
if (_dsm_vcc_ctl & (arg & PX4IO_P_SETUP_RELAYS_POWER1)) {
ret = -EINVAL;
break;
}
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0, arg);
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
ret = -EINVAL;
#endif
break;
case GPIO_CLEAR:
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
arg &= ((1 << _max_relays) - 1);
/* don't touch relay1 if it's controlling RX vcc */
if (_dsm_vcc_ctl & (arg & PX4IO_P_SETUP_RELAYS_POWER1)) {
ret = -EINVAL;
break;
}
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, arg, 0);
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
ret = -EINVAL;
#endif
break;
case GPIO_GET:
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
*(uint32_t *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS);
if (*(uint32_t *)arg == _io_reg_get_error) {
ret = -EIO;
}
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
ret = -EINVAL;
#endif
break;
case MIXERIOCGETOUTPUTCOUNT:
......@@ -3221,8 +3081,6 @@ get_interface()
{
device::Device *interface = nullptr;
#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
#ifdef PX4IO_SERIAL_BASE
interface = PX4IO_serial_interface();
#endif
......@@ -3231,8 +3089,6 @@ get_interface()
goto got;
}
#endif
#ifdef PX4_I2C_OBDEV_PX4IO
interface = PX4IO_i2c_interface();
#endif
......@@ -3290,17 +3146,6 @@ start(int argc, char *argv[])
errx(1, "driver init failed");
}
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
int dsm_vcc_ctl;
if (param_get(param_find("RC_RL1_DSM_VCC"), &dsm_vcc_ctl) == OK) {
if (dsm_vcc_ctl) {
g_dev->set_dsm_vcc_ctl(true);
g_dev->ioctl(nullptr, DSM_BIND_POWER_UP, 0);
}
}
#endif
exit(0);
}
......@@ -3417,14 +3262,6 @@ bind(int argc, char *argv[])
errx(1, "px4io must be started first");
}
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
if (!g_dev->get_dsm_vcc_ctl()) {
errx(1, "DSM bind feature not enabled");
}
#endif
if (argc < 3) {
errx(0, "needs argument, use dsm2, dsmx or dsmx8");
}
......@@ -3451,9 +3288,6 @@ bind(int argc, char *argv[])
errx(1, "system must not be armed");
}
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
warnx("This command will only bind DSM if satellite VCC (red wire) is controlled by relay 1.");
#endif
g_dev->ioctl(nullptr, DSM_BIND_START, pulses);
exit(0);
......
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