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px4-firmware
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Made pwm command sending continously, improved failsafe logic

This commit is contained in:
Lorenz Meier 2013-06-07 19:41:41 +02:00
parent aa641b5c34
commit 8567134d64
2 changed files with 49 additions and 15 deletions
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16
src/modules/px4iofirmware/mixer.cpp
View File

@ -98,7 +98,7 @@ mixer_tick(void)
if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) { if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) {
isr_debug(1, "AP RX timeout"); isr_debug(1, "AP RX timeout");
} }
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM); r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK);
r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST; r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST;
} else { } else {
@ -112,12 +112,11 @@ mixer_tick(void)
* Decide which set of controls we're using. * Decide which set of controls we're using.
*/ */
/* do not mix if mixer is invalid or if RAW_PWM mode is on and FMU is good */ /* do not mix if RAW_PWM mode is on and FMU is good */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) && if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) &&
!(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) { (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) {
/* don't actually mix anything - we already have raw PWM values or /* don't actually mix anything - we already have raw PWM values */
not a valid mixer. */
source = MIX_NONE; source = MIX_NONE;
} else { } else {
@ -196,10 +195,9 @@ mixer_tick(void)
bool should_arm = ( bool should_arm = (
/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
/* there is valid input via direct PWM or mixer */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) && /* there is valid input via direct PWM or mixer */ ((r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) ||
/* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) && /* or failsafe was set manually */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)) &&
/* FMU is available or FMU is not available but override is an option */ /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) || (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && (r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ))
); );
if (should_arm && !mixer_servos_armed) { if (should_arm && !mixer_servos_armed) {

48
src/systemcmds/pwm/pwm.c
View File

@ -180,7 +180,8 @@ pwm_main(int argc, char *argv[])
} }
/* iterate remaining arguments */ /* iterate remaining arguments */
unsigned channel = 0; unsigned nchannels = 0;
unsigned channel[8] = {0};
while (argc--) { while (argc--) {
const char *arg = argv[0]; const char *arg = argv[0];
argv++; argv++;
@ -204,13 +205,15 @@ pwm_main(int argc, char *argv[])
} }
unsigned pwm_value = strtol(arg, &ep, 0); unsigned pwm_value = strtol(arg, &ep, 0);
if (*ep == '\0') { if (*ep == '\0') {
ret = ioctl(fd, PWM_SERVO_SET(channel), pwm_value); channel[nchannels] = pwm_value;
if (ret != OK) nchannels++;
err(1, "PWM_SERVO_SET(%d)", channel);
channel++; if (nchannels >= sizeof(channel) / sizeof(channel[0]))
err(1, "too many pwm values (max %d)", sizeof(channel) / sizeof(channel[0]));
continue; continue;
} }
usage("unrecognised option"); usage("unrecognized option");
} }
/* print verbose info */ /* print verbose info */
@ -250,5 +253,38 @@ pwm_main(int argc, char *argv[])
} }
fflush(stdout); fflush(stdout);
} }
/* perform PWM output */
if (nchannels) {
/* Open console directly to grab CTRL-C signal */
int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
if (!console)
err(1, "failed opening console");
warnx("Press CTRL-C or 'c' to abort.");
while (1) {
for (int i = 0; i < nchannels; i++) {
ret = ioctl(fd, PWM_SERVO_SET(i), channel[i]);
if (ret != OK)
err(1, "PWM_SERVO_SET(%d)", i);
}
/* abort on user request */
char c;
if (read(console, &c, 1) == 1) {
if (c == 0x03 || c == 0x63) {
warnx("User abort\n");
close(console);
exit(0);
}
}
/* rate limit to ~ 20 Hz */
usleep(50000);
}
}
exit(0); exit(0);
} }