diff options
Diffstat (limited to 'src/modules/px4iofirmware/px4io.c')
-rw-r--r-- | src/modules/px4iofirmware/px4io.c | 61 |
1 files changed, 43 insertions, 18 deletions
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c index 0b8c4a6a8..d4c25911e 100644 --- a/src/modules/px4iofirmware/px4io.c +++ b/src/modules/px4iofirmware/px4io.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 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 @@ -196,6 +196,11 @@ user_start(int argc, char *argv[]) POWER_SERVO(true); #endif + /* turn off S.Bus out (if supported) */ +#ifdef ENABLE_SBUS_OUT + ENABLE_SBUS_OUT(false); +#endif + /* start the safety switch handler */ safety_init(); @@ -205,6 +210,9 @@ user_start(int argc, char *argv[]) /* initialise the control inputs */ controls_init(); + /* set up the ADC */ + adc_init(); + /* start the FMU interface */ interface_init(); @@ -223,24 +231,41 @@ user_start(int argc, char *argv[]) /* initialize PWM limit lib */ pwm_limit_init(&pwm_limit); -#if 0 - /* not enough memory, lock down */ - if (minfo.mxordblk < 500) { + /* + * P O L I C E L I G H T S + * + * Not enough memory, lock down. + * + * We might need to allocate mixers later, and this will + * ensure that a developer doing a change will notice + * that he just burned the remaining RAM with static + * allocations. We don't want him to be able to + * get past that point. This needs to be clearly + * documented in the dev guide. + * + */ + if (minfo.mxordblk < 600) { + lowsyslog("ERR: not enough MEM"); bool phase = false; - if (phase) { - LED_AMBER(true); - LED_BLUE(false); - } else { - LED_AMBER(false); - LED_BLUE(true); - } + while (true) { + + if (phase) { + LED_AMBER(true); + LED_BLUE(false); + } else { + LED_AMBER(false); + LED_BLUE(true); + } + up_udelay(250000); - phase = !phase; - usleep(300000); + phase = !phase; + } } -#endif + + /* Start the failsafe led init */ + failsafe_led_init(); /* * Run everything in a tight loop. @@ -270,11 +295,12 @@ user_start(int argc, char *argv[]) check_reboot(); -#if 0 - /* check for debug activity */ + /* check for debug activity (default: none) */ show_debug_messages(); - /* post debug state at ~1Hz */ + /* post debug state at ~1Hz - this is via an auxiliary serial port + * DEFAULTS TO OFF! + */ if (hrt_absolute_time() - last_debug_time > (1000 * 1000)) { struct mallinfo minfo = mallinfo(); @@ -287,7 +313,6 @@ user_start(int argc, char *argv[]) (unsigned)minfo.mxordblk); last_debug_time = hrt_absolute_time(); } -#endif } } |