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px4-firmware
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Merged relay activation

This commit is contained in:
Lorenz Meier 2012-12-27 19:06:09 +01:00
parent 7526dd46a2 5b92c51777
commit 45a4bcb6ef
2 changed files with 54 additions and 6 deletions
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40
apps/drivers/px4io/px4io.cpp
View File

@ -62,6 +62,7 @@
#include <drivers/device/device.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_gpio.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
@ -132,6 +133,8 @@ private:
bool _primary_pwm_device; ///< true if we are the default PWM output
uint32_t _relays; ///< state of the PX4IO relays, one bit per relay
volatile bool _switch_armed; ///< PX4IO switch armed state
// XXX how should this work?
@ -207,6 +210,7 @@ PX4IO::PX4IO() :
_t_outputs(-1),
_mixers(nullptr),
_primary_pwm_device(false),
_relays(0),
_switch_armed(false),
_send_needed(false),
_config_needed(false)
@ -430,9 +434,6 @@ PX4IO::task_main()
}
}
/* publish actuator outputs */
orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &_outputs);
/* and flag for update */
_send_needed = true;
}
@ -577,7 +578,14 @@ PX4IO::io_send()
for (unsigned i = 0; i < _max_actuators; i++)
cmd.servo_command[i] = _outputs.output[i];
// XXX relays
/* publish as we send */
_outputs.timestamp = hrt_absolute_time();
orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &_outputs);
/* update relays */
for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++)
cmd.relay_state[i] = (_relays & (1<< i)) ? true : false;
/* armed and not locked down -> arming ok */
cmd.arm_ok = (_armed.armed && !_armed.lockdown);
@ -645,6 +653,30 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
*(servo_position_t *)arg = _outputs.output[cmd - PWM_SERVO_GET(0)];
break;
case GPIO_RESET:
_relays = 0;
_send_needed = true;
break;
case GPIO_SET:
case GPIO_CLEAR:
/* make sure only valid bits are being set */
if ((arg & ((1UL << PX4IO_RELAY_CHANNELS) - 1)) != arg) {
ret = EINVAL;
break;
}
if (cmd == GPIO_SET) {
_relays |= arg;
} else {
_relays &= ~arg;
}
_send_needed = true;
break;
case GPIO_GET:
*(uint32_t *)arg = _relays;
break;
case MIXERIOCGETOUTPUTCOUNT:
*(unsigned *)arg = _max_actuators;
break;

20
apps/px4io/comms.c
View File

@ -210,9 +210,25 @@ comms_handle_command(const void *buffer, size_t length)
*/
mixer_tick();
/* XXX do relay changes here */
/* handle relay state changes here */
for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++) {
system_state.relays[i] = cmd->relay_state[i];
if (system_state.relays[i] != cmd->relay_state[i]) {
switch (i) {
case 0:
POWER_ACC1(cmd->relay_state[i]);
break;
case 1:
POWER_ACC2(cmd->relay_state[i]);
break;
case 2:
POWER_RELAY1(cmd->relay_state[i]);
break;
case 3:
POWER_RELAY2(cmd->relay_state[i]);
break;
}
}
system_state.relays[i] != cmd->relay_state[i]
}
irqrestore(flags);