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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-10-29 23:15:41 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-10-29 23:15:41 +0100 |
| commit | 19e50639658040e7773c91714d7365cd7cb780ba (patch) | |
| tree | 0c03100b12ded08c6874623165a9c39d80114e1b /src/drivers | |
| parent | c396a6774626a6a993030c910697873e6b1b1195 (diff) | |
| parent | dd23d0acbcce9f4c79e120ec782a522164a25d83 (diff) | |
| download | px4-firmware-19e50639658040e7773c91714d7365cd7cb780ba.tar.gz px4-firmware-19e50639658040e7773c91714d7365cd7cb780ba.tar.bz2 px4-firmware-19e50639658040e7773c91714d7365cd7cb780ba.zip | |
Merge remote-tracking branch 'tridge/pullrequest-force-safety'
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/drv_pwm_output.h | 3 | ||||
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 1 | ||||
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 5 |
3 files changed, 9 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/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) { |