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delete unused RC_DSM_BIND param

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This commit is contained in:
Daniel Agar
2017-09-09 10:59:43 -04:00
committed by Lorenz Meier
parent ee6a79279f
commit f26933fc55
3 changed files with 25 additions and 69 deletions
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70
src/drivers/px4fmu/fmu.cpp
View File

@@ -186,8 +186,6 @@ public:
virtual int init();
void dsm_bind_ioctl();
int set_mode(Mode mode);
Mode get_mode() { return _mode; }
@@ -339,7 +337,7 @@ private:
uint16_t raw_rc_values_local[input_rc_s::RC_INPUT_MAX_CHANNELS],
hrt_abstime now, bool frame_drop, bool failsafe,
unsigned frame_drops, int rssi);
void dsm_bind_ioctl(int dsmMode);
void set_rc_scan_state(RC_SCAN _rc_scan_state);
void rc_io_invert();
void rc_io_invert(bool invert);
@@ -1488,9 +1486,27 @@ PX4FMU::cycle()
// Check for a DSM pairing command
if (((unsigned int)cmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) {
dsm_bind_ioctl((int)cmd.param2);
}
if (!_armed.armed) {
int dsm_bind_mode = (int)cmd.param2;
int dsm_bind_pulses = 0;
if (dsm_bind_mode == 0) {
dsm_bind_pulses = DSM2_BIND_PULSES;
} else if (dsm_bind_mode == 1) {
dsm_bind_pulses = DSMX_BIND_PULSES;
} else {
dsm_bind_pulses = DSMX8_BIND_PULSES;
}
ioctl(nullptr, DSM_BIND_START, dsm_bind_pulses);
} else {
PX4_WARN("system armed, bind request rejected");
}
}
}
#endif
@@ -1793,18 +1809,8 @@ void PX4FMU::update_params()
update_pwm_rev_mask();
update_pwm_trims();
int32_t dsm_bind_val;
param_t param_handle;
/* see if bind parameter has been set, and reset it to -1 */
param_get(param_handle = param_find("RC_DSM_BIND"), &dsm_bind_val);
if (dsm_bind_val > -1) {
dsm_bind_ioctl(dsm_bind_val);
dsm_bind_val = -1;
param_set(param_handle, &dsm_bind_val);
}
// maximum motor slew rate parameter
param_handle = param_find("MOT_SLEW_MAX");
@@ -2459,7 +2465,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case DSM_BIND_START:
/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */
PX4_INFO("pwm_ioctl: DSM_BIND_START, arg: %lu", arg);
PX4_INFO("DSM_BIND_START: DSM%s RX", (arg == 0) ? "2" : ((arg == 1) ? "-X" : "-X8"));
if (arg == DSM2_BIND_PULSES ||
arg == DSMX_BIND_PULSES ||
@@ -2483,6 +2489,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
ret = OK;
} else {
PX4_ERR("DSM bind failed");
ret = -EINVAL;
}
@@ -2926,26 +2933,6 @@ PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
return ret;
}
void
PX4FMU::dsm_bind_ioctl(int dsmMode)
{
if (!_armed.armed) {
// mavlink_log_info(&_mavlink_log_pub, "[FMU] binding DSM%s RX", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "-X" : "-X8"));
PX4_INFO("[FMU] binding DSM%s RX", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "-X" : "-X8"));
int ret = ioctl(nullptr, DSM_BIND_START,
(dsmMode == 0) ? DSM2_BIND_PULSES : ((dsmMode == 1) ? DSMX_BIND_PULSES : DSMX8_BIND_PULSES));
if (ret) {
// mavlink_log_critical(&_mavlink_log_pub, "binding failed.");
PX4_ERR("binding failed.");
}
} else {
// mavlink_log_info(&_mavlink_log_pub, "[FMU] system armed, bind request rejected");
PX4_WARN("[FMU] system armed, bind request rejected");
}
}
int
PX4FMU::fmu_new_mode(PortMode new_mode)
{
@@ -3043,24 +3030,17 @@ namespace
void
bind_spektrum()
{
int fd;
fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
int fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
if (fd < 0) {
PX4_ERR("open fail");
return;
}
PX4_INFO("bind_Spektrum RX");
/* specify 11ms DSMX. RX will automatically fall back to 22ms or DSM2 if necessary */
if (ioctl(fd, DSM_BIND_START, DSMX8_BIND_PULSES)) {
PX4_ERR("binding failed.");
}
ioctl(fd, DSM_BIND_START, DSMX8_BIND_PULSES);
close(fd);
}
int fmu_new_i2c_speed(unsigned bus, unsigned clock_hz)

12
src/drivers/px4io/px4io.cpp
View File

@@ -1049,18 +1049,6 @@ PX4IO::task_main()
parameter_update_s pupdate;
orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
int32_t dsm_bind_val;
param_t dsm_bind_param;
/* see if bind parameter has been set, and reset it to -1 */
param_get(dsm_bind_param = param_find("RC_DSM_BIND"), &dsm_bind_val);
if (dsm_bind_val > -1) {
dsm_bind_ioctl(dsm_bind_val);
dsm_bind_val = -1;
param_set(dsm_bind_param, &dsm_bind_val);
}
if (!_rc_handling_disabled) {
/* re-upload RC input config as it may have changed */
io_set_rc_config();

12
src/modules/sensors/rc_params.c
View File

@@ -1096,18 +1096,6 @@ PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f);
*/
PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
/**
* DSM binding trigger.
*
* @value -1 Inactive
* @value 0 Start DSM2 bind
* @value 1 Start DSMX bind
* @min -1
* @max 1
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_DSM_BIND, -1);
/**
* RC channel count
*