diff options
Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 252 |
1 files changed, 135 insertions, 117 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index ecf50c859..663609aed 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -104,8 +104,8 @@ public: /** * Set the update rate for actuator outputs from FMU to IO. * - * @param rate The rate in Hz actuator outpus are sent to IO. - * Min 10 Hz, max 400 Hz + * @param rate The rate in Hz actuator outpus are sent to IO. + * Min 10 Hz, max 400 Hz */ int set_update_rate(int rate); @@ -120,14 +120,14 @@ public: /** * Push failsafe values to IO. * - * @param vals Failsafe control inputs: in us PPM (900 for zero, 1500 for centered, 2100 for full) - * @param len Number of channels, could up to 8 + * @param vals Failsafe control inputs: in us PPM (900 for zero, 1500 for centered, 2100 for full) + * @param len Number of channels, could up to 8 */ int set_failsafe_values(const uint16_t *vals, unsigned len); /** - * Print the current status of IO - */ + * Print the current status of IO + */ void print_status(); private: @@ -1579,7 +1579,7 @@ start(int argc, char *argv[]) PX4IO_interface *interface; #if defined(CONFIG_ARCH_BOARD_PX4FMUV2) - interface = io_serial_interface(5); /* XXX wrong port! */ + interface = io_serial_interface(); #elif defined(CONFIG_ARCH_BOARD_PX4FMU) interface = io_i2c_interface(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO); #else @@ -1710,6 +1710,35 @@ monitor(void) } } +void +if_test(unsigned mode) +{ + PX4IO_interface *interface; + +#if defined(CONFIG_ARCH_BOARD_PX4FMUV2) + interface = io_serial_interface(); +#elif defined(CONFIG_ARCH_BOARD_PX4FMU) + interface = io_i2c_interface(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO); +#else +# error Unknown board - cannot select interface. +#endif + + if (interface == nullptr) + errx(1, "cannot alloc interface"); + + if (!interface->ok()) { + delete interface; + errx(1, "interface init failed"); + } else { + + int result = interface->test(mode); + delete interface; + errx(0, "test returned %d", result); + } + + exit(0); +} + } int @@ -1722,28 +1751,85 @@ px4io_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) start(argc - 1, argv + 1); - if (!strcmp(argv[1], "limit")) { + if (!strcmp(argv[1], "update")) { if (g_dev != nullptr) { + printf("[px4io] loaded, detaching first\n"); + /* stop the driver */ + delete g_dev; + } - if ((argc > 2)) { - g_dev->set_update_rate(atoi(argv[2])); - } else { - errx(1, "missing argument (50 - 200 Hz)"); - return 1; - } + PX4IO_Uploader *up; + const char *fn[3]; + + /* work out what we're uploading... */ + if (argc > 2) { + fn[0] = argv[2]; + fn[1] = nullptr; + + } else { + fn[0] = "/fs/microsd/px4io.bin"; + fn[1] = "/etc/px4io.bin"; + fn[2] = nullptr; + } + + up = new PX4IO_Uploader; + int ret = up->upload(&fn[0]); + delete up; + + 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; + } + + if (!strcmp(argv[1], "iftest")) { + if (g_dev != nullptr) + errx(1, "can't iftest when started"); + + if_test((argc > 2) ? strtol(argv[2], NULL, 0) : 0); + } + + /* commands below here require a started driver */ + + if (g_dev == nullptr) + errx(1, "not started"); + + if (!strcmp(argv[1], "limit")) { + + if ((argc > 2)) { + g_dev->set_update_rate(atoi(argv[2])); + } else { + errx(1, "missing argument (50 - 200 Hz)"); + return 1; } exit(0); } if (!strcmp(argv[1], "current")) { - if (g_dev != nullptr) { - if ((argc > 3)) { - g_dev->set_battery_current_scaling(atof(argv[2]), atof(argv[3])); - } else { - errx(1, "missing argument (apm_per_volt, amp_offset)"); - return 1; - } + if ((argc > 