diff options
Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 138 |
1 files changed, 123 insertions, 15 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 19163cebe..ae56b70b3 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -129,6 +129,16 @@ public: */ void print_status(); + inline void set_dsm_vcc_ctl(bool enable) + { + _dsm_vcc_ctl = enable; + }; + + inline bool get_dsm_vcc_ctl() + { + return _dsm_vcc_ctl; + }; + private: // XXX unsigned _max_actuators; @@ -173,6 +183,12 @@ private: uint64_t _battery_last_timestamp; /** + * Relay1 is dedicated to controlling DSM receiver power + */ + + bool _dsm_vcc_ctl; + + /** * Trampoline to the worker task */ static void task_main_trampoline(int argc, char *argv[]); @@ -313,7 +329,7 @@ PX4IO *g_dev; } PX4IO::PX4IO() : - I2C("px4io", "/dev/px4io", PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO, 320000), + I2C("px4io", PX4IO_DEVICE_PATH, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO, 320000), _max_actuators(0), _max_controls(0), _max_rc_input(0), @@ -338,7 +354,8 @@ PX4IO::PX4IO() : _battery_amp_per_volt(90.0f/5.0f), // this matches the 3DR current sensor _battery_amp_bias(0), _battery_mamphour_total(0), - _battery_last_timestamp(0) + _battery_last_timestamp(0), + _dsm_vcc_ctl(false) { /* we need this potentially before it could be set in task_main */ g_dev = this; @@ -700,8 +717,6 @@ PX4IO::io_set_control_state() int PX4IO::set_failsafe_values(const uint16_t *vals, unsigned len) { - uint16_t regs[_max_actuators]; - if (len > _max_actuators) /* fail with error */ return E2BIG; @@ -1271,13 +1286,14 @@ 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%s%s\n", + printf("status 0x%04x%s%s%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" : ""), ((flags & PX4IO_P_STATUS_FLAGS_RC_OK) ? " RC_OK" : " RC_FAIL"), ((flags & PX4IO_P_STATUS_FLAGS_RC_PPM) ? " PPM" : ""), - ((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) ? " DSM" : ""), + (((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (!(flags & PX4IO_P_STATUS_FLAGS_RC_DSM11))) ? " DSM10" : ""), + (((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (flags & PX4IO_P_STATUS_FLAGS_RC_DSM11)) ? " DSM11" : ""), ((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? " SBUS" : ""), ((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"), ((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PPM" : ""), @@ -1372,7 +1388,8 @@ PX4IO::print_status() } int -PX4IO::ioctl(file *filep, int cmd, unsigned long arg) +PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) +/* Make it obvious that file * isn't used here */ { int ret = OK; @@ -1424,6 +1441,26 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) *(unsigned *)arg = _max_actuators; break; + case DSM_BIND_START: + io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down); + usleep(500000); + io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out); + usleep(1000); + io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up); + usleep(100000); + io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4)); + break; + + case DSM_BIND_STOP: + io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down); + io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart); + usleep(500000); + break; + + case DSM_BIND_POWER_UP: + io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up); + break; + case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS - 1): { /* TODO: we could go lower for e.g. TurboPWM */ @@ -1466,18 +1503,31 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) break; } - case GPIO_RESET: - ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0); + case GPIO_RESET: { + uint32_t bits = (1 << _max_relays) - 1; + /* don't touch relay1 if it's controlling RX vcc */ + if (_dsm_vcc_ctl) + bits &= ~PX4IO_RELAY1; + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, bits, 0); break; + } case GPIO_SET: arg &= ((1 << _max_relays) - 1); - ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0, arg); + /* don't touch relay1 if it's controlling RX vcc */ + if (_dsm_vcc_ctl & (arg & PX4IO_RELAY1)) + ret = -EINVAL; + else + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0, arg); break; case GPIO_CLEAR: arg &= ((1 << _max_relays) - 1); - ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, arg, 0); + /* don't touch relay1 if it's controlling RX vcc */ + if (_dsm_vcc_ctl & (arg & PX4IO_RELAY1)) + ret = -EINVAL; + else + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, arg, 0); break; case GPIO_GET: @@ -1614,10 +1664,65 @@ start(int argc, char *argv[]) errx(1, "driver init failed"); } + int dsm_vcc_ctl; + + if (param_get(param_find("RC_RL1_DSM_VCC"), &dsm_vcc_ctl) == OK) { + if (dsm_vcc_ctl) { + g_dev->set_dsm_vcc_ctl(true); + g_dev->ioctl(nullptr, DSM_BIND_POWER_UP, 0); + } + } exit(0); } void +bind(int argc, char *argv[]) +{ + int pulses; + + if (g_dev == nullptr) + errx(1, "px4io must be started first"); + + if (!g_dev->get_dsm_vcc_ctl()) + errx(1, "DSM bind feature not enabled"); + + if (argc < 3) + errx(0, "needs argument, use dsm2 or dsmx"); + + if (!strcmp(argv[2], "dsm2")) + pulses = 3; + else if (!strcmp(argv[2], "dsmx")) + pulses = 7; + else + errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]); + + /* Open console directly to grab CTRL-C signal */ + int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY); + if (!console) + errx(1, "failed opening console"); + + warnx("This command will only bind DSM if satellite VCC (red wire) is controlled by relay 1."); + warnx("Press CTRL-C or 'c' when done."); + + g_dev->ioctl(nullptr, DSM_BIND_START, pulses); + + for (;;) { + usleep(500000L); + /* Check if user wants to quit */ + char c; + if (read(console, &c, 1) == 1) { + if (c == 0x03 || c == 0x63) { + warnx("Done\n"); + g_dev->ioctl(nullptr, DSM_BIND_STOP, 0); + g_dev->ioctl(nullptr, DSM_BIND_POWER_UP, 0); + close(console); + exit(0); + } + } + } +} + +void test(void) { int fd; @@ -1626,7 +1731,7 @@ test(void) int direction = 1; int ret; - fd = open("/dev/px4io", O_WRONLY); + fd = open(PX4IO_DEVICE_PATH, O_WRONLY); if (fd < 0) err(1, "failed to open device"); @@ -1800,7 +1905,7 @@ px4io_main(int argc, char *argv[]) * 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); + g_dev->ioctl(nullptr, PX4IO_INAIR_RESTART_ENABLE, 1); } else { errx(1, "not loaded"); } @@ -1844,7 +1949,7 @@ px4io_main(int argc, char *argv[]) /* we can cheat and call the driver directly, as it * doesn't reference filp in ioctl() */ - int ret = g_dev->ioctl(NULL, PX4IO_SET_DEBUG, level); + int ret = g_dev->ioctl(nullptr, PX4IO_SET_DEBUG, level); if (ret != 0) { printf("SET_DEBUG failed - %d\n", ret); exit(1); @@ -1918,6 +2023,9 @@ px4io_main(int argc, char *argv[]) if (!strcmp(argv[1], "monitor")) monitor(); + if (!strcmp(argv[1], "bind")) + bind(argc, argv); + out: - errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit', 'current', 'failsafe' or 'update'"); + errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit', 'current', 'failsafe', 'bind', or 'update'"); } |