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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-14 22:53:42 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-14 22:53:42 +0200 |
commit | aebdd6e05969e415db2f7f939229163dddc35f23 (patch) | |
tree | 874008b07d83ed81acb09cfa1015d8a60e87a821 /src/drivers/px4io | |
parent | 27d0885453711a3d3ab6abf3cf227afc837e14bd (diff) | |
parent | d2f19c7d84030ad6ed1f6c17538fa96864c5dcef (diff) | |
download | px4-firmware-aebdd6e05969e415db2f7f939229163dddc35f23.tar.gz px4-firmware-aebdd6e05969e415db2f7f939229163dddc35f23.tar.bz2 px4-firmware-aebdd6e05969e415db2f7f939229163dddc35f23.zip |
Merged master
Diffstat (limited to 'src/drivers/px4io')
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 63 |
1 files changed, 35 insertions, 28 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index bc3f1dcc6..2953639bf 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -207,6 +207,12 @@ private: bool _dsm_vcc_ctl; /** + * System armed + */ + + bool _system_armed; + + /** * Trampoline to the worker task */ static void task_main_trampoline(int argc, char *argv[]); @@ -374,7 +380,8 @@ PX4IO::PX4IO() : _battery_amp_bias(0), _battery_mamphour_total(0), _battery_last_timestamp(0), - _dsm_vcc_ctl(false) + _dsm_vcc_ctl(false), + _system_armed(false) { /* we need this potentially before it could be set in task_main */ g_dev = this; @@ -633,9 +640,11 @@ void PX4IO::task_main() { hrt_abstime last_poll_time = 0; + int mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0); log("starting"); + /* * Subscribe to the appropriate PWM output topic based on whether we are the * primary PWM output or not. @@ -735,6 +744,25 @@ PX4IO::task_main() */ if (fds[3].revents & POLLIN) { parameter_update_s pupdate; + int32_t dsm_bind_val; + param_t dsm_bind_param; + + // See if bind parameter has been set, and reset it to 0 + param_get(dsm_bind_param = param_find("RC_DSM_BIND"), &dsm_bind_val); + if (dsm_bind_val) { + if (!_system_armed) { + if ((dsm_bind_val == 1) || (dsm_bind_val == 2)) { + mavlink_log_info(mavlink_fd, "[IO] binding dsm%c rx", dsm_bind_val == 1 ? '2' : 'x'); + ioctl(nullptr, DSM_BIND_START, dsm_bind_val == 1 ? 3 : 7); + } else { + mavlink_log_info(mavlink_fd, "[IO] invalid bind type, bind request rejected"); + } + } else { + mavlink_log_info(mavlink_fd, "[IO] system armed, bind request rejected"); + } + dsm_bind_val = 0; + param_set(dsm_bind_param, &dsm_bind_val); + } /* copy to reset the notification */ orb_copy(ORB_ID(parameter_update), _t_param, &pupdate); @@ -842,6 +870,8 @@ PX4IO::io_set_arming_state() uint16_t set = 0; uint16_t clear = 0; + _system_armed = vstatus.flag_system_armed; + if (armed.armed && !armed.lockdown) { set |= PX4IO_P_SETUP_ARMING_FMU_ARMED; } else { @@ -1578,16 +1608,11 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down); usleep(500000); io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out); - usleep(1000); io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up); - usleep(100000); + usleep(50000); io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4)); - break; - - case DSM_BIND_STOP: - io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down); + usleep(50000); io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart); - usleep(500000); break; case DSM_BIND_POWER_UP: @@ -1829,30 +1854,12 @@ bind(int argc, char *argv[]) else errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]); - /* Open console directly to grab CTRL-C signal */ - int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY); - if (!console) - errx(1, "failed opening console"); - warnx("This command will only bind DSM if satellite VCC (red wire) is controlled by relay 1."); - warnx("Press CTRL-C or 'c' when done."); g_dev->ioctl(nullptr, DSM_BIND_START, pulses); - for (;;) { - usleep(500000L); - /* Check if user wants to quit */ - char c; - if (read(console, &c, 1) == 1) { - if (c == 0x03 || c == 0x63) { - warnx("Done\n"); - g_dev->ioctl(nullptr, DSM_BIND_STOP, 0); - g_dev->ioctl(nullptr, DSM_BIND_POWER_UP, 0); - close(console); - exit(0); - } - } - } + exit(0); + } void |