diff options
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 41 |
1 files changed, 38 insertions, 3 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index af20e61cb..27b6a12da 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -80,6 +80,7 @@ #include <uORB/topics/vehicle_command.h> #include <uORB/topics/rc_channels.h> #include <uORB/topics/battery_status.h> +#include <uORB/topics/servorail_status.h> #include <uORB/topics/parameter_update.h> #include <debug.h> @@ -260,6 +261,7 @@ private: orb_advert_t _to_actuators_effective; ///< effective actuator controls topic orb_advert_t _to_outputs; ///< mixed servo outputs topic orb_advert_t _to_battery; ///< battery status / voltage + orb_advert_t _to_servorail; ///< servorail status orb_advert_t _to_safety; ///< status of safety actuator_outputs_s _outputs; ///<mixed outputs @@ -414,10 +416,20 @@ private: * * Publish IO battery information if necessary. * - * @param vbatt vbattery register - * @param status ibatter register + * @param vbatt vbatt register + * @param ibatt ibatt register */ void io_handle_battery(uint16_t vbatt, uint16_t ibatt); + + /** + * Handle a servorail update from IO. + * + * Publish servo rail information if necessary. + * + * @param vservo vservo register + * @param vrssi vrssi register + */ + void io_handle_vservo(uint16_t vbatt, uint16_t ibatt); }; @@ -453,6 +465,7 @@ PX4IO::PX4IO(device::Device *interface) : _to_actuators_effective(0), _to_outputs(0), _to_battery(0), + _to_servorail(0), _to_safety(0), _primary_pwm_device(false), _battery_amp_per_volt(90.0f/5.0f), // this matches the 3DR current sensor @@ -1206,10 +1219,28 @@ PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt) } } +void +PX4IO::io_handle_vservo(uint16_t vservo, uint16_t vrssi) +{ + servorail_status_s servorail_status; + servorail_status.timestamp = hrt_absolute_time(); + + /* voltage is scaled to mV */ + servorail_status.voltage_v = vservo * 0.001f; + servorail_status.rssi_v = vrssi * 0.001f; + + /* lazily publish the servorail voltages */ + if (_to_servorail > 0) { + orb_publish(ORB_ID(servorail_status), _to_servorail, &servorail_status); + } else { + _to_servorail = orb_advertise(ORB_ID(servorail_status), &servorail_status); + } +} + int PX4IO::io_get_status() { - uint16_t regs[4]; + uint16_t regs[6]; int ret; /* get STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT in that order */ @@ -1224,6 +1255,10 @@ PX4IO::io_get_status() io_handle_battery(regs[2], regs[3]); #endif +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 + io_handle_vservo(regs[4], regs[5]); +#endif + return ret; } |