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Merge remote-tracking branch 'upstream/master' into new_state_machine

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Conflicts:
	src/examples/fixedwing_control/main.c
This commit is contained in:
Julian Oes
2013-06-12 12:24:52 +02:00
parent f5c157e74d 42ce3112ad
commit 7f90ebf537
329 changed files with 5893 additions and 121390 deletions
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src/drivers/px4io/px4io.cpp
+86 -9
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@@ -106,7 +106,7 @@ public:
* @param rate The rate in Hz actuator outpus are sent to IO.
* Min 10 Hz, max 400 Hz
*/
int set_update_rate(int rate);
int set_update_rate(int rate);
/**
* Set the battery current scaling and bias
@@ -114,7 +114,15 @@ public:
* @param amp_per_volt
* @param amp_bias
*/
void set_battery_current_scaling(float amp_per_volt, float amp_bias);
void set_battery_current_scaling(float amp_per_volt, float amp_bias);
/**
* Push failsafe values to IO.
*
* @param vals Failsafe control inputs: in us PPM (900 for zero, 1500 for centered, 2100 for full)
* @param len Number of channels, could up to 8
*/
int set_failsafe_values(const uint16_t *vals, unsigned len);
/**
* Print the current status of IO
@@ -326,11 +334,11 @@ PX4IO::PX4IO() :
_to_actuators_effective(0),
_to_outputs(0),
_to_battery(0),
_primary_pwm_device(false),
_battery_amp_per_volt(90.0f/5.0f), // this matches the 3DR current sensor
_battery_amp_bias(0),
_battery_mamphour_total(0),
_battery_last_timestamp(0),
_primary_pwm_device(false)
_battery_last_timestamp(0)
{
/* we need this potentially before it could be set in task_main */
g_dev = this;
@@ -689,6 +697,19 @@ PX4IO::io_set_control_state()
return io_reg_set(PX4IO_PAGE_CONTROLS, 0, regs, _max_controls);
}
int
PX4IO::set_failsafe_values(const uint16_t *vals, unsigned len)
{
uint16_t regs[_max_actuators];
if (len > _max_actuators)
/* fail with error */
return E2BIG;
/* copy values to registers in IO */
return io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, vals, len);
}
int
PX4IO::io_set_arming_state()
{
@@ -1250,7 +1271,7 @@ PX4IO::print_status()
printf("%u bytes free\n",
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM));
uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS);
printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s\n",
printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s\n",
flags,
((flags & PX4IO_P_STATUS_FLAGS_ARMED) ? " ARMED" : ""),
((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""),
@@ -1262,7 +1283,8 @@ PX4IO::print_status()
((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PPM" : ""),
((flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ? " MIXER_OK" : " MIXER_FAIL"),
((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"),
((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL"));
((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL"),
((flags & PX4IO_P_STATUS_FLAGS_FAILSAFE) ? " FAILSAFE" : ""));
uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS);
printf("alarms 0x%04x%s%s%s%s%s%s%s\n",
alarms,
@@ -1273,11 +1295,14 @@ PX4IO::print_status()
((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST) ? " FMU_LOST" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) ? " PWM_ERROR" : ""));
/* now clear alarms */
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, 0xFFFF);
printf("vbatt %u ibatt %u vbatt scale %u\n",
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT),
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE));
printf("amp_per_volt %.3f amp_offset %.3f mAhDischarged %.3f\n",
printf("amp_per_volt %.3f amp_offset %.3f mAh discharged %.3f\n",
(double)_battery_amp_per_volt,
(double)_battery_amp_bias,
(double)_battery_mamphour_total);
@@ -1471,7 +1496,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
case MIXERIOCLOADBUF: {
const char *buf = (const char *)arg;
ret = mixer_send(buf, strnlen(buf, 1024));
ret = mixer_send(buf, strnlen(buf, 2048));
break;
}
@@ -1612,6 +1637,13 @@ test(void)
if (ioctl(fd, PWM_SERVO_ARM, 0))
err(1, "failed to arm servos");
/* Open console directly to grab CTRL-C signal */
int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
if (!console)
err(1, "failed opening console");
warnx("Press CTRL-C or 'c' to abort.");
for (;;) {
/* sweep all servos between 1000..2000 */
@@ -1646,6 +1678,16 @@ test(void)
if (value != servos[i])
errx(1, "servo %d readback error, got %u expected %u", i, value, servos[i]);
}
/* Check if user wants to quit */
char c;
if (read(console, &c, 1) == 1) {
if (c == 0x03 || c == 0x63) {
warnx("User abort\n");
close(console);
exit(0);
}
}
}
}
@@ -1715,6 +1757,41 @@ px4io_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "failsafe")) {
if (argc < 3) {
errx(1, "failsafe command needs at least one channel value (ppm)");
}
if (g_dev != nullptr) {
/* set values for first 8 channels, fill unassigned channels with 1500. */
uint16_t failsafe[8];
for (int i = 0; i < sizeof(failsafe) / sizeof(failsafe[0]); i++)
{
/* set channel to commanline argument or to 900 for non-provided channels */
if (argc > i + 2) {
failsafe[i] = atoi(argv[i+2]);
if (failsafe[i] < 800 || failsafe[i] > 2200) {
errx(1, "value out of range of 800 < value < 2200. Aborting.");
}
} else {
/* a zero value will result in stopping to output any pulse */
failsafe[i] = 0;
}
}
int ret = g_dev->set_failsafe_values(failsafe, sizeof(failsafe) / sizeof(failsafe[0]));
if (ret != OK)
errx(ret, "failed setting failsafe values");
} else {
errx(1, "not loaded");
}
exit(0);
}
if (!strcmp(argv[1], "recovery")) {
if (g_dev != nullptr) {
@@ -1842,5 +1919,5 @@ px4io_main(int argc, char *argv[])
monitor();
out:
errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit', 'current' or 'update'");
errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit', 'current', 'failsafe' or 'update'");
}