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author | dominiho <dominik.honegger@inf.ethz.ch> | 2014-10-30 11:11:15 +0100 |
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committer | dominiho <dominik.honegger@inf.ethz.ch> | 2014-10-30 11:11:15 +0100 |
commit | 93239e5018ea7fc280c060826c52a794fb438a34 (patch) | |
tree | 4717276a615f3e8d1b74259c742f84e0cf33003b /src/drivers | |
parent | 37d399f05028d5c7c0d31d8a5465139b04e487e7 (diff) | |
parent | 5500fcdf1276f18c425d109a480fe22fa0289e05 (diff) | |
download | px4-firmware-93239e5018ea7fc280c060826c52a794fb438a34.tar.gz px4-firmware-93239e5018ea7fc280c060826c52a794fb438a34.tar.bz2 px4-firmware-93239e5018ea7fc280c060826c52a794fb438a34.zip |
Merge branch 'master' of https://github.com/PX4/Firmware into px4flow_integral_i2c
Diffstat (limited to 'src/drivers')
-rw-r--r-- | src/drivers/drv_pwm_output.h | 3 | ||||
-rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp | 11 | ||||
-rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 1 | ||||
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 5 |
4 files changed, 20 insertions, 0 deletions
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index f66ec7c95..6873f24b6 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -213,6 +213,9 @@ ORB_DECLARE(output_pwm); /** make failsafe non-recoverable (termination) if it occurs */ #define PWM_SERVO_SET_TERMINATION_FAILSAFE _IOC(_PWM_SERVO_BASE, 25) +/** force safety switch on (to enable use of safety switch) */ +#define PWM_SERVO_SET_FORCE_SAFETY_ON _IOC(_PWM_SERVO_BASE, 26) + /* * * diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index b22bb2e07..a95e041a1 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -229,6 +229,7 @@ private: perf_counter_t _gyro_reads; perf_counter_t _sample_perf; perf_counter_t _bad_transfers; + perf_counter_t _good_transfers; math::LowPassFilter2p _accel_filter_x; math::LowPassFilter2p _accel_filter_y; @@ -404,6 +405,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev _gyro_reads(perf_alloc(PC_COUNT, "mpu6000_gyro_read")), _sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")), _bad_transfers(perf_alloc(PC_COUNT, "mpu6000_bad_transfers")), + _good_transfers(perf_alloc(PC_COUNT, "mpu6000_good_transfers")), _accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_y(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), _accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ), @@ -456,6 +458,7 @@ MPU6000::~MPU6000() perf_free(_accel_reads); perf_free(_gyro_reads); perf_free(_bad_transfers); + perf_free(_good_transfers); } int @@ -1279,8 +1282,14 @@ MPU6000::measure() // all zero data - probably a SPI bus error perf_count(_bad_transfers); perf_end(_sample_perf); + // note that we don't call reset() here as a reset() + // costs 20ms with interrupts disabled. That means if + // the mpu6k does go bad it would cause a FMU failure, + // regardless of whether another sensor is available, return; } + + perf_count(_good_transfers); /* @@ -1399,6 +1408,8 @@ MPU6000::print_info() perf_print_counter(_sample_perf); perf_print_counter(_accel_reads); perf_print_counter(_gyro_reads); + perf_print_counter(_bad_transfers); + perf_print_counter(_good_transfers); _accel_reports->print_info("accel queue"); _gyro_reports->print_info("gyro queue"); } diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 122a3cd17..3d3e1b0eb 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -829,6 +829,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) case PWM_SERVO_SET_ARM_OK: case PWM_SERVO_CLEAR_ARM_OK: case PWM_SERVO_SET_FORCE_SAFETY_OFF: + case PWM_SERVO_SET_FORCE_SAFETY_ON: // these are no-ops, as no safety switch break; diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 3871b4a2c..fd9eb4170 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -2278,6 +2278,11 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC); break; + case PWM_SERVO_SET_FORCE_SAFETY_ON: + /* force safety switch on */ + ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC); + break; + case PWM_SERVO_SET_FORCE_FAILSAFE: /* force failsafe mode instantly */ if (arg == 0) { |