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| author | px4dev <px4@purgatory.org> | 2013-01-25 22:58:33 -0800 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-01-25 22:58:33 -0800 |
| commit | b46d05835b9ff55c1f21d37483202888eeea1656 (patch) | |
| tree | bc0200d6a1a528058a94b9af8ecd815980eaf885 /apps/px4io/registers.c | |
| parent | 900b0d58ef62d1ff1406a312ac88317152f0312a (diff) | |
| download | px4-firmware-b46d05835b9ff55c1f21d37483202888eeea1656.tar.gz px4-firmware-b46d05835b9ff55c1f21d37483202888eeea1656.tar.bz2 px4-firmware-b46d05835b9ff55c1f21d37483202888eeea1656.zip | |
Implement settable failsafe values for PWM outputs.
By default in failsafe mode, PWM output pulses are not generated.
Diffstat (limited to 'apps/px4io/registers.c')
| -rw-r--r-- | apps/px4io/registers.c | 29 |
1 files changed, 25 insertions, 4 deletions
diff --git a/apps/px4io/registers.c b/apps/px4io/registers.c index a4d81fd6e..22ed1de70 100644 --- a/apps/px4io/registers.c +++ b/apps/px4io/registers.c @@ -119,6 +119,11 @@ uint16_t r_page_actuators[IO_SERVO_COUNT]; uint16_t r_page_servos[IO_SERVO_COUNT]; /** + * Servo PWM values + */ +uint16_t r_page_servo_failsafe[IO_SERVO_COUNT]; + +/** * Scaled/routed RC input */ uint16_t r_page_rc_input[] = { @@ -166,7 +171,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num /* XXX we should cause a mixer tick ASAP */ system_state.fmu_data_received_time = hrt_absolute_time(); r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK; - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RAW_PPM; + r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RAW_PWM; break; /* handle raw PWM input */ @@ -183,9 +188,24 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num values++; } - /* XXX need to force these values to the servos */ + /* XXX we should cause a mixer tick ASAP */ system_state.fmu_data_received_time = hrt_absolute_time(); - r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PPM; + r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM; + break; + + /* handle setup for servo failsafe values */ + case PX4IO_PAGE_FAILSAFE_PWM: + + /* copy channel data */ + while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) { + + /* XXX range-check value? */ + r_page_servo_failsafe[offset] = *values; + + offset++; + num_values--; + values++; + } break; /* handle text going to the mixer parser */ @@ -353,7 +373,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) int registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_values) { -#define SELECT_PAGE(_page_name) { *values = _page_name; *num_values = sizeof(_page_name) / sizeof(_page_name[0]); } +#define SELECT_PAGE(_page_name) { *values = (uint16_t *)_page_name; *num_values = sizeof(_page_name) / sizeof(_page_name[0]); } switch (page) { @@ -441,6 +461,7 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val COPY_PAGE(PX4IO_PAGE_SETUP, r_page_setup); COPY_PAGE(PX4IO_PAGE_CONTROLS, r_page_controls); COPY_PAGE(PX4IO_PAGE_RC_CONFIG, r_page_rc_input_config); + COPY_PAGE(PX4IO_PAGE_FAILSAFE_PWM, r_page_servo_failsafe); default: return -1; |