diff options
Diffstat (limited to 'apps/drivers/px4io/px4io.cpp')
| -rw-r--r-- | apps/drivers/px4io/px4io.cpp | 14 |
1 files changed, 9 insertions, 5 deletions
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index 985244873..fbbc0277e 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -270,8 +270,6 @@ PX4IO::PX4IO() : _to_actuators_effective(0), _to_outputs(0), _to_battery(0), - _mix_buf(nullptr), - _mix_buf_len(0), _primary_pwm_device(false) { /* we need this potentially before it could be set in task_main */ @@ -315,7 +313,7 @@ PX4IO::init() /* get some parameters */ _max_actuators = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT); _max_relays = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT); - _max_transfer = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER); + _max_transfer = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER) - 2; _max_rc_input = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT); if ((_max_actuators < 1) || (_max_actuators > 255) || (_max_relays < 1) || (_max_relays > 255) || @@ -816,9 +814,9 @@ PX4IO::io_publish_pwm_outputs() int PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values) { - uint8_t buf[_max_transfer]; + uint8_t buf[_max_transfer + 2]; - if (num_values > ((_max_transfer - 2) / sizeof(*values))) + if (num_values > ((_max_transfer) / sizeof(*values))) return -EINVAL; unsigned datalen = num_values * sizeof(*values); @@ -928,16 +926,22 @@ PX4IO::mixer_send(const char *buf, unsigned buflen) if (ret) { log("mixer send error %d", ret); return ret; + } else { + debug("mixer sent %u", total_len); } msg->action = F2I_MIXER_ACTION_APPEND; } while (buflen > 0); + debug("mixer upload OK"); + /* check for the mixer-OK flag */ if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK) return 0; + debug("mixer rejected"); + /* load must have failed for some reason */ return -EINVAL; } |