diff options
Diffstat (limited to 'apps/drivers/px4io/px4io.cpp')
| -rw-r--r-- | apps/drivers/px4io/px4io.cpp | 36 |
1 files changed, 28 insertions, 8 deletions
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index 66db1c360..995c9393f 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -110,7 +110,7 @@ private: bool _primary_pwm_device; ///< true if we are the default PWM output volatile bool _switch_armed; ///< PX4IO switch armed state - // XXX how should this work? + // XXX how should this work? bool _send_needed; ///< If true, we need to send a packet to IO @@ -149,13 +149,13 @@ private: * group/index during mixing. */ static int control_callback(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &input); + uint8_t control_group, + uint8_t control_index, + float &input); }; -namespace +namespace { PX4IO *g_dev; @@ -190,6 +190,7 @@ PX4IO::~PX4IO() /* spin waiting for the thread to stop */ unsigned i = 10; + do { /* wait 50ms - it should wake every 100ms or so worst-case */ usleep(50000); @@ -223,11 +224,13 @@ PX4IO::init() /* do regular cdev init */ ret = CDev::init(); + if (ret != OK) return ret; /* try to claim the generic PWM output device node as well - it's OK if we fail at this */ ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this); + if (ret == OK) { log("default PWM output device"); _primary_pwm_device = true; @@ -235,6 +238,7 @@ PX4IO::init() /* start the IO interface task */ _task = task_create("px4io", SCHED_PRIORITY_DEFAULT, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr); + if (_task < 0) { debug("task start failed: %d", errno); return -errno; @@ -256,6 +260,7 @@ PX4IO::task_main() /* open the serial port */ _serial_fd = ::open("/dev/ttyS2", O_RDWR); + if (_serial_fd < 0) { debug("failed to open serial port for IO: %d", errno); _task = -1; @@ -343,6 +348,7 @@ PX4IO::task_main() _send_needed = true; } } + if (fds[2].revents & POLLIN) { orb_copy(ORB_ID(actuator_armed), _t_armed, &_controls); @@ -364,9 +370,9 @@ PX4IO::task_main() int PX4IO::control_callback(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &input) + uint8_t control_group, + uint8_t control_index, + float &input) { const actuator_controls_s *controls = (actuator_controls_s *)handle; @@ -458,13 +464,16 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) break; case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1): + /* fake an update to the selected servo channel */ if ((arg >= 900) && (arg <= 2100)) { _outputs.output[cmd - PWM_SERVO_SET(0)] = arg; _send_needed = true; + } else { ret = -EINVAL; } + break; case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1): @@ -481,6 +490,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) delete _mixers; _mixers = nullptr; } + break; case MIXERIOCADDSIMPLE: { @@ -519,6 +529,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) /* allocate a new mixer group and load it from the file */ newmixers = new MixerGroup(control_callback, (uintptr_t)&_controls); + if (newmixers->load_from_file(path) != 0) { delete newmixers; ret = -EINVAL; @@ -528,6 +539,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) if (_mixers != nullptr) { delete _mixers; } + _mixers = newmixers; } @@ -537,6 +549,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) /* not a recognised value */ ret = -ENOTTY; } + unlock(); return ret; @@ -576,6 +589,7 @@ px4io_main(int argc, char *argv[]) if (argc > 2) { fn[0] = argv[2]; fn[1] = nullptr; + } else { fn[0] = "/fs/microsd/px4io.bin"; fn[1] = "/etc/px4io.bin"; @@ -589,18 +603,24 @@ px4io_main(int argc, char *argv[]) switch (ret) { case OK: break; + case -ENOENT: errx(1, "PX4IO firmware file not found"); + case -EEXIST: case -EIO: errx(1, "error updating PX4IO - check that bootloader mode is enabled"); + case -EINVAL: errx(1, "verify failed - retry the update"); + case -ETIMEDOUT: errx(1, "timed out waiting for bootloader - power-cycle and try again"); + default: errx(1, "unexpected error %d", ret); } + return ret; } |