diff options
author | px4dev <px4@purgatory.org> | 2012-12-20 21:31:02 -0800 |
---|---|---|
committer | px4dev <px4@purgatory.org> | 2012-12-20 21:31:02 -0800 |
commit | 5b92c517779500d79e6e5f5cff48336550ce5edb (patch) | |
tree | 38cf26fd5718c53c4cbe99e7433791ee45430902 /apps/drivers/px4io/px4io.cpp | |
parent | f40e4d13aa1c6cd854b848f1cd0c3a017e719138 (diff) | |
download | px4-firmware-5b92c517779500d79e6e5f5cff48336550ce5edb.tar.gz px4-firmware-5b92c517779500d79e6e5f5cff48336550ce5edb.tar.bz2 px4-firmware-5b92c517779500d79e6e5f5cff48336550ce5edb.zip |
Initial implementation of application access to the PX4IO relays.
Diffstat (limited to 'apps/drivers/px4io/px4io.cpp')
-rw-r--r-- | apps/drivers/px4io/px4io.cpp | 32 |
1 files changed, 31 insertions, 1 deletions
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index 456564ba7..d662e634f 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -61,6 +61,7 @@ #include <drivers/device/device.h> #include <drivers/drv_rc_input.h> #include <drivers/drv_pwm_output.h> +#include <drivers/drv_gpio.h> #include <drivers/drv_hrt.h> #include <drivers/drv_mixer.h> @@ -114,6 +115,8 @@ private: bool _primary_pwm_device; ///< true if we are the default PWM output + uint32_t _relays; ///< state of the PX4IO relays, one bit per relay + volatile bool _switch_armed; ///< PX4IO switch armed state // XXX how should this work? @@ -185,6 +188,7 @@ PX4IO::PX4IO() : _t_outputs(-1), _mixers(nullptr), _primary_pwm_device(false), + _relays(0), _switch_armed(false), _send_needed(false), _config_needed(false) @@ -497,7 +501,9 @@ PX4IO::io_send() /* publish as we send */ orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &_outputs); - // XXX relays + /* update relays */ + for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++) + cmd.relay_state[i] = (_relays & (1<< i)) ? true : false; /* armed and not locked down */ cmd.arm_ok = (_armed.armed && !_armed.lockdown); @@ -559,6 +565,30 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) *(servo_position_t *)arg = _outputs.output[cmd - PWM_SERVO_GET(0)]; break; + case GPIO_RESET: + _relays = 0; + _send_needed = true; + break; + + case GPIO_SET: + case GPIO_CLEAR: + /* make sure only valid bits are being set */ + if ((arg & ((1UL << PX4IO_RELAY_CHANNELS) - 1)) != arg) { + ret = EINVAL; + break; + } + if (cmd == GPIO_SET) { + _relays |= arg; + } else { + _relays &= ~arg; + } + _send_needed = true; + break; + + case GPIO_GET: + *(uint32_t *)arg = _relays; + break; + case MIXERIOCGETOUTPUTCOUNT: *(unsigned *)arg = _max_actuators; break; |