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-rw-r--r--src/drivers/drv_rc_input.h2
-rw-r--r--src/drivers/px4io/px4io.cpp145
2 files changed, 112 insertions, 35 deletions
diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h
index 7b18b5b15..6f773b82a 100644
--- a/src/drivers/drv_rc_input.h
+++ b/src/drivers/drv_rc_input.h
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index b80844c5b..4e9daf910 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -228,33 +228,36 @@ private:
device::Device *_interface;
// XXX
- unsigned _hardware; ///< Hardware revision
- unsigned _max_actuators; ///<Maximum # of actuators supported by PX4IO
- unsigned _max_controls; ///<Maximum # of controls supported by PX4IO
- unsigned _max_rc_input; ///<Maximum receiver channels supported by PX4IO
- unsigned _max_relays; ///<Maximum relays supported by PX4IO
- unsigned _max_transfer; ///<Maximum number of I2C transfers supported by PX4IO
+ unsigned _hardware; ///< Hardware revision
+ unsigned _max_actuators; ///< Maximum # of actuators supported by PX4IO
+ unsigned _max_controls; ///< Maximum # of controls supported by PX4IO
+ unsigned _max_rc_input; ///< Maximum receiver channels supported by PX4IO
+ unsigned _max_relays; ///< Maximum relays supported by PX4IO
+ unsigned _max_transfer; ///< Maximum number of I2C transfers supported by PX4IO
unsigned _update_interval; ///< Subscription interval limiting send rate
bool _rc_handling_disabled; ///< If set, IO does not evaluate, but only forward the RC values
unsigned _rc_chan_count; ///< Internal copy of the last seen number of RC channels
- volatile int _task; ///<worker task id
- volatile bool _task_should_exit; ///<worker terminate flag
+ volatile int _task; ///< worker task id
+ volatile bool _task_should_exit; ///< worker terminate flag
- int _mavlink_fd; ///<mavlink file descriptor. This is opened by class instantiation and Doesn't appear to be usable in main thread.
- int _thread_mavlink_fd; ///<mavlink file descriptor for thread.
+ int _mavlink_fd; ///< mavlink file descriptor. This is opened by class instantiation and Doesn't appear to be usable in main thread.
+ int _thread_mavlink_fd; ///< mavlink file descriptor for thread.
perf_counter_t _perf_update; ///<local performance counter for status updates
perf_counter_t _perf_write; ///<local performance counter for PWM control writes
perf_counter_t _perf_chan_count; ///<local performance counter for channel number changes
/* cached IO state */
- uint16_t _status; ///<Various IO status flags
- uint16_t _alarms; ///<Various IO alarms
+ uint16_t _status; ///< Various IO status flags
+ uint16_t _alarms; ///< Various IO alarms
/* subscribed topics */
- int _t_actuators; ///< actuator controls topic
+ int _t_actuator_controls_0; ///< actuator controls group 0 topic
+ int _t_actuator_controls_1; ///< actuator controls group 1 topic
+ int _t_actuator_controls_2; ///< actuator controls group 2 topic
+ int _t_actuator_controls_3; ///< actuator controls group 3 topic
int _t_actuator_armed; ///< system armed control topic
int _t_vehicle_control_mode;///< vehicle control mode topic
int _t_param; ///< parameter update topic
@@ -269,15 +272,15 @@ private:
actuator_outputs_s _outputs; ///<mixed outputs
- bool _primary_pwm_device; ///<true if we are the default PWM output
+ bool _primary_pwm_device; ///< true if we are the default PWM output
- float _battery_amp_per_volt; ///<current sensor amps/volt
- float _battery_amp_bias; ///<current sensor bias
- float _battery_mamphour_total;///<amp hours consumed so far
- uint64_t _battery_last_timestamp;///<last amp hour calculation timestamp
+ float _battery_amp_per_volt; ///< current sensor amps/volt
+ float _battery_amp_bias; ///< current sensor bias
+ float _battery_mamphour_total;///< amp hours consumed so far
+ uint64_t _battery_last_timestamp;///< last amp hour calculation timestamp
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
- bool _dsm_vcc_ctl; ///<true if relay 1 controls DSM satellite RX power
+ bool _dsm_vcc_ctl; ///< true if relay 1 controls DSM satellite RX power
#endif
/**
@@ -291,9 +294,14 @@ private:
void task_main();
/**
- * Send controls to IO
+ * Send controls for one group to IO
*/
- int io_set_control_state();
+ int io_set_control_state(unsigned group);
+
+ /**
+ * Send all controls to IO
+ */
+ int io_set_control_groups();
/**
* Update IO's arming-related state
@@ -467,7 +475,10 @@ PX4IO::PX4IO(device::Device *interface) :
_perf_chan_count(perf_alloc(PC_COUNT, "io rc #")),
_status(0),
_alarms(0),
- _t_actuators(-1),
+ _t_actuator_controls_0(-1),
+ _t_actuator_controls_1(-1),
+ _t_actuator_controls_2(-1),
+ _t_actuator_controls_3(-1),
_t_actuator_armed(-1),
_t_vehicle_control_mode(-1),
_t_param(-1),
@@ -769,15 +780,20 @@ PX4IO::task_main()
* Subscribe to the appropriate PWM output topic based on whether we are the
* primary PWM output or not.
