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Support DSM bind via QGroundControl

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This commit is contained in:
Jean Cyr
2013-08-11 17:19:54 -04:00
parent 36679fbb39
commit 1d408b80ad
5 changed files with 26 additions and 33 deletions
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src/drivers/px4io/px4io.cpp
+25 -21
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@@ -188,6 +188,12 @@ private:
bool _dsm_vcc_ctl;
/**
* System armed
*/
bool _system_armed;
/**
* Trampoline to the worker task
*/
@@ -355,7 +361,8 @@ PX4IO::PX4IO() :
_battery_amp_bias(0),
_battery_mamphour_total(0),
_battery_last_timestamp(0),
_dsm_vcc_ctl(false)
_dsm_vcc_ctl(false),
_system_armed(false)
{
/* we need this potentially before it could be set in task_main */
g_dev = this;
@@ -672,6 +679,17 @@ PX4IO::task_main()
*/
if (fds[3].revents & POLLIN) {
parameter_update_s pupdate;
int32_t dsm_bind_param;
// See if bind parameter has been set, and reset it to 0
param_get(param_find("RC_DSM_BIND"), &dsm_bind_param);
if (dsm_bind_param) {
if (((dsm_bind_param == 1) || (dsm_bind_param == 2)) && !_system_armed) {
ioctl(nullptr, DSM_BIND_START, dsm_bind_param == 1 ? 3 : 7);
}
dsm_bind_param = 0;
param_set(param_find("RC_DSM_BIND"), &dsm_bind_param);
}
/* copy to reset the notification */
orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
@@ -737,6 +755,8 @@ PX4IO::io_set_arming_state()
uint16_t set = 0;
uint16_t clear = 0;
_system_armed = vstatus.flag_system_armed;
if (armed.armed && !armed.lockdown) {
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
} else {
@@ -1448,6 +1468,8 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
usleep(50000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
usleep(50000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
break;
case DSM_BIND_STOP:
@@ -1695,30 +1717,12 @@ bind(int argc, char *argv[])
else
errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]);
/* Open console directly to grab CTRL-C signal */
int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
if (!console)
errx(1, "failed opening console");
warnx("This command will only bind DSM if satellite VCC (red wire) is controlled by relay 1.");
warnx("Press CTRL-C or 'c' when done.");
g_dev->ioctl(nullptr, DSM_BIND_START, pulses);
for (;;) {
usleep(500000L);
/* Check if user wants to quit */
char c;
if (read(console, &c, 1) == 1) {
if (c == 0x03 || c == 0x63) {
warnx("Done\n");
g_dev->ioctl(nullptr, DSM_BIND_STOP, 0);
g_dev->ioctl(nullptr, DSM_BIND_POWER_UP, 0);
close(console);
exit(0);
}
}
}
exit(0);
}
void