3)) { + g_dev->set_battery_current_scaling(atof(argv[2]), atof(argv[3])); + } else { + errx(1, "missing argument (apm_per_volt, amp_offset)"); + return 1; } exit(0); } @@ -1754,70 +1840,54 @@ px4io_main(int argc, char *argv[]) errx(1, "failsafe command needs at least one channel value (ppm)"); } - if (g_dev != nullptr) { + /* set values for first 8 channels, fill unassigned channels with 1500. */ + uint16_t failsafe[8]; - /* set values for first 8 channels, fill unassigned channels with 1500. */ - uint16_t failsafe[8]; - - for (int i = 0; i < sizeof(failsafe) / sizeof(failsafe[0]); i++) - { - /* set channel to commanline argument or to 900 for non-provided channels */ - if (argc > i + 2) { - failsafe[i] = atoi(argv[i+2]); - if (failsafe[i] < 800 || failsafe[i] > 2200) { - errx(1, "value out of range of 800 < value < 2200. Aborting."); - } - } else { - /* a zero value will result in stopping to output any pulse */ - failsafe[i] = 0; + for (int i = 0; i < sizeof(failsafe) / sizeof(failsafe[0]); i++) { + + /* set channel to commandline argument or to 900 for non-provided channels */ + if (argc > i + 2) { + failsafe[i] = atoi(argv[i+2]); + if (failsafe[i] < 800 || failsafe[i] > 2200) { + errx(1, "value out of range of 800 < value < 2200. Aborting."); } + } else { + /* a zero value will result in stopping to output any pulse */ + failsafe[i] = 0; } + } - int ret = g_dev->set_failsafe_values(failsafe, sizeof(failsafe) / sizeof(failsafe[0])); + int ret = g_dev->set_failsafe_values(failsafe, sizeof(failsafe) / sizeof(failsafe[0])); - if (ret != OK) - errx(ret, "failed setting failsafe values"); - } else { - errx(1, "not loaded"); - } + if (ret != OK) + errx(ret, "failed setting failsafe values"); exit(0); } if (!strcmp(argv[1], "recovery")) { - if (g_dev != nullptr) { - /* - * Enable in-air restart support. - * We can cheat and call the driver directly, as it - * doesn't reference filp in ioctl() - */ - g_dev->ioctl(NULL, PX4IO_INAIR_RESTART_ENABLE, 1); - } else { - errx(1, "not loaded"); - } + /* + * Enable in-air restart support. + * We can cheat and call the driver directly, as it + * doesn't reference filp in ioctl() + */ + g_dev->ioctl(NULL, PX4IO_INAIR_RESTART_ENABLE, 1); + exit(0); } if (!strcmp(argv[1], "stop")) { - if (g_dev != nullptr) { - /* stop the driver */ - delete g_dev; - } else { - errx(1, "not loaded"); - } + /* stop the driver */ + delete g_dev; exit(0); } if (!strcmp(argv[1], "status")) { - if (g_dev != nullptr) { - printf("[px4io] loaded\n"); - g_dev->print_status(); - } else { - printf("[px4io] not loaded\n"); - } + printf("[px4io] loaded\n"); + g_dev->print_status(); exit(0); } @@ -1844,58 +1914,6 @@ px4io_main(int argc, char *argv[]) exit(0); } - /* note, stop not currently implemented */ - - if (!strcmp(argv[1], "update")) { - - if (g_dev != nullptr) { - printf("[px4io] loaded, detaching first\n"); - /* stop the driver */ - delete g_dev; - } - - PX4IO_Uploader *up; - const char *fn[3]; - - /* work out what we're uploading... */ - if (argc > 2) { - fn[0] = argv[2]; - fn[1] = nullptr; - - } else { - fn[0] = "/fs/microsd/px4io.bin"; - fn[1] = "/etc/px4io.bin"; - fn[2] = nullptr; - } - - up = new PX4IO_Uploader; - int ret = up->upload(&fn[0]); - delete up; - - 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; - } - if (!strcmp(argv[1], "rx_dsm") || !strcmp(argv[1], "rx_dsm_10bit") || !strcmp(argv[1], "rx_dsm_11bit") || @@ -1909,6 +1927,6 @@ px4io_main(int argc, char *argv[]) if (!strcmp(argv[1], "monitor")) monitor(); - out: +out: errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit', 'current', 'failsafe' or 'update'"); } |