fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 19:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added functionality to enable PWM output for stupid ESCs even when safety is not off, arming button functionality remains as is

Browse Source
This commit is contained in:
Julian Oes
2013-06-19 22:59:40 +02:00
parent ece93ab628
commit 23858a6726
5 changed files with 197 additions and 45 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4io/px4io.cpp
+65 -6
View File
@@ -136,6 +136,11 @@ public:
*/
int set_max_values(const uint16_t *vals, unsigned len);
/**
* Set an idle PWM signal that is active right after startup, even when SAFETY_SAFE
*/
int set_idle_values(const uint16_t *vals, unsigned len);
/**
* Print the current status of IO
*/
@@ -567,7 +572,8 @@ PX4IO::init()
io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING,
PX4IO_P_SETUP_ARMING_FMU_ARMED |
PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK |
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0);
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK |
PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE, 0);
/* publish RC config to IO */
ret = io_set_rc_config();
@@ -793,6 +799,20 @@ PX4IO::set_max_values(const uint16_t *vals, unsigned len)
return io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, vals, len);
}
int
PX4IO::set_idle_values(const uint16_t *vals, unsigned len)
{
uint16_t regs[_max_actuators];
if (len > _max_actuators)
/* fail with error */
return E2BIG;
printf("Sending IDLE values\n");
/* copy values to registers in IO */
return io_reg_set(PX4IO_PAGE_IDLE_PWM, 0, vals, len);
}
int
@@ -1441,12 +1461,14 @@ PX4IO::print_status()
/* setup and state */
printf("features 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES));
uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
printf("arming 0x%04x%s%s%s%s\n",
printf("arming 0x%04x%s%s%s%s%s%s\n",
arming,
((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : ""),
((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : ""),
((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""),
((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""));
((arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ? " FAILSAFE_CUSTOM" : ""),
((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""),
((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : ""));
printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE),
@@ -1473,8 +1495,10 @@ PX4IO::print_status()
}
printf("failsafe");
for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i));
printf("\n");
printf(" %u\n", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i));
printf("idle values");
for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u\n", io_reg_get(PX4IO_PAGE_IDLE_PWM, i));
}
int
@@ -1973,6 +1997,41 @@ px4io_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "idle")) {
if (argc < 3) {
errx(1, "max command needs at least one channel value (PWM)");
}
if (g_dev != nullptr) {
/* set values for first 8 channels, fill unassigned channels with 0. */
uint16_t idle[8];
for (int i = 0; i < sizeof(idle) / sizeof(idle[0]); i++)
{
/* set channel to commanline argument or to 0 for non-provided channels */
if (argc > i + 2) {
idle[i] = atoi(argv[i+2]);
if (idle[i] < 900 || idle[i] > 2100) {
errx(1, "value out of range of 900 < value < 2100. Aborting.");
}
} else {
/* a zero value will the default */
idle[i] = 0;
}
}
int ret = g_dev->set_idle_values(idle, sizeof(idle) / sizeof(idle[0]));
if (ret != OK)
errx(ret, "failed setting idle values");
} else {
errx(1, "not loaded");
}
exit(0);
}
if (!strcmp(argv[1], "recovery")) {
if (g_dev != nullptr) {
@@ -2100,5 +2159,5 @@ px4io_main(int argc, char *argv[])
monitor();
out:
errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit', 'current', 'failsafe' or 'update'");
errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit', 'current', 'failsafe', 'min, 'max', 'idle' or 'update'");
}