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Code Issues Releases Activity

OP-1685 - handle servo outputs with PPM_Pin6, sanity check for flexi_ppm

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This commit is contained in:
Alessio Morale 2015-02-15 19:08:49 +01:00
parent d9216d72fe
commit fbdd88c161
1 changed files with 13 additions and 7 deletions
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20
flight/targets/boards/coptercontrol/firmware/pios_board.c
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@ -717,7 +717,7 @@ void PIOS_Board_Init(void)
uint8_t hwsettings_rcvrport;
HwSettingsCC_RcvrPortGet(&hwsettings_rcvrport);
switch (hwsettings_rcvrport) {
switch ((HwSettingsCC_RcvrPortOptions)hwsettings_rcvrport) {
case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
#if defined(PIOS_INCLUDE_HCSR04)
{
@ -746,7 +746,7 @@ void PIOS_Board_Init(void)
#if defined(PIOS_INCLUDE_PPM)
{
uint32_t pios_ppm_id;
if( hwsettings_rcvrport == HWSETTINGS_CC_RCVRPORT_PPM_PIN6ONESHOT){
if (hwsettings_rcvrport == HWSETTINGS_CC_RCVRPORT_PPM_PIN6ONESHOT) {
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_pin6_cfg);
} else {
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
@ -787,6 +787,8 @@ void PIOS_Board_Init(void)
}
#endif /* PIOS_INCLUDE_PWM */
break;
case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
break;
}
#if defined(PIOS_INCLUDE_GCSRCVR)
@ -804,11 +806,12 @@ void PIOS_Board_Init(void)
GPIO_PinRemapConfig(GPIO_Remap_SWJ_NoJTRST, ENABLE);
#ifndef PIOS_ENABLE_DEBUG_PINS
switch (hwsettings_rcvrport) {
switch ((HwSettingsCC_RcvrPortOptions)hwsettings_rcvrport) {
case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPM_PIN6ONESHOT:
PIOS_Servo_Init(&pios_servo_cfg);
break;
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
@ -865,17 +868,20 @@ SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook()
uint8_t recmode;
HwSettingsCC_RcvrPortGet(&recmode);
uint8_t flexiMode;
uint8_t modes[ACTUATORSETTINGS_BANKMODE_NUMELEM];
ActuatorSettingsBankModeGet(modes);
HwSettingsCC_FlexiPortGet(&flexiMode);
switch ((HwSettingsCC_RcvrPortOptions)recmode) {
// Those modes allows oneshot usage
case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
case HWSETTINGS_CC_RCVRPORT_PPM_PIN6ONESHOT:
if (modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT ||
modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT125) {
if ((recmode == HWSETTINGS_CC_RCVRPORT_PPM_PIN6ONESHOT ||
flexiMode == HWSETTINGS_CC_FLEXIPORT_PPM) &&
(modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT ||
modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT125)) {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;
} else {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;