fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 04:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'px4io-i2c' into px4io-i2c-nuttx

Browse Source
This commit is contained in:
Lorenz Meier
2013-02-17 18:13:09 +01:00
parent 5085a28240 985838d971
commit 219279ac82
8 changed files with 174 additions and 102 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/drivers/px4io/px4io.cpp
+19 -8
View File
@@ -279,6 +279,8 @@ PX4IO::PX4IO() :
_max_relays(0),
_max_transfer(16), /* sensible default */
_update_interval(0),
_status(0),
_alarms(0),
_task(-1),
_task_should_exit(false),
_perf_update(perf_alloc(PC_ELAPSED, "px4io update")),
@@ -360,8 +362,8 @@ PX4IO::init()
uint16_t reg;
/* get STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT in that order */
ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &reg, sizeof(reg));
/* get IO's last seen FMU state */
ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, &reg, sizeof(reg));
if (ret != OK)
return ret;
@@ -392,8 +394,8 @@ PX4IO::init()
/* wait 10 ms */
usleep(10000);
/* abort after 10s */
if ((hrt_absolute_time() - try_start_time)/1000 > 10000) {
/* abort after 5s */
if ((hrt_absolute_time() - try_start_time)/1000 > 50000) {
log("failed to recover from in-air restart (1), aborting IO driver init.");
return 1;
}
@@ -432,8 +434,8 @@ PX4IO::init()
/* wait 10 ms */
usleep(10000);
/* abort after 10s */
if ((hrt_absolute_time() - try_start_time)/1000 > 10000) {
/* abort after 5s */
if ((hrt_absolute_time() - try_start_time)/1000 > 50000) {
log("failed to recover from in-air restart (2), aborting IO driver init.");
return 1;
}
@@ -770,19 +772,28 @@ PX4IO::io_handle_status(uint16_t status)
*/
/* check for IO reset - force it back to armed if necessary */
if (_status & PX4IO_P_STATUS_FLAGS_ARMED && !(status & PX4IO_P_STATUS_FLAGS_ARMED)) {
if (_status & PX4IO_P_STATUS_FLAGS_ARMED && !(status & PX4IO_P_STATUS_FLAGS_ARMED)
&& !(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
/* set the arming flag */
ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARMED);
ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARMED | PX4IO_P_STATUS_FLAGS_ARM_SYNC);
/* set new status */
_status = status;
_status &= PX4IO_P_STATUS_FLAGS_ARMED;
} else if (!(_status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
/* set the sync flag */
ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARM_SYNC);
/* set new status */
_status = status;
} else {
ret = 0;
/* set new status */
_status = status;
}
return ret;
}