pps_capture: make it configurable via output functions

PX4 · Dec 14, 2021 · 25207a9 · 25207a9
1 parent 292a86d
commit 25207a9
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Showing 3 changed files with 56 additions and 12 deletions.
diff --git a/src/drivers/pps_capture/PPSCapture.cpp b/src/drivers/pps_capture/PPSCapture.cpp
@@ -39,8 +39,15 @@
  */
 
 #include "PPSCapture.hpp"
-#include "board_config.h"
 #include <px4_arch/io_timer.h>
+#include <board_config.h>
+#include <parameters/param.h>
+
+#ifdef BOARD_WITH_IO
+# define PARAM_PREFIX "PWM_AUX"
+#else
+# define PARAM_PREFIX "PWM_MAIN"
+#endif
 
 PPSCapture::PPSCapture() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
@@ -49,36 +56,66 @@ PPSCapture::PPSCapture() :
 
 PPSCapture::~PPSCapture()
 {
-#if defined(PPS_CAPTURE_CHANNEL)
-	io_timer_unallocate_channel(PPS_CAPTURE_CHANNEL);
-	px4_arch_gpiosetevent(_pps_capture_gpio, false, false, false, nullptr, nullptr);
-#endif
+	if (_channel >= 0) {
+		io_timer_unallocate_channel(_channel);
+		px4_arch_gpiosetevent(_pps_capture_gpio, false, false, false, nullptr, nullptr);
+	}
 }
 
 bool PPSCapture::init()
 {
 	bool success = false;
 
+	param_t p_ctrl_alloc = param_find("SYS_CTRL_ALLOC");
+	int32_t ctrl_alloc = 0;
+
+	if (p_ctrl_alloc != PARAM_INVALID) {
+		param_get(p_ctrl_alloc, &ctrl_alloc);
+	}
+
+	if (ctrl_alloc == 1) {
+
+		for (unsigned i = 0; i < 16; ++i) {
+			char param_name[17];
+			snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "FUNC", i + 1);
+			param_t function_handle = param_find(param_name);
+			int32_t function;
+
+			if (function_handle != PARAM_INVALID && param_get(function_handle, &function) == 0) {
+				if (function == 2064) { // PPS_Input
+					_channel = i;
+				}
+			}
+		}
+	}
+
 #if defined(PPS_CAPTURE_CHANNEL)
 
-	int ret = io_timer_allocate_channel(PPS_CAPTURE_CHANNEL, IOTimerChanMode_PPS);
+	if (_channel == -1) {
+		_channel = PPS_CAPTURE_CHANNEL;
+	}
+
+#endif
+
+	if (_channel == -1) {
+		PX4_WARN("No pps channel configured");
+		return false;
+	}
+
+	int ret = io_timer_allocate_channel(_channel, IOTimerChanMode_PPS);
 
 	if (ret != PX4_OK) {
-		PX4_ERR("gpio alloc failed (%i) for PPS at channel (%d)", ret, PPS_CAPTURE_CHANNEL);
+		PX4_ERR("gpio alloc failed (%i) for PPS at channel (%d)", ret, _channel);
 		return false;
 	}
 
-	_pps_capture_gpio = PX4_MAKE_GPIO_EXTI(io_timer_channel_get_as_pwm_input(PPS_CAPTURE_CHANNEL));
+	_pps_capture_gpio = PX4_MAKE_GPIO_EXTI(io_timer_channel_get_as_pwm_input(_channel));
 	int ret_val = px4_arch_gpiosetevent(_pps_capture_gpio, true, false, true, &PPSCapture::gpio_interrupt_callback, this);
 
 	if (ret_val == PX4_OK) {
 		success = true;
 	}
 
-#else
-#error Driver requires PPS_CAPTURE_CHANNEL to be enabled
-#endif
-
 	return success;
 }
 

diff --git a/src/drivers/pps_capture/PPSCapture.hpp b/src/drivers/pps_capture/PPSCapture.hpp
@@ -69,6 +69,7 @@ class PPSCapture : public ModuleBase<PPSCapture>, public px4::ScheduledWorkItem
 private:
 	void Run() override;
 
+	int _channel{-1};
 	uint32_t _pps_capture_gpio{0};
 	uORB::Publication<pps_capture_s>	_pps_capture_pub{ORB_ID(pps_capture)};
 	uORB::Subscription								_sensor_gps_sub{ORB_ID(sensor_gps)};

diff --git a/src/lib/mixer_module/output_functions.yaml b/src/lib/mixer_module/output_functions.yaml
@@ -50,3 +50,9 @@ functions:
         condition: "CAM_CAP_FBACK==0"
         text: "Camera feedback needs to be enabled and configured via CAM_CAP_* parameters."
       exclude_from_actuator_testing: true
+    PPS_Input:
+      start: 2064
+      note:
+        condition: "PPS_CAP_ENABLE==0"
+        text: "PPS needs to be enabled via PPS_CAP_ENABLE parameter."
+      exclude_from_actuator_testing: true