*/
- _t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
- ORB_ID(actuator_controls_1));
- orb_set_interval(_t_actuators, 20); /* default to 50Hz */
+ _t_actuator_controls_0 = orb_subscribe(ORB_ID(actuator_controls_0));
+ orb_set_interval(_t_actuator_controls_0, 20); /* default to 50Hz */
+ _t_actuator_controls_1 = orb_subscribe(ORB_ID(actuator_controls_1));
+ orb_set_interval(_t_actuator_controls_1, 33); /* default to 30Hz */
+ _t_actuator_controls_2 = orb_subscribe(ORB_ID(actuator_controls_2));
+ orb_set_interval(_t_actuator_controls_2, 33); /* default to 30Hz */
+ _t_actuator_controls_3 = orb_subscribe(ORB_ID(actuator_controls_3));
+ orb_set_interval(_t_actuator_controls_3, 33); /* default to 30Hz */
_t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed));
_t_vehicle_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode));
_t_param = orb_subscribe(ORB_ID(parameter_update));
_t_vehicle_command = orb_subscribe(ORB_ID(vehicle_command));
- if ((_t_actuators < 0) ||
+ if ((_t_actuator_controls_0 < 0) ||
(_t_actuator_armed < 0) ||
(_t_vehicle_control_mode < 0) ||
(_t_param < 0) ||
@@ -788,7 +804,7 @@ PX4IO::task_main()
/* poll descriptor */
pollfd fds[1];
- fds[0].fd = _t_actuators;
+ fds[0].fd = _t_actuator_controls_0;
fds[0].events = POLLIN;
log("ready");
@@ -807,7 +823,11 @@ PX4IO::task_main()
if (_update_interval > 100)
_update_interval = 100;
- orb_set_interval(_t_actuators, _update_interval);
+ orb_set_interval(_t_actuator_controls_0, _update_interval);
+ /*
+ * NOT changing the rate of groups 1-3 here, because only attitude
+ * really needs to run fast.
+ */
_update_interval = 0;
}
@@ -827,7 +847,10 @@ PX4IO::task_main()
/* if we have new control data from the ORB, handle it */
if (fds[0].revents & POLLIN) {
- io_set_control_state();
+
+ /* we're not nice to the lower-priority control groups and only check them
+ when the primary group updated (which is now). */
+ io_set_control_groups();
}
if (now >= poll_last + IO_POLL_INTERVAL) {
@@ -870,7 +893,7 @@ PX4IO::task_main()
orb_copy(ORB_ID(vehicle_command), _t_vehicle_command, &cmd);
// Check for a DSM pairing command
- if ((cmd.command == VEHICLE_CMD_START_RX_PAIR) && (cmd.param1 == 0.0f)) {
+ if (((int)cmd.command == VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) {
dsm_bind_ioctl((int)cmd.param2);
}
}
@@ -937,20 +960,74 @@ out:
}
int
-PX4IO::io_set_control_state()
+PX4IO::io_set_control_groups()
+{
+ bool attitude_ok = io_set_control_state(0);
+
+ /* send auxiliary control groups */
+ (void)io_set_control_state(1);
+ (void)io_set_control_state(2);
+ (void)io_set_control_state(3);
+
+ return attitude_ok;
+}
+
+int
+PX4IO::io_set_control_state(unsigned group)
{
actuator_controls_s controls; ///< actuator outputs
uint16_t regs[_max_actuators];
/* get controls */
- orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
- ORB_ID(actuator_controls_1), _t_actuators, &controls);
+ bool changed;
+
+ switch (group) {
+ case 0:
+ {
+ orb_check(_t_actuator_controls_0, &changed);
+
+ if (changed) {
+ orb_copy(ORB_ID(actuator_controls_0), _t_actuator_controls_0, &controls);
+ }
+ }
+ break;
+ case 1:
+ {
+ orb_check(_t_actuator_controls_1, &changed);
+
+ if (changed) {
+ orb_copy(ORB_ID(actuator_controls_1), _t_actuator_controls_1, &controls);
+ }
+ }
+ break;
+ case 2:
+ {
+ orb_check(_t_actuator_controls_2, &changed);
+
+ if (changed) {
+ orb_copy(ORB_ID(actuator_controls_2), _t_actuator_controls_2, &controls);
+ }
+ }
+ break;
+ case 3:
+ {
+ orb_check(_t_actuator_controls_3, &changed);
+
+ if (changed) {
+ orb_copy(ORB_ID(actuator_controls_3), _t_actuator_controls_3, &controls);
+ }
+ }
+ break;
+ }
+
+ if (!changed)
+ return -1;
for (unsigned i = 0; i < _max_controls; i++)
regs[i] = FLOAT_TO_REG(controls.control[i]);
/* copy values to registers in IO */
- return io_reg_set(PX4IO_PAGE_CONTROLS, 0, regs, _max_controls);
+ return io_reg_set(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT, regs, _max_controls);
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-06 11:03:54 +0000