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path: root/src/drivers/px4io/px4io.cpp
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Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
-rw-r--r--src/drivers/px4io/px4io.cpp128
1 files changed, 42 insertions, 86 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index d709f1cc8..b603ffc8d 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -943,53 +943,6 @@ PX4IO::io_set_control_state()
return io_reg_set(PX4IO_PAGE_CONTROLS, 0, regs, _max_controls);
}
-int
-PX4IO::set_failsafe_values(const uint16_t *vals, unsigned len)
-{
- if (len > _max_actuators)
- /* fail with error */
- return E2BIG;
-
- /* copy values to registers in IO */
- return io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, vals, len);
-}
-
-int
-PX4IO::set_min_values(const uint16_t *vals, unsigned len)
-{
-
- if (len > _max_actuators)
- /* fail with error */
- return E2BIG;
-
- /* copy values to registers in IO */
- return io_reg_set(PX4IO_PAGE_CONTROL_MIN_PWM, 0, vals, len);
-}
-
-int
-PX4IO::set_max_values(const uint16_t *vals, unsigned len)
-{
-
- if (len > _max_actuators)
- /* fail with error */
- return E2BIG;
-
- /* copy values to registers in IO */
- return io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, vals, len);
-}
-
-int
-PX4IO::set_idle_values(const uint16_t *vals, unsigned len)
-{
-
- if (len > _max_actuators)
- /* fail with error */
- return E2BIG;
-
- /* copy values to registers in IO */
- return io_reg_set(PX4IO_PAGE_DISARMED_PWM, 0, vals, len);
-}
-
int
PX4IO::io_set_arming_state()
@@ -1803,7 +1756,7 @@ PX4IO::print_status()
printf("failsafe");
for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i));
- printf("\nidle values");
+ printf("\ndisarmed values");
for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_DISARMED_PWM, i));
printf("\n");
@@ -1874,15 +1827,39 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
*(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES);
break;
+ case PWM_SERVO_SET_FAILSAFE_PWM: {
+ struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
+ if (pwm->channel_count > _max_actuators)
+ /* fail with error */
+ return E2BIG;
+
+ /* copy values to registers in IO */
+ ret = io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm->values, pwm->channel_count);
+ break;
+ }
+
+ case PWM_SERVO_GET_FAILSAFE_PWM:
+
+ ret = io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, 0, (uint16_t*)arg, _max_actuators);
+ if (ret != OK) {
+ ret = -EIO;
+ }
+ break;
+
case PWM_SERVO_SET_DISARMED_PWM: {
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
- set_idle_values(pwm->values, pwm->channel_count);
+ if (pwm->channel_count > _max_actuators)
+ /* fail with error */
+ return E2BIG;
+
+ /* copy values to registers in IO */
+ ret = io_reg_set(PX4IO_PAGE_DISARMED_PWM, 0, pwm->values, pwm->channel_count);
break;
}
case PWM_SERVO_GET_DISARMED_PWM:
- ret = io_reg_get(PX4IO_PAGE_DISARMED_PWM, 0, (uint16_t*)arg, sizeof(struct pwm_output_values)/sizeof(uint16_t));
+ ret = io_reg_get(PX4IO_PAGE_DISARMED_PWM, 0, (uint16_t*)arg, _max_actuators);
if (ret != OK) {
ret = -EIO;
}
@@ -1890,13 +1867,18 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
case PWM_SERVO_SET_MIN_PWM: {
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
- set_min_values(pwm->values, pwm->channel_count);
+ if (pwm->channel_count > _max_actuators)
+ /* fail with error */
+ return E2BIG;
+
+ /* copy values to registers in IO */
+ ret = io_reg_set(PX4IO_PAGE_CONTROL_MIN_PWM, 0, pwm->values, pwm->channel_count);
break;
}
case PWM_SERVO_GET_MIN_PWM:
- ret = io_reg_get(PX4IO_PAGE_CONTROL_MIN_PWM, 0, (uint16_t*)arg, sizeof(struct pwm_output_values)/sizeof(uint16_t));
+ ret = io_reg_get(PX4IO_PAGE_CONTROL_MIN_PWM, 0, (uint16_t*)arg, _max_actuators);
if (ret != OK) {
ret = -EIO;
}
@@ -1904,13 +1886,18 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
case PWM_SERVO_SET_MAX_PWM: {
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
- set_max_values(pwm->values, pwm->channel_count);
+ if (pwm->channel_count > _max_actuators)
+ /* fail with error */
+ return E2BIG;
+
+ /* copy values to registers in IO */
+ ret = io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, pwm->values, pwm->channel_count);
break;
}
case PWM_SERVO_GET_MAX_PWM:
- ret = io_reg_get(PX4IO_PAGE_CONTROL_MAX_PWM, 0, (uint16_t*)arg, sizeof(struct pwm_output_values)/sizeof(uint16_t));
+ ret = io_reg_get(PX4IO_PAGE_CONTROL_MAX_PWM, 0, (uint16_t*)arg, _max_actuators);
if (ret != OK) {
ret = -EIO;
}
@@ -2518,37 +2505,6 @@ px4io_main(int argc, char *argv[])
exit(0);
}
- if (!strcmp(argv[1], "failsafe")) {
-
- if (argc < 3) {
- errx(1, "failsafe command needs at least one channel value (ppm)");
- }
-
- /* set values for first 8 channels, fill unassigned channels with 1500. */
- uint16_t failsafe[8];
-
- for (unsigned i = 0; i < sizeof(failsafe) / sizeof(failsafe[0]); i++) {
-
- /* set channel to commandline argument or to 900 for non-provided channels */
- if ((unsigned)argc > i + 2) {
- failsafe[i] = atoi(argv[i+2]);
- if (failsafe[i] < PWM_MIN || failsafe[i] > PWM_MAX) {
- errx(1, "value out of range of %d < value < %d. Aborting.", PWM_MIN, PWM_MAX);
- }
- } 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]));
-
- if (ret != OK)
- errx(ret, "failed setting failsafe values");
- exit(0);
- }
-
-
if (!strcmp(argv[1], "recovery")) {
@@ -2616,5 +2572,5 @@ px4io_main(int argc, char *argv[])
bind(argc, argv);
out:
- errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug',\n 'recovery', 'limit', 'current', 'failsafe', 'bind' or 'update'");
+ errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug',\n 'recovery', 'limit', 'current', 'bind' or 'update'");
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-11 04:20:08 +0000