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author | px4dev <px4@purgatory.org> | 2013-01-06 00:40:17 -0800 |
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committer | px4dev <px4@purgatory.org> | 2013-01-06 00:40:17 -0800 |
commit | 9df2aaf3128a14c49d5f82e624174fc55ff3da0c (patch) | |
tree | b61605113eb7feb56465e9c03bc1f1b406d098fe /apps/drivers | |
parent | dbb841b0dcad55e36d221fc83ac7bab283438a94 (diff) | |
parent | b3e16b48617ada1b72ba07fab2f9b3ef48cd5058 (diff) | |
download | px4-firmware-9df2aaf3128a14c49d5f82e624174fc55ff3da0c.tar.gz px4-firmware-9df2aaf3128a14c49d5f82e624174fc55ff3da0c.tar.bz2 px4-firmware-9df2aaf3128a14c49d5f82e624174fc55ff3da0c.zip |
Merge branch 'master' into #111-px4io-integrated-mixing
Fix a botched merge for #106 at the same time.
Diffstat (limited to 'apps/drivers')
-rw-r--r-- | apps/drivers/boards/px4io/px4io_internal.h | 22 | ||||
-rw-r--r-- | apps/drivers/px4fmu/fmu.cpp | 2 | ||||
-rw-r--r-- | apps/drivers/px4io/px4io.cpp | 32 |
3 files changed, 32 insertions, 24 deletions
diff --git a/apps/drivers/boards/px4io/px4io_internal.h b/apps/drivers/boards/px4io/px4io_internal.h index a0342ac8a..3ac8a5cfa 100644 --- a/apps/drivers/boards/px4io/px4io_internal.h +++ b/apps/drivers/boards/px4io/px4io_internal.h @@ -61,28 +61,6 @@ #define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\ GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10) -/* R/C in/out channels **************************************************************/ - -/* XXX just GPIOs for now - eventually timer pins */ - -#define GPIO_CH1_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN0) -#define GPIO_CH2_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN1) -#define GPIO_CH3_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN8) -#define GPIO_CH4_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN9) -#define GPIO_CH5_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN6) -#define GPIO_CH6_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN7) -#define GPIO_CH7_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN0) -#define GPIO_CH8_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN1) - -#define GPIO_CH1_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) -#define GPIO_CH2_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1) -#define GPIO_CH3_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8) -#define GPIO_CH4_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9) -#define GPIO_CH5_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6) -#define GPIO_CH6_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7) -#define GPIO_CH7_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0) -#define GPIO_CH8_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1) - /* Safety switch button *************************************************************/ #define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5) diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp index a8d160117..819dbf208 100644 --- a/apps/drivers/px4fmu/fmu.cpp +++ b/apps/drivers/px4fmu/fmu.cpp @@ -500,7 +500,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) /* FALLTHROUGH */ case PWM_SERVO_GET(0): case PWM_SERVO_GET(1): { - channel = cmd - PWM_SERVO_SET(0); + channel = cmd - PWM_SERVO_GET(0); *(servo_position_t *)arg = up_pwm_servo_get(channel); break; } diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index 8e0fde727..c1b52b07b 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> @@ -117,6 +118,8 @@ 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? @@ -195,6 +198,7 @@ PX4IO::PX4IO() : _mix_buf(nullptr), _mix_buf_len(0), _primary_pwm_device(false), + _relays(0), _switch_armed(false), _send_needed(false), _config_needed(false) @@ -542,7 +546,9 @@ PX4IO::io_send() /* XXX needs to be based off post-mix values from the IO side */ 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); @@ -641,6 +647,30 @@ 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 = PX4IO_CONTROL_CHANNELS; break; |