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Slightly reworked IO internal failsafe, added command to activate it (px4io failsafe), does not parse commandline arguments yet

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This commit is contained in:
Lorenz Meier
2013-05-28 17:46:24 +02:00
parent f1a8f6e75b
commit 2876bc72f9
4 changed files with 73 additions and 15 deletions
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52
src/drivers/px4io/px4io.cpp
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@@ -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;
@@ -689,6 +697,21 @@ PX4IO::io_set_control_state()
return io_reg_set(PX4IO_PAGE_CONTROLS, 0, regs, _max_controls);
}
int
PX4IO::set_failsafe_values(const uint16_t *vals, unsigned len)
{
uint16_t regs[_max_actuators];
unsigned max = (len < _max_actuators) ? len : _max_actuators;
/* set failsafe values */
for (unsigned i = 0; i < max; i++)
regs[i] = FLOAT_TO_REG(vals[i]);
/* copy values to registers in IO */
return io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, regs, max);
}
int
PX4IO::io_set_arming_state()
{
@@ -1250,7 +1273,7 @@ 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 +1285,8 @@ 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,
@@ -1718,6 +1742,20 @@ px4io_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "failsafe")) {
/* XXX parse arguments here */
if (g_dev != nullptr) {
/* XXX testing values */
uint16_t failsafe[4] = {1500, 1500, 1200, 1200};
g_dev->set_failsafe_values(failsafe, sizeof(failsafe) / sizeof(failsafe[0]));
} else {
errx(1, "not loaded");
}
exit(0);
}
if (!strcmp(argv[1], "recovery")) {
if (g_dev != nullptr) {
@@ -1845,5 +1883,5 @@ 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'");
}