mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
px4io: delete broken test and unnecessary limit
- delete broken px4io test and if_test - delete px4io limit (a fixed 400 Hz limit was always set at boot)
This commit is contained in:
Daniel Agar
parent
60d767406a
commit
9b12647ac4
@ -16,9 +16,6 @@ then
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then
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# Allow PX4IO to recover from midair restarts.
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px4io recovery
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# Adjust PX4IO update rate limit.
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px4io limit 400
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else
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echo "PX4IO start failed" >> $LOG_FILE
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tune_control play -t 20
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@ -109,9 +109,6 @@
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#define PX4IO_REBOOT_BOOTLOADER _IOC(0xff00, 2)
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#define PX4IO_CHECK_CRC _IOC(0xff00, 3)
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static constexpr unsigned UPDATE_INTERVAL_MIN{2}; // 2 ms -> 500 Hz
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static constexpr unsigned UPDATE_INTERVAL_MAX{100}; // 100 ms -> 10 Hz
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#define ORB_CHECK_INTERVAL 200000 // 200 ms -> 5 Hz
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#define IO_POLL_INTERVAL 20000 // 20 ms -> 50 Hz
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@ -174,26 +171,6 @@ public:
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*/
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virtual int ioctl(file *filp, int cmd, unsigned long arg);
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/**
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* write handler.
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*
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* Handle writes to the PX4IO file descriptor.
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*
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* @param[in] filp file handle (not used). This function is always called directly through object reference
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* @param[in] buffer pointer to the data buffer to be written
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* @param[in] len size in bytes to be written
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* @return number of bytes written
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*/
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virtual ssize_t write(file *filp, const char *buffer, size_t len);
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/**
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* Set the update rate for actuator outputs from FMU to IO.
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*
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* @param[in] rate The rate in Hz actuator outpus are sent to IO.
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* Min 10 Hz, max 400 Hz
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*/
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int set_update_rate(int rate);
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/**
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* Disable RC input handling
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*/
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@ -235,7 +212,6 @@ private:
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unsigned _max_relays; ///< Maximum relays supported by PX4IO
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unsigned _max_transfer; ///< Maximum number of I2C transfers supported by PX4IO
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unsigned _update_interval; ///< Subscription interval limiting send rate
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bool _rc_handling_disabled; ///< If set, IO does not evaluate, but only forward the RC values
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unsigned _rc_chan_count; ///< Internal copy of the last seen number of RC channels
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uint64_t _rc_last_valid; ///< last valid timestamp
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@ -464,7 +440,6 @@ PX4IO::PX4IO(device::Device *interface) :
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_max_rc_input(0),
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_max_relays(0),
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_max_transfer(16), /* sensible default */
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_update_interval(0),
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_rc_handling_disabled(false),
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_rc_chan_count(0),
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_rc_last_valid(0),
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@ -893,7 +868,7 @@ PX4IO::task_main()
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* primary PWM output or not.
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*/
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_t_actuator_controls_0 = orb_subscribe(ORB_ID(actuator_controls_0));
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orb_set_interval(_t_actuator_controls_0, 20); /* default to 50Hz */
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orb_set_interval(_t_actuator_controls_0, 2); /* default to 500Hz */
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if (_t_actuator_controls_0 < 0) {
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PX4_ERR("actuator subscription failed");
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@ -916,18 +891,6 @@ PX4IO::task_main()
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/* loop talking to IO */
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while (!_task_should_exit) {
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/* adjust update interval */
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if (_update_interval != 0) {
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_update_interval = math::constrain(_update_interval, UPDATE_INTERVAL_MIN, UPDATE_INTERVAL_MAX);
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orb_set_interval(_t_actuator_controls_0, _update_interval);
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/*
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* NOT changing the rate of groups 1-3 here, because only attitude
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* really needs to run fast.
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*/
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_update_interval = 0;
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}
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/* sleep waiting for topic updates, but no more than 20ms */
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unlock();
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int ret = ::poll(fds, 1, 20);
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@ -2897,47 +2860,6 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
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return ret;
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}
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ssize_t
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PX4IO::write(file * /*filp*/, const char *buffer, size_t len)
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/* Make it obvious that file * isn't used here */
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{
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unsigned count = len / 2;
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if (count > _max_actuators) {
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count = _max_actuators;
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}
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if (count > 0) {
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perf_begin(_perf_write);
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int ret = OK;
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/* The write() is silently ignored in test mode. */
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if (!_test_fmu_fail) {
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ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, (uint16_t *)buffer, count);
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}
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perf_end(_perf_write);
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if (ret != OK) {
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return ret;
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}
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}
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return count * 2;
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}
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int
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PX4IO::set_update_rate(int rate)
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{
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unsigned interval_ms = 1000 / rate;
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_update_interval = math::constrain(interval_ms, UPDATE_INTERVAL_MIN, UPDATE_INTERVAL_MAX);
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return 0;
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}
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extern "C" __EXPORT int px4io_main(int argc, char *argv[]);
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namespace
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@ -3156,107 +3078,6 @@ bind(int argc, char *argv[])
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}
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void
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test(void)
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{
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int fd;
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unsigned servo_count = 0;
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unsigned pwm_value = 1000;
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int direction = 1;
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int ret;
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fd = open(PX4IO_DEVICE_PATH, O_WRONLY);
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if (fd < 0) {
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err(1, "failed to open device");
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}
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if (ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count)) {
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err(1, "failed to get servo count");
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}
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/* tell IO that its ok to disable its safety with the switch */
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ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
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if (ret != OK) {
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err(1, "PWM_SERVO_SET_ARM_OK");
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}
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if (ioctl(fd, PWM_SERVO_ARM, 0)) {
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err(1, "failed to arm servos");
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}
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struct pollfd fds;
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fds.fd = 0; /* stdin */
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fds.events = POLLIN;
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warnx("Press CTRL-C or 'c' to abort.");
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for (;;) {
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/* sweep all servos between 1000..2000 */
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servo_position_t servos[servo_count];
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for (unsigned i = 0; i < servo_count; i++) {
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servos[i] = pwm_value;
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}
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ret = write(fd, servos, sizeof(servos));
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if (ret != (int)sizeof(servos)) {
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err(1, "error writing PWM servo data, wrote %zu got %d", sizeof(servos), ret);
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}
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if (direction > 0) {
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if (pwm_value < 2000) {
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pwm_value++;
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} else {
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direction = -1;
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}
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} else {
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if (pwm_value > 1000) {
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pwm_value--;
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} else {
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direction = 1;
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}
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}
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px4_usleep(250);
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/* readback servo values */
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for (unsigned i = 0; i < servo_count; i++) {
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servo_position_t value;
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if (ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&value)) {
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err(1, "error reading PWM servo %u", i);
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}
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if (value != servos[i]) {
