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| author | Andrew Tridgell <tridge@samba.org> | 2013-05-16 16:21:33 +1000 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-05-16 08:39:24 +0200 |
| commit | fa816d0fd65da461fd5bf8803cf00caebaf23c5c (patch) | |
| tree | 3b705d66f9d2253d30a602ee6b4e54d34e8a7bdc | |
| parent | d02f5c5505aba9c13a979d1d170d98ef17ca99ca (diff) | |
| download | px4-firmware-fa816d0fd65da461fd5bf8803cf00caebaf23c5c.tar.gz px4-firmware-fa816d0fd65da461fd5bf8803cf00caebaf23c5c.tar.bz2 px4-firmware-fa816d0fd65da461fd5bf8803cf00caebaf23c5c.zip | |
arming: added PWM_SERVO_SET_ARM_OK and PWM_SERVO_CLEAR_ARM_OK
these new ioctls allow for the flight code to tell the IO board that
arming can proceed
| -rw-r--r-- | src/drivers/drv_pwm_output.h | 6 | ||||
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 5 | ||||
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 10 |
3 files changed, 21 insertions, 0 deletions
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index 07831f20c..56af71059 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -109,6 +109,12 @@ ORB_DECLARE(output_pwm); /** selects servo update rates, one bit per servo. 0 = default (50Hz), 1 = alternate */ #define PWM_SERVO_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 4) +/** set the 'ARM ok' bit, which activates the safety switch */ +#define PWM_SERVO_SET_ARM_OK _IOC(_PWM_SERVO_BASE, 5) + +/** clear the 'ARM ok' bit, which deactivates the safety switch */ +#define PWM_SERVO_CLEAR_ARM_OK _IOC(_PWM_SERVO_BASE, 6) + /** set a single servo to a specific value */ #define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo) diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 761a23c42..bf72892eb 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -606,6 +606,11 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) up_pwm_servo_arm(true); break; + case PWM_SERVO_SET_ARM_OK: + case PWM_SERVO_CLEAR_ARM_OK: + // these are no-ops, as no safety switch + break; + case PWM_SERVO_DISARM: up_pwm_servo_arm(false); break; diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 3006cf885..a40142792 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1358,6 +1358,16 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FMU_ARMED); break; + case PWM_SERVO_SET_ARM_OK: + /* set the 'OK to arm' bit */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_IO_ARM_OK); + break; + + case PWM_SERVO_CLEAR_ARM_OK: + /* clear the 'OK to arm' bit */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_IO_ARM_OK, 0); + break; + case PWM_SERVO_DISARM: /* clear the 'armed' bit */ ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FMU_ARMED, 0); |