diff options
Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 208 |
1 files changed, 80 insertions, 128 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index f6d4f1ed4..d709f1cc8 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -181,21 +181,6 @@ public: int set_failsafe_values(const uint16_t *vals, unsigned len); /** - * Set the minimum PWM signals when armed - */ - int set_min_values(const uint16_t *vals, unsigned len); - - /** - * Set the maximum PWM signal when armed - */ - int set_max_values(const uint16_t *vals, unsigned len); - - /** - * Set an idle PWM signal that is active right after startup, even when SAFETY_SAFE - */ - int set_idle_values(const uint16_t *vals, unsigned len); - - /** * Disable RC input handling */ int disable_rc_handling(); @@ -409,6 +394,21 @@ private: int mixer_send(const char *buf, unsigned buflen, unsigned retries=3); /** + * Set the minimum PWM signals when armed + */ + int set_min_values(const uint16_t *vals, unsigned len); + + /** + * Set the maximum PWM signal when armed + */ + int set_max_values(const uint16_t *vals, unsigned len); + + /** + * Set an idle PWM signal that is active right after startup, even when SAFETY_SAFE + */ + int set_idle_values(const uint16_t *vals, unsigned len); + + /** * Handle a status update from IO. * * Publish IO status information if necessary. @@ -986,10 +986,8 @@ PX4IO::set_idle_values(const uint16_t *vals, unsigned len) /* fail with error */ return E2BIG; - printf("Sending IDLE values\n"); - /* copy values to registers in IO */ - return io_reg_set(PX4IO_PAGE_IDLE_PWM, 0, vals, len); + return io_reg_set(PX4IO_PAGE_DISARMED_PWM, 0, vals, len); } @@ -1807,7 +1805,7 @@ PX4IO::print_status() printf(" %u", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i)); printf("\nidle values"); for (unsigned i = 0; i < _max_actuators; i++) - printf(" %u", io_reg_get(PX4IO_PAGE_IDLE_PWM, i)); + printf(" %u", io_reg_get(PX4IO_PAGE_DISARMED_PWM, i)); printf("\n"); } @@ -1839,12 +1837,22 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FMU_ARMED, 0); break; + case PWM_SERVO_GET_DEFAULT_UPDATE_RATE: + /* get the default update rate */ + *(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE); + break; + case PWM_SERVO_SET_UPDATE_RATE: /* set the requested alternate rate */ ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg); break; - case PWM_SERVO_SELECT_UPDATE_RATE: { + case PWM_SERVO_GET_UPDATE_RATE: + /* get the alternative update rate */ + *(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE); + break; + + case PWM_SERVO_SET_SELECT_UPDATE_RATE: { /* blindly clear the PWM update alarm - might be set for some other reason */ io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR); @@ -1861,6 +1869,53 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) break; } + case PWM_SERVO_GET_SELECT_UPDATE_RATE: + + *(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES); + 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); + 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)); + if (ret != OK) { + ret = -EIO; + } + break; + + case PWM_SERVO_SET_MIN_PWM: { + struct pwm_output_values* pwm = (struct pwm_output_values*)arg; + set_min_values(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)); + if (ret != OK) { + ret = -EIO; + } + break; + + case PWM_SERVO_SET_MAX_PWM: { + struct pwm_output_values* pwm = (struct pwm_output_values*)arg; + set_max_values(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)); + if (ret != OK) { + ret = -EIO; + } + break; + case PWM_SERVO_GET_COUNT: *(unsigned *)arg = _max_actuators; break; @@ -1884,7 +1939,7 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) /* TODO: we could go lower for e.g. TurboPWM */ unsigned channel = cmd - PWM_SERVO_SET(0); - if ((channel >= _max_actuators) || (arg < 900) || (arg > 2100)) { + if ((channel >= _max_actuators) || (arg < PWM_MIN) || (arg > PWM_MAX)) { ret = -EINVAL; } else { /* send a direct PWM value */ @@ -2475,10 +2530,10 @@ px4io_main(int argc, char *argv[]) for (unsigned 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) { + if ((unsigned)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."); + 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 */ @@ -2493,110 +2548,7 @@ px4io_main(int argc, char *argv[]) exit(0); } - if (!strcmp(argv[1], "min")) { - - if (argc < 3) { - errx(1, "min command needs at least one channel value (PWM)"); - } - - if (g_dev != nullptr) { - - /* set values for first 8 channels, fill unassigned channels with 900. */ - uint16_t min[8]; - - for (unsigned i = 0; i < sizeof(min) / sizeof(min[0]); i++) - { - /* set channel to commanline argument or to 900 for non-provided channels */ - if (argc > i + 2) { - min[i] = atoi(argv[i+2]); - if (min[i] < 900 || min[i] > 1200) { - errx(1, "value out of range of 900 < value < 1200. Aborting."); - } - } else { - /* a zero value will the default */ - min[i] = 0; - } - } - - int ret = g_dev->set_min_values(min, sizeof(min) / sizeof(min[0])); - - if (ret != OK) - errx(ret, "failed setting min values"); - } else { - errx(1, "not loaded"); - } - exit(0); - } - - if (!strcmp(argv[1], "max")) { - - if (argc < 3) { - errx(1, "max command needs at least one channel value (PWM)"); - } - - if (g_dev != nullptr) { - - /* set values for first 8 channels, fill unassigned channels with 2100. */ - uint16_t max[8]; - - for (unsigned i = 0; i < sizeof(max) / sizeof(max[0]); i++) - { - /* set channel to commanline argument or to 2100 for non-provided channels */ - if (argc > i + 2) { - max[i] = atoi(argv[i+2]); - if (max[i] < 1800 || max[i] > 2100) { - errx(1, "value out of range of 1800 < value < 2100. Aborting."); - } - } else { - /* a zero value will the default */ - max[i] = 0; - } - } - - int ret = g_dev->set_max_values(max, sizeof(max) / sizeof(max[0])); - - if (ret != OK) - errx(ret, "failed setting max values"); - } else { - errx(1, "not loaded"); - } - exit(0); - } - - if (!strcmp(argv[1], "idle")) { - if (argc < 3) { - errx(1, "max command needs at least one channel value (PWM)"); - } - - if (g_dev != nullptr) { - - /* set values for first 8 channels, fill unassigned channels with 0. */ - uint16_t idle[8]; - - for (unsigned i = 0; i < sizeof(idle) / sizeof(idle[0]); i++) - { - /* set channel to commanline argument or to 0 for non-provided channels */ - if (argc > i + 2) { - idle[i] = atoi(argv[i+2]); - if (idle[i] < 900 || idle[i] > 2100) { - errx(1, "value out of range of 900 < value < 2100. Aborting."); - } - } else { - /* a zero value will the default */ - idle[i] = 0; - } - } - - int ret = g_dev->set_idle_values(idle, sizeof(idle) / sizeof(idle[0])); - - if (ret != OK) - errx(ret, "failed setting idle values"); - } else { - errx(1, "not loaded"); - } - exit(0); - } if (!strcmp(argv[1], "recovery")) { @@ -2664,5 +2616,5 @@ 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', 'min, 'max',\n 'idle', 'bind' or 'update'"); + errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug',\n 'recovery', 'limit', 'current', 'failsafe', 'bind' or 'update'"); } |