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author | px4dev <px4@purgatory.org> | 2012-12-18 00:33:33 -0800 |
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committer | px4dev <px4@purgatory.org> | 2012-12-18 00:33:33 -0800 |
commit | 8d716dea45db086cdfd0acebd7d1ce9aa6169fa3 (patch) | |
tree | c17038bb54cedb2eb7ec27aa52ea4d5564e8292e | |
parent | b8044d978672c3ee760189fb6e532b0514a09446 (diff) | |
download | px4-firmware-8d716dea45db086cdfd0acebd7d1ce9aa6169fa3.tar.gz px4-firmware-8d716dea45db086cdfd0acebd7d1ce9aa6169fa3.tar.bz2 px4-firmware-8d716dea45db086cdfd0acebd7d1ce9aa6169fa3.zip |
Teach 'fake' to set the arming state as well.
Whitespace.
-rw-r--r-- | apps/drivers/px4fmu/fmu.cpp | 55 |
1 files changed, 42 insertions, 13 deletions
diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp index f96aab45a..a995f6214 100644 --- a/apps/drivers/px4fmu/fmu.cpp +++ b/apps/drivers/px4fmu/fmu.cpp @@ -111,9 +111,9 @@ private: void task_main() __attribute__((noreturn)); static int control_callback(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &input); + uint8_t control_group, + uint8_t control_index, + float &input); int pwm_ioctl(file *filp, int cmd, unsigned long arg); @@ -178,6 +178,7 @@ PX4FMU::~PX4FMU() _task_should_exit = true; unsigned i = 10; + do { /* wait 50ms - it should wake every 100ms or so worst-case */ usleep(50000); @@ -213,6 +214,7 @@ PX4FMU::init() /* try to claim the generic PWM output device node as well - it's OK if we fail at this */ ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this); + if (ret == OK) { log("default PWM output device"); _primary_pwm_device = true; @@ -246,7 +248,7 @@ PX4FMU::task_main_trampoline(int argc, char *argv[]) int PX4FMU::set_mode(Mode mode) { - /* + /* * Configure for PWM output. * * Note that regardless of the configured mode, the task is always @@ -280,6 +282,7 @@ PX4FMU::set_mode(Mode mode) default: return -EINVAL; } + _mode = mode; return OK; } @@ -332,8 +335,10 @@ PX4FMU::task_main() /* handle update rate changes */ if (_current_update_rate != _update_rate) { int update_rate_in_ms = int(1000 / _update_rate); + if (update_rate_in_ms < 2) update_rate_in_ms = 2; + orb_set_interval(_t_actuators, update_rate_in_ms); up_pwm_servo_set_rate(_update_rate); _current_update_rate = _update_rate; @@ -405,9 +410,9 @@ PX4FMU::task_main() int PX4FMU::control_callback(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &input) + uint8_t control_group, + uint8_t control_index, + float &input) { const actuator_controls_s *controls = (actuator_controls_s *)handle; @@ -425,15 +430,17 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg) /* try it as a GPIO ioctl first */ ret = gpio_ioctl(filp, cmd, arg); + if (ret != -ENOTTY) return ret; /* if we are in valid PWM mode, try it as a PWM ioctl as well */ - switch(_mode) { + switch (_mode) { case MODE_2PWM: case MODE_4PWM: ret = pwm_ioctl(filp, cmd, arg); break; + default: debug("not in a PWM mode"); break; @@ -551,8 +558,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) } _mixers = new MixerGroup(control_callback, (uintptr_t)&_controls); + if (_mixers == nullptr) { ret = -ENOMEM; + } else { debug("loading mixers from %s", path); @@ -583,7 +592,7 @@ void PX4FMU::gpio_reset(void) { /* - * Setup default GPIO config - all pins as GPIOs, GPIO driver chip + * Setup default GPIO config - all pins as GPIOs, GPIO driver chip * to input mode. */ for (unsigned i = 0; i < _ngpio; i++) @@ -610,17 +619,20 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function) /* configure selected GPIOs as required */ for (unsigned i = 0; i < _ngpio; i++) { - if (gpios & (1<<i)) { + if (gpios & (1 << i)) { switch (function) { case GPIO_SET_INPUT: stm32_configgpio(_gpio_tab[i].input); break; + case GPIO_SET_OUTPUT: stm32_configgpio(_gpio_tab[i].output); break; + case GPIO_SET_ALT_1: if (_gpio_tab[i].alt != 0) stm32_configgpio(_gpio_tab[i].alt); + break; } } @@ -637,7 +649,7 @@ PX4FMU::gpio_write(uint32_t gpios, int function) int value = (function == GPIO_SET) ? 1 : 0; for (unsigned i = 0; i < _ngpio; i++) - if (gpios & (1<<i)) + if (gpios & (1 << i)) stm32_gpiowrite(_gpio_tab[i].output, value); } @@ -661,7 +673,7 @@ PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg) lock(); switch (cmd) { - + case GPIO_RESET: gpio_reset(); break; @@ -763,6 +775,7 @@ fmu_new_mode(PortMode new_mode, int update_rate) /* (re)set the PWM output mode */ g_fmu->set_mode(servo_mode); + if ((servo_mode != PX4FMU::MODE_NONE) && (update_rate != 0)) g_fmu->set_pwm_rate(update_rate); @@ -805,9 +818,13 @@ test(void) errx(1, "open fail"); if (ioctl(fd, PWM_SERVO_ARM, 0) < 0) err(1, "servo arm failed"); + if (ioctl(fd, PWM_SERVO_SET(0), 1000) < 0) err(1, "servo 1 set failed"); + if (ioctl(fd, PWM_SERVO_SET(1), 1200) < 0) err(1, "servo 2 set failed"); + if (ioctl(fd, PWM_SERVO_SET(2), 1400) < 0) err(1, "servo 3 set failed"); + if (ioctl(fd, PWM_SERVO_SET(3), 1600) < 0) err(1, "servo 4 set failed"); close(fd); @@ -836,6 +853,16 @@ fake(int argc, char *argv[]) if (handle < 0) errx(1, "advertise failed"); + actuator_armed_s aa; + + aa.armed = true; + aa.lockdown = false; + + handle = orb_advertise(ORB_ID(actuator_armed), &aa); + + if (handle < 0) + errx(1, "advertise failed 2"); + exit(0); } @@ -888,15 +915,17 @@ fmu_main(int argc, char *argv[]) if (new_mode == PORT_FULL_PWM || new_mode == PORT_PWM_AND_GPIO) { if (argc > i + 1) { pwm_update_rate_in_hz = atoi(argv[i + 1]); + } else { errx(1, "missing argument for pwm update rate (-u)"); return 1; } + } else { errx(1, "pwm update rate currently only supported for mode_pwm, mode_pwm_gpio"); } } - } + } /* was a new mode set? */ if (new_mode != PORT_MODE_UNSET) { |