forked from Archive/PX4-Autopilot
Extended PX4IO status dump
This commit is contained in:
px4dev
parent
72603207a1
commit
858460c863
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@ -281,14 +281,15 @@ PX4IO::PX4IO() :
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_max_relays(0),
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_max_transfer(16), /* sensible default */
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_update_interval(0),
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_status(0),
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_alarms(0),
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_task(-1),
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_task_should_exit(false),
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_perf_update(perf_alloc(PC_ELAPSED, "px4io update")),
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_status(0),
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_alarms(0),
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_t_actuators(-1),
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_t_armed(-1),
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_t_vstatus(-1),
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_t_param(-1),
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_to_input_rc(0),
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_to_actuators_effective(0),
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_to_outputs(0),
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@ -814,6 +815,8 @@ PX4IO::io_handle_alarms(uint16_t alarms)
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/* set new alarms state */
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_alarms = alarms;
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return 0;
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}
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int
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@ -1158,13 +1161,95 @@ PX4IO::mixer_send(const char *buf, unsigned buflen)
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void
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PX4IO::print_status()
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{
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printf("\tRC status:\t%s\n", (_status & PX4IO_P_STATUS_FLAGS_RC_OK) ? "OK" : "FAIL");
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if (_status & PX4IO_P_STATUS_FLAGS_RC_OK) {
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printf("\tRC type:\t%s\n", (_status & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? "S.BUS" : ((_status & PX4IO_P_STATUS_FLAGS_RC_DSM) ? "DSM" : "PPM"));
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// printf("\tRC chans:\t%d\n", xxx);
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/* basic configuration */
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printf("protocol %u software %u bootloader %u buffer %uB\n",
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io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION),
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io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_SOFTWARE_VERSION),
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io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_BOOTLOADER_VERSION),
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io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER));
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printf("%u controls %u actuators %u R/C inputs %u analog inputs %u relays\n",
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io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT),
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io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT),
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io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT),
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io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ADC_INPUT_COUNT),
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io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT));
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/* status */
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printf("%u bytes free\n",
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io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM));
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uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS);
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printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s\n",
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flags,
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((flags & PX4IO_P_STATUS_FLAGS_ARMED) ? " ARMED" : ""),
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((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""),
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((flags & PX4IO_P_STATUS_FLAGS_RC_OK) ? " RC_OK" : " RC_FAIL"),
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((flags & PX4IO_P_STATUS_FLAGS_RC_PPM) ? " PPM" : ""),
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((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) ? " DSM" : ""),
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((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? " SBUS" : ""),
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((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"),
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((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PPM" : ""),
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((flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ? " MIXER_OK" : " MIXER_FAIL"),
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((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"));
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uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS);
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printf("alarms 0x%04x%s%s%s%s%s%s\n",
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alarms,
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((alarms & PX4IO_P_STATUS_ALARMS_VBATT_LOW) ? " VBATT_LOW" : ""),
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((alarms & PX4IO_P_STATUS_ALARMS_TEMPERATURE) ? " TEMPERATURE" : ""),
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((alarms & PX4IO_P_STATUS_ALARMS_SERVO_CURRENT) ? " SERVO_CURRENT" : ""),
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((alarms & PX4IO_P_STATUS_ALARMS_ACC_CURRENT) ? " ACC_CURRENT" : ""),
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((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST) ? " FMU_LOST" : ""),
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((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""));
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printf("vbatt %u ibatt %u\n",
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io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT),
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io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT));
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printf("actuators");
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for (unsigned i = 0; i < _max_actuators; i++)
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printf(" %u", io_reg_get(PX4IO_PAGE_ACTUATORS, i));
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printf("\n");
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printf("servos");
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for (unsigned i = 0; i < _max_actuators; i++)
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printf(" %u", io_reg_get(PX4IO_PAGE_SERVOS, i));
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printf("\n");
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uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT);
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printf("%d R/C inputs", raw_inputs);
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for (unsigned i = 0; i < raw_inputs; i++)
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printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i));
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printf("\n");
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uint16_t valid_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RC_VALID);
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printf("valid R/C inputs 0x%04x", valid_inputs);
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for (unsigned i = 0; i < _max_rc_input; i++) {
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if (valid_inputs && (1 << i))
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printf(" %u:%u", i, io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_BASE + i));
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}
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//printf("\tRC Config:\t%s\n", (_status & PX4IO_P_STATUS_FLAGS_RC_CONFIG_OK) ? "OK" : "FAIL");
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printf("\tFMU link:\t%s\n", (_status & PX4IO_P_STATUS_FLAGS_FMU_OK) ? "OK" : "FAIL");
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printf("\n");
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uint16_t adc_inputs = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ADC_INPUT_COUNT);
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printf("ADC inputs");
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for (unsigned i = 0; i < adc_inputs; i++)
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printf(" %u", io_reg_get(PX4IO_PAGE_RAW_ADC_INPUT, i));
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printf("\n");
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/* setup */
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printf("features 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES));
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uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
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printf("arming 0x%04x%s%s%s\n",
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((arming & PX4IO_P_SETUP_ARMING_ARM_OK) ? "ARM_OK" : ""),
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((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? "MANUAL_OVERRIDE_OK" : ""),
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((arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) ? "VECTOR_FLIGHT_OK" : ""),
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((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? "INAIR_RESTART_OK" : ""));
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printf("rates 0x%04x lowrate %u highrate %u relays 0x%04x\n",
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io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
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io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_LOWRATE),
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io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_HIGHRATE),
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io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS));
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printf("vbatt scale %u ibatt scale %u ibatt bias %u\n",
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io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE),
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io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_SCALE),
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io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_BIAS));
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printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG));
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printf("failsafe");
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for (unsigned i = 0; i < _max_actuators; i++)
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printf(" %u", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i));
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printf("\n");
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}
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int
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