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AP_HAL: added set_failsafe_pwm() API

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this allows the PWM values for FMU firmware failure to be setup
This commit is contained in:
Andrew Tridgell 2014-04-21 08:36:52 +10:00
parent 7f9a9107c7
commit 5cd145a307
3 changed files with 22 additions and 0 deletions
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5
libraries/AP_HAL/RCOutput.h
View File

@ -55,6 +55,11 @@ public:
*/
virtual void set_safety_pwm(uint32_t chmask, uint16_t period_us) {}
/*
set PWM to send to a set of channels if the FMU firmware dies
*/
virtual void set_failsafe_pwm(uint32_t chmask, uint16_t period_us) {}
/*
force the safety switch off, enabling PWM output from the IO board
*/

16
libraries/AP_HAL_PX4/RCOutput.cpp
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@ -158,6 +158,22 @@ void PX4RCOutput::set_safety_pwm(uint32_t chmask, uint16_t period_us)
}
}
void PX4RCOutput::set_failsafe_pwm(uint32_t chmask, uint16_t period_us)
{
struct pwm_output_values pwm_values;
memset(&pwm_values, 0, sizeof(pwm_values));
for (uint8_t i=0; i<_servo_count; i++) {
if ((1UL<<i) & chmask) {
pwm_values.values[i] = period_us;
}
pwm_values.channel_count++;
}
int ret = ioctl(_pwm_fd, PWM_SERVO_SET_FAILSAFE_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
hal.console->printf("Failed to setup failsafe PWM for 0x%08x to %u\n", (unsigned)chmask, period_us);
}
}
void PX4RCOutput::force_safety_off(void)
{
int ret = ioctl(_pwm_fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);

1
libraries/AP_HAL_PX4/RCOutput.h
View File

@ -20,6 +20,7 @@ public:
uint16_t read(uint8_t ch);
void read(uint16_t* period_us, uint8_t len);
void set_safety_pwm(uint32_t chmask, uint16_t period_us);
void set_failsafe_pwm(uint32_t chmask, uint16_t period_us);
void force_safety_off(void);
void _timer_tick(void);