dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

px4io driver: force failsafe depending on actuator armed

This commit is contained in:
Thomas Gubler 2014-07-19 12:46:52 +02:00
parent d7e1502a26
commit 689536893c
2 changed files with 15 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
src/drivers/px4io/px4io.cpp
View File

@ -1149,6 +1149,12 @@ PX4IO::io_set_arming_state()
clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
}
if (armed.force_failsafe) {
set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
} else {
clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
}
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
@ -2435,7 +2441,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
break;
case PX4IO_CHECK_CRC: {
/* check IO firmware CRC against passed value */
/* check IO firmware CRC against passed value */
uint32_t io_crc = 0;
ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC, (uint16_t *)&io_crc, 2);
if (ret != OK)
@ -2695,7 +2701,7 @@ checkcrc(int argc, char *argv[])
int fd = open(argv[1], O_RDONLY);
if (fd == -1) {
printf("open of %s failed - %d\n", argv[1], errno);
exit(1);
exit(1);
}
const uint32_t app_size_max = 0xf000;
uint32_t fw_crc = 0;
@ -2710,7 +2716,7 @@ checkcrc(int argc, char *argv[])
close(fd);
while (nbytes < app_size_max) {
uint8_t b = 0xff;
fw_crc = crc32part(&b, 1, fw_crc);
fw_crc = crc32part(&b, 1, fw_crc);
nbytes++;
}
@ -2723,7 +2729,7 @@ checkcrc(int argc, char *argv[])
if (ret != OK) {
printf("check CRC failed - %d\n", ret);
exit(1);
exit(1);
}
printf("CRCs match\n");
exit(0);
@ -2753,12 +2759,12 @@ bind(int argc, char *argv[])
pulses = DSMX_BIND_PULSES;
else if (!strcmp(argv[2], "dsmx8"))
pulses = DSMX8_BIND_PULSES;
else
else
errx(1, "unknown parameter %s, use dsm2, dsmx or dsmx8", argv[2]);
// Test for custom pulse parameter
if (argc > 3)
pulses = atoi(argv[3]);
if (g_dev->system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
if (g_dev->system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
errx(1, "system must not be armed");
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
@ -2960,7 +2966,7 @@ lockdown(int argc, char *argv[])
(void)g_dev->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 0);
warnx("ACTUATORS ARE NOW SAFE IN HIL.");
}
} else {
errx(1, "driver not loaded, exiting");
}

3
src/modules/uORB/topics/actuator_armed.h
View File

@ -56,6 +56,7 @@ struct actuator_armed_s {
bool armed; /**< Set to true if system is armed */
bool ready_to_arm; /**< Set to true if system is ready to be armed */
bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
bool force_failsafe; /**< Set to true if the actuators are forced to the failsafe position */
};
/**
@ -65,4 +66,4 @@ struct actuator_armed_s {
/* register this as object request broker structure */
ORB_DECLARE(actuator_armed);
#endif
#endif