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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-27 21:34:07 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-27 21:34:07 +0200 |
| commit | 92c3e52fec8945cede585da1e1236ab2ec5183f4 (patch) | |
| tree | 660bfec8d26dec556a8063b3b5869eed5e4b0e10 /src/drivers/px4io/px4io.cpp | |
| parent | 05027617996c86005fb8ec4d68fae798b9fbef35 (diff) | |
| parent | 91d50301c61cf495e83cab59621ef83cff24da3a (diff) | |
| download | px4-firmware-92c3e52fec8945cede585da1e1236ab2ec5183f4.tar.gz px4-firmware-92c3e52fec8945cede585da1e1236ab2ec5183f4.tar.bz2 px4-firmware-92c3e52fec8945cede585da1e1236ab2ec5183f4.zip | |
Merge remote-tracking branch 'upstream/termination_failsafe' into obcfailsafe
Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 22 |
1 files changed, 21 insertions, 1 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index b5c5ef17c..6f8d6f5f6 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1176,6 +1176,14 @@ PX4IO::io_set_arming_state() clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; } + // XXX this is for future support in the commander + // but can be removed if unneeded + // if (armed.termination_failsafe) { + // set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE; + // } else { + // clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE; + // } + if (armed.ready_to_arm) { set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; @@ -2039,7 +2047,8 @@ PX4IO::print_status(bool extended_status) ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""), ((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : ""), ((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) ? " LOCKDOWN" : ""), - ((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : "") + ((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : ""), + ((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : "") ); #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 printf("rates 0x%04x default %u alt %u relays 0x%04x\n", @@ -2263,6 +2272,17 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) } break; + case PWM_SERVO_SET_TERMINATION_FAILSAFE: + /* if failsafe occurs, do not allow the system to recover */ + if (arg == 0) { + /* clear termination failsafe flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE, 0); + } else { + /* set termination failsafe flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE); + } + break; + case DSM_BIND_START: /* only allow DSM2, DSM-X and DSM-X with more than 7 channels */ |