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Changes for multi-rate PWM output; default and alternate rates. ioctl protocol, PX4IO support.

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This commit is contained in:
px4dev
2013-03-12 22:22:49 -07:00
parent 6b947a67d0
commit 6cf0758b24
6 changed files with 212 additions and 92 deletions
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apps/drivers/px4io/px4io.cpp
+65 -35
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@@ -86,6 +86,8 @@
#include "uploader.h"
#include <debug.h>
#define PX4IO_SET_DEBUG _IOC(0xff00, 0)
#define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1)
class PX4IO : public device::I2C
{
@@ -1223,14 +1225,15 @@ PX4IO::print_status()
((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"),
((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL"));
uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS);
printf("alarms 0x%04x%s%s%s%s%s%s\n",
printf("alarms 0x%04x%s%s%s%s%s%s%s\n",
alarms,
((alarms & PX4IO_P_STATUS_ALARMS_VBATT_LOW) ? " VBATT_LOW" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_TEMPERATURE) ? " TEMPERATURE" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_SERVO_CURRENT) ? " SERVO_CURRENT" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_ACC_CURRENT) ? " ACC_CURRENT" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST) ? " FMU_LOST" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""));
((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) ? " PWM_ERROR" : ""));
printf("vbatt %u ibatt %u\n",
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT),
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT));
@@ -1269,10 +1272,10 @@ PX4IO::print_status()
((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""),
((arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) ? " VECTOR_FLIGHT_OK" : ""),
((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""));
printf("rates 0x%04x lowrate %u highrate %u relays 0x%04x\n",
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_LOWRATE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_HIGHRATE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS));
printf("vbatt scale %u ibatt scale %u ibatt bias %u\n",
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE),
@@ -1320,36 +1323,39 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_ARM_OK, 0);
break;
case PWM_SERVO_INAIR_RESTART_ENABLE:
/* set the 'in-air restart' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK);
break;
case PWM_SERVO_INAIR_RESTART_DISABLE:
/* unset the 'in-air restart' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK, 0);
break;
case PWM_SERVO_SET_UPDATE_RATE:
/* set the requested rate */
if ((arg >= 50) && (arg <= 400)) {
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_HIGHRATE, arg);
/* set the requested alternate rate */
if ((arg >= 50) && (arg <= 400)) { /* TODO: we could go higher for e.g. TurboPWM */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg);
} else {
ret = -EINVAL;
}
break;
case PWM_SERVO_SELECT_UPDATE_RATE: {
/* blindly clear the PWM update alarm - might be set for some other reason */
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR);
/* attempt to set the rate map */
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES, arg);
/* check that the changes took */
uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS);
if (alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) {
ret = -EINVAL;
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR);
}
break;
}
case PWM_SERVO_GET_COUNT:
*(unsigned *)arg = _max_actuators;
break;
case PWM_SERVO_SET_DEBUG:
/* set the debug level */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG, arg);
break;
case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS): {
case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS - 1): {
/* TODO: we could go lower for e.g. TurboPWM */
unsigned channel = cmd - PWM_SERVO_SET(0);
if ((channel >= _max_actuators) || (arg < 900) || (arg > 2100)) {
ret = -EINVAL;
@@ -1361,7 +1367,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
break;
}
case PWM_SERVO_GET(0) ... PWM_SERVO_GET(PWM_OUTPUT_MAX_CHANNELS): {
case PWM_SERVO_GET(0) ... PWM_SERVO_GET(PWM_OUTPUT_MAX_CHANNELS - 1): {
unsigned channel = cmd - PWM_SERVO_GET(0);
@@ -1379,6 +1385,16 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
break;
}
case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): {
unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0);
uint32_t value = io_reg_get(PX4IO_PAGE_PWM_INFO, PX4IO_RATE_MAP_BASE + channel);
*(uint32_t *)arg = value;
break;
}
case GPIO_RESET:
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0);
break;
@@ -1443,6 +1459,20 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
break;
}
case PX4IO_SET_DEBUG:
/* set the debug level */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG, arg);
break;
case PX4IO_INAIR_RESTART_ENABLE:
/* set/clear the 'in-air restart' bit */
if (arg) {
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK);
} else {
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK, 0);
}
break;
default:
/* not a recognized value */
ret = -ENOTTY;
@@ -1602,7 +1632,7 @@ px4io_main(int argc, char *argv[])
* We can cheat and call the driver directly, as it
* doesn't reference filp in ioctl()
*/
g_dev->ioctl(NULL, PWM_SERVO_INAIR_RESTART_ENABLE, 0);
g_dev->ioctl(NULL, PX4IO_INAIR_RESTART_ENABLE, 1);
} else {
errx(1, "not loaded");
}
@@ -1623,16 +1653,16 @@ px4io_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (g_dev != nullptr) {
printf("[px4io] loaded\n");
g_dev->print_status();
} else {
printf("[px4io] not loaded\n");
}
exit(0);
if (g_dev != nullptr) {
printf("[px4io] loaded\n");
g_dev->print_status();
} else {
printf("[px4io] not loaded\n");
}
exit(0);
}
if (!strcmp(argv[1], "debug")) {
if (argc <= 2) {
printf("usage: px4io debug LEVEL\n");
@@ -1646,7 +1676,7 @@ px4io_main(int argc, char *argv[])
/* we can cheat and call the driver directly, as it
* doesn't reference filp in ioctl()
*/
int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_DEBUG, level);
int ret = g_dev->ioctl(NULL, PX4IO_SET_DEBUG, level);
if (ret != 0) {
printf("SET_DEBUG failed - %d\n", ret);
exit(1);