diff options
Diffstat (limited to 'apps/drivers/px4io/px4io.cpp')
| -rw-r--r-- | apps/drivers/px4io/px4io.cpp | 15 |
1 files changed, 12 insertions, 3 deletions
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index 2611c4e9c..8fb53295f 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -83,6 +83,7 @@ #include <px4io/protocol.h> #include "uploader.h" +#include <debug.h> class PX4IO : public device::I2C @@ -771,9 +772,16 @@ PX4IO::io_set_rc_config() /* send channel config to IO */ ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE); if (ret != OK) { - log("RC config update failed"); + log("rc config upload failed"); break; } + + /* check the IO initialisation flag */ + if (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_INIT_OK)) { + log("config for RC%d rejected by IO", i + 1); + break; + } + offset += PX4IO_P_RC_CONFIG_STRIDE; } @@ -1186,7 +1194,7 @@ PX4IO::print_status() printf("%u bytes free\n", io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM)); uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS); - printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s\n", + printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s\n", flags, ((flags & PX4IO_P_STATUS_FLAGS_ARMED) ? " ARMED" : ""), ((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""), @@ -1197,7 +1205,8 @@ PX4IO::print_status() ((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"), ((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PPM" : ""), ((flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ? " MIXER_OK" : " MIXER_FAIL"), - ((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC")); + ((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"), + ((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL")); uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS); printf("alarms 0x%04x%s%s%s%s%s%s\n", alarms, |