diff options
Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 95 |
1 files changed, 86 insertions, 9 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 399c003b7..962a91c7f 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -106,7 +106,7 @@ public: * @param rate The rate in Hz actuator outpus are sent to IO. * Min 10 Hz, max 400 Hz */ - int set_update_rate(int rate); + int set_update_rate(int rate); /** * Set the battery current scaling and bias @@ -114,7 +114,15 @@ public: * @param amp_per_volt * @param amp_bias */ - void set_battery_current_scaling(float amp_per_volt, float amp_bias); + void set_battery_current_scaling(float amp_per_volt, float amp_bias); + + /** + * 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 + */ + int set_failsafe_values(const uint16_t *vals, unsigned len); /** * Print the current status of IO @@ -326,11 +334,11 @@ PX4IO::PX4IO() : _to_actuators_effective(0), _to_outputs(0), _to_battery(0), + _primary_pwm_device(false), _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), - _primary_pwm_device(false) + _battery_last_timestamp(0) { /* we need this potentially before it could be set in task_main */ g_dev = this; @@ -690,6 +698,19 @@ 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; + + /* copy values to registers in IO */ + return io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, vals, len); +} + +int PX4IO::io_set_arming_state() { actuator_armed_s armed; ///< system armed state @@ -1250,7 +1271,7 @@ 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%s\n", + printf("status 0x%04x%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" : ""), @@ -1262,7 +1283,8 @@ PX4IO::print_status() ((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_INIT_OK) ? " INIT_OK" : " INIT_FAIL")); + ((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL"), + ((flags & PX4IO_P_STATUS_FLAGS_FAILSAFE) ? " FAILSAFE" : "")); uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS); printf("alarms 0x%04x%s%s%s%s%s%s%s\n", alarms, @@ -1273,11 +1295,14 @@ PX4IO::print_status() ((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST) ? " FMU_LOST" : ""), ((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""), ((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) ? " PWM_ERROR" : "")); + /* now clear alarms */ + io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, 0xFFFF); + printf("vbatt %u ibatt %u vbatt scale %u\n", io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT), io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT), io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE)); - printf("amp_per_volt %.3f amp_offset %.3f mAhDischarged %.3f\n", + printf("amp_per_volt %.3f amp_offset %.3f mAh discharged %.3f\n", (double)_battery_amp_per_volt, (double)_battery_amp_bias, (double)_battery_mamphour_total); @@ -1471,7 +1496,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) case MIXERIOCLOADBUF: { const char *buf = (const char *)arg; - ret = mixer_send(buf, strnlen(buf, 1024)); + ret = mixer_send(buf, strnlen(buf, 2048)); break; } @@ -1612,6 +1637,13 @@ test(void) if (ioctl(fd, PWM_SERVO_ARM, 0)) err(1, "failed to arm servos"); + /* Open console directly to grab CTRL-C signal */ + int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY); + if (!console) + err(1, "failed opening console"); + + warnx("Press CTRL-C or 'c' to abort."); + for (;;) { /* sweep all servos between 1000..2000 */ @@ -1646,6 +1678,16 @@ test(void) if (value != servos[i]) errx(1, "servo %d readback error, got %u expected %u", i, value, servos[i]); } + + /* Check if user wants to quit */ + char c; + if (read(console, &c, 1) == 1) { + if (c == 0x03 || c == 0x63) { + warnx("User abort\n"); + close(console); + exit(0); + } + } } } @@ -1715,6 +1757,41 @@ 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)"); + } + + if (g_dev != nullptr) { + + /* 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; + } + } + + 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"); + } + exit(0); + } + if (!strcmp(argv[1], "recovery")) { if (g_dev != nullptr) { @@ -1842,5 +1919,5 @@ px4io_main(int argc, char *argv[]) monitor(); out: - errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit', 'current' or 'update'"); + errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit', 'current', 'failsafe' or 'update'"); } |