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author | px4dev <px4@purgatory.org> | 2013-03-10 16:34:21 -0700 |
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committer | px4dev <px4@purgatory.org> | 2013-03-12 22:22:49 -0700 |
commit | 6cf0758b24de1e0e28e1bb65fa33a0b49b1601b9 (patch) | |
tree | 0e7a44edee6ad28d4b184341c277fea6a958acd4 /apps/drivers/px4io/px4io.cpp | |
parent | 6b947a67d07eadc7dc882edf4505377085979784 (diff) | |
download | px4-firmware-6cf0758b24de1e0e28e1bb65fa33a0b49b1601b9.tar.gz px4-firmware-6cf0758b24de1e0e28e1bb65fa33a0b49b1601b9.tar.bz2 px4-firmware-6cf0758b24de1e0e28e1bb65fa33a0b49b1601b9.zip |
Changes for multi-rate PWM output; default and alternate rates. ioctl protocol, PX4IO support.
Diffstat (limited to 'apps/drivers/px4io/px4io.cpp')
-rw-r--r-- | apps/drivers/px4io/px4io.cpp | 98 |
1 files changed, 64 insertions, 34 deletions
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index 27c885ed7..803e74469 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -86,6 +86,8 @@ #include "uploader.h" #include <debug.h> +#define PX4IO_SET_DEBUG _IOC(0xff00, 0) +#define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1) class PX4IO : public device::I2C { @@ -1223,14 +1225,15 @@ PX4IO::print_status() ((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"), ((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL")); uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS); - printf("alarms 0x%04x%s%s%s%s%s%s\n", + printf("alarms 0x%04x%s%s%s%s%s%s%s\n", alarms, ((alarms & PX4IO_P_STATUS_ALARMS_VBATT_LOW) ? " VBATT_LOW" : ""), ((alarms & PX4IO_P_STATUS_ALARMS_TEMPERATURE) ? " TEMPERATURE" : ""), ((alarms & PX4IO_P_STATUS_ALARMS_SERVO_CURRENT) ? " SERVO_CURRENT" : ""), ((alarms & PX4IO_P_STATUS_ALARMS_ACC_CURRENT) ? " ACC_CURRENT" : ""), ((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST) ? " FMU_LOST" : ""), - ((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : "")); + ((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""), + ((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) ? " PWM_ERROR" : "")); printf("vbatt %u ibatt %u\n", io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT), io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT)); @@ -1269,10 +1272,10 @@ PX4IO::print_status() ((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""), ((arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) ? " VECTOR_FLIGHT_OK" : ""), ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : "")); - printf("rates 0x%04x lowrate %u highrate %u relays 0x%04x\n", + printf("rates 0x%04x default %u alt %u relays 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES), - io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_LOWRATE), - io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_HIGHRATE), + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE), + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE), io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS)); printf("vbatt scale %u ibatt scale %u ibatt bias %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE), @@ -1320,36 +1323,39 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_ARM_OK, 0); break; - case PWM_SERVO_INAIR_RESTART_ENABLE: - /* set the 'in-air restart' bit */ - ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK); + case PWM_SERVO_SET_UPDATE_RATE: + /* set the requested alternate rate */ + if ((arg >= 50) && (arg <= 400)) { /* TODO: we could go higher for e.g. TurboPWM */ + ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg); + } else { + ret = -EINVAL; + } break; - case PWM_SERVO_INAIR_RESTART_DISABLE: - /* unset the 'in-air restart' bit */ - ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK, 0); - break; + case PWM_SERVO_SELECT_UPDATE_RATE: { - case PWM_SERVO_SET_UPDATE_RATE: - /* set the requested rate */ - if ((arg >= 50) && (arg <= 400)) { - ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_HIGHRATE, arg); - } else { + /* blindly clear the PWM update alarm - might be set for some other reason */ + io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR); + + /* attempt to set the rate map */ + io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES, arg); + + /* check that the changes took */ + uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS); + if (alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) { ret = -EINVAL; + io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR); } break; + } case PWM_SERVO_GET_COUNT: *(unsigned *)arg = _max_actuators; break; - case PWM_SERVO_SET_DEBUG: - /* set the debug level */ - ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG, arg); - break; - - case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS): { + case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS - 1): { + /* TODO: we could go lower for e.g. TurboPWM */ unsigned channel = cmd - PWM_SERVO_SET(0); if ((channel >= _max_actuators) || (arg < 900) || (arg > 2100)) { ret = -EINVAL; @@ -1361,7 +1367,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) break; } - case PWM_SERVO_GET(0) ... PWM_SERVO_GET(PWM_OUTPUT_MAX_CHANNELS): { + case PWM_SERVO_GET(0) ... PWM_SERVO_GET(PWM_OUTPUT_MAX_CHANNELS - 1): { unsigned channel = cmd - PWM_SERVO_GET(0); @@ -1379,6 +1385,16 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) break; } + case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): { + + unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0); + + uint32_t value = io_reg_get(PX4IO_PAGE_PWM_INFO, PX4IO_RATE_MAP_BASE + channel); + + *(uint32_t *)arg = value; + break; + } + case GPIO_RESET: ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0); break; @@ -1443,6 +1459,20 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) break; } + case PX4IO_SET_DEBUG: + /* set the debug level */ + ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG, arg); + break; + + case PX4IO_INAIR_RESTART_ENABLE: + /* set/clear the 'in-air restart' bit */ + if (arg) { + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK); + } else { + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK, 0); + } + break; + default: /* not a recognized value */ ret = -ENOTTY; @@ -1602,7 +1632,7 @@ px4io_main(int argc, char *argv[]) * We can cheat and call the driver directly, as it * doesn't reference filp in ioctl() */ - g_dev->ioctl(NULL, PWM_SERVO_INAIR_RESTART_ENABLE, 0); + g_dev->ioctl(NULL, PX4IO_INAIR_RESTART_ENABLE, 1); } else { errx(1, "not loaded"); } @@ -1623,16 +1653,16 @@ px4io_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { - if (g_dev != nullptr) { - printf("[px4io] loaded\n"); - g_dev->print_status(); - } else { - printf("[px4io] not loaded\n"); - } - - exit(0); + if (g_dev != nullptr) { + printf("[px4io] loaded\n"); + g_dev->print_status(); + } else { + printf("[px4io] not loaded\n"); } + exit(0); + } + if (!strcmp(argv[1], "debug")) { if (argc <= 2) { printf("usage: px4io debug LEVEL\n"); @@ -1646,7 +1676,7 @@ px4io_main(int argc, char *argv[]) /* we can cheat and call the driver directly, as it * doesn't reference filp in ioctl() */ - int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_DEBUG, level); + int ret = g_dev->ioctl(NULL, PX4IO_SET_DEBUG, level); if (ret != 0) { printf("SET_DEBUG failed - %d\n", ret); exit(1); |