diff options
-rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 16 | ||||
-rw-r--r-- | src/systemcmds/pwm/pwm.c | 48 |
2 files changed, 49 insertions, 15 deletions
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index a2193b526..123eb6778 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -98,7 +98,7 @@ mixer_tick(void) if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) { isr_debug(1, "AP RX timeout"); } - r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM); + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK); r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST; } else { @@ -112,12 +112,11 @@ mixer_tick(void) * Decide which set of controls we're using. */ - /* do not mix if mixer is invalid or if RAW_PWM mode is on and FMU is good */ + /* do not mix if RAW_PWM mode is on and FMU is good */ if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) && - !(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) { + (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) { - /* don't actually mix anything - we already have raw PWM values or - not a valid mixer. */ + /* don't actually mix anything - we already have raw PWM values */ source = MIX_NONE; } else { @@ -196,10 +195,9 @@ mixer_tick(void) bool should_arm = ( /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && - /* there is valid input via direct PWM or mixer */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) && - /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) && - /* FMU is available or FMU is not available but override is an option */ - ((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) || (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && (r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) )) + /* there is valid input via direct PWM or mixer */ ((r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) || + /* or failsafe was set manually */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)) && + /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ); if (should_arm && !mixer_servos_armed) { diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c index e150b5a74..570ca6aa9 100644 --- a/src/systemcmds/pwm/pwm.c +++ b/src/systemcmds/pwm/pwm.c @@ -180,7 +180,8 @@ pwm_main(int argc, char *argv[]) } /* iterate remaining arguments */ - unsigned channel = 0; + unsigned nchannels = 0; + unsigned channel[8] = {0}; while (argc--) { const char *arg = argv[0]; argv++; @@ -204,13 +205,15 @@ pwm_main(int argc, char *argv[]) } unsigned pwm_value = strtol(arg, &ep, 0); if (*ep == '\0') { - ret = ioctl(fd, PWM_SERVO_SET(channel), pwm_value); - if (ret != OK) - err(1, "PWM_SERVO_SET(%d)", channel); - channel++; + channel[nchannels] = pwm_value; + nchannels++; + + if (nchannels >= sizeof(channel) / sizeof(channel[0])) + err(1, "too many pwm values (max %d)", sizeof(channel) / sizeof(channel[0])); + continue; } - usage("unrecognised option"); + usage("unrecognized option"); } /* print verbose info */ @@ -250,5 +253,38 @@ pwm_main(int argc, char *argv[]) } fflush(stdout); } + + /* perform PWM output */ + if (nchannels) { + + /* Open console directly to grab CTRL-C signal */ + int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY); + if (!console) + err(1, "failed opening console"); + + warnx("Press CTRL-C or 'c' to abort."); + + while (1) { + for (int i = 0; i < nchannels; i++) { + ret = ioctl(fd, PWM_SERVO_SET(i), channel[i]); + if (ret != OK) + err(1, "PWM_SERVO_SET(%d)", i); + } + + /* abort on user request */ + char c; + if (read(console, &c, 1) == 1) { + if (c == 0x03 || c == 0x63) { + warnx("User abort\n"); + close(console); + exit(0); + } + } + + /* rate limit to ~ 20 Hz */ + usleep(50000); + } + } + exit(0); }
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