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Implement fetching raw RC input values via the ioctl interface.

This commit is contained in:
px4dev 2013-01-23 22:19:33 -08:00
parent dce2afde0f
commit 0bc836ae1d
2 changed files with 39 additions and 0 deletions
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7
apps/drivers/drv_rc_input.h
View File

@ -100,4 +100,11 @@ struct rc_input_values {
*/
ORB_DECLARE(input_rc);
#define _RC_INPUT_BASE 0x2b00
/** Fetch R/C input values into (rc_input_values *)arg */
#define RC_INPUT_GET _IOC(_RC_INPUT_BASE, 0)
#endif /* _DRV_RC_INPUT_H */

32
apps/drivers/px4io/px4io.cpp
View File

@ -313,6 +313,8 @@ PX4IO::init()
if (ret != OK)
return ret;
_retries = 2;
/* get some parameters */
_max_actuators = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT);
_max_relays = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT);
@ -1032,6 +1034,36 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
ret = mixer_send((const char *)arg, strnlen(_mix_buf, 1024));
break;
case RC_INPUT_GET: {
uint16_t status;
rc_input_values *rc_val = (rc_input_values *)arg;
ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &status, 1);
if (ret != OK)
break;
/* if no R/C input, don't try to fetch anything */
if (!(status & PX4IO_P_STATUS_FLAGS_RC_OK)) {
ret = -ENOTCONN;
break;
}
/* sort out the source of the values */
if (status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
rc_val->input_source = RC_INPUT_SOURCE_PX4IO_PPM;
} else if (status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
} else if (status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SBUS;
} else {
rc_val->input_source = RC_INPUT_SOURCE_UNKNOWN;
}
/* read raw R/C input values */
ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE, &(rc_val->values[0]), _max_rc_input);
break;
}
default:
/* not a recognised value */
ret = -ENOTTY;