diff options
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/drv_pwm_output.h | 26 | ||||
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 36 |
2 files changed, 62 insertions, 0 deletions
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index 6873f24b6..b41f088eb 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -117,6 +117,23 @@ struct pwm_output_values { unsigned channel_count; }; + +/** + * RC config values for a channel + * + * This allows for PX4IO_PAGE_RC_CONFIG values to be set without a + * param_get() dependency + */ +struct pwm_output_rc_config { + uint8_t channel; + uint16_t rc_min; + uint16_t rc_trim; + uint16_t rc_max; + uint16_t rc_dz; + uint16_t rc_assignment; + bool rc_reverse; +}; + /* * ORB tag for PWM outputs. */ @@ -216,6 +233,15 @@ ORB_DECLARE(output_pwm); /** force safety switch on (to enable use of safety switch) */ #define PWM_SERVO_SET_FORCE_SAFETY_ON _IOC(_PWM_SERVO_BASE, 26) +/** set RC config for a channel. This takes a pointer to pwm_output_rc_config */ +#define PWM_SERVO_SET_RC_CONFIG _IOC(_PWM_SERVO_BASE, 27) + +/** set the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */ +#define PWM_SERVO_SET_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 28) + +/** clear the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */ +#define PWM_SERVO_CLEAR_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 29) + /* * * diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 06faf49a4..dc33f7657 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -2572,6 +2572,42 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) break; + case PWM_SERVO_SET_RC_CONFIG: { + /* enable setting of RC configuration without relying + on param_get() + */ + struct pwm_output_rc_config* config = (struct pwm_output_rc_config*)arg; + if (config->channel >= _max_actuators) { + /* fail with error */ + return E2BIG; + } + + /* copy values to registers in IO */ + uint16_t regs[PX4IO_P_RC_CONFIG_STRIDE]; + uint16_t offset = config->channel * PX4IO_P_RC_CONFIG_STRIDE; + regs[PX4IO_P_RC_CONFIG_MIN] = config->rc_min; + regs[PX4IO_P_RC_CONFIG_CENTER] = config->rc_trim; + regs[PX4IO_P_RC_CONFIG_MAX] = config->rc_max; + regs[PX4IO_P_RC_CONFIG_DEADZONE] = config->rc_dz; + regs[PX4IO_P_RC_CONFIG_ASSIGNMENT] = config->rc_assignment; + regs[PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; + if (config->rc_reverse) { + regs[PX4IO_P_RC_CONFIG_OPTIONS] |= PX4IO_P_RC_CONFIG_OPTIONS_REVERSE; + } + ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE); + break; + } + + case PWM_SERVO_SET_OVERRIDE_OK: + /* set the 'OVERRIDE OK' bit */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK); + break; + + case PWM_SERVO_CLEAR_OVERRIDE_OK: + /* clear the 'OVERRIDE OK' bit */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0); + break; + default: /* see if the parent class can make any use of it */ ret = CDev::ioctl(filep, cmd, arg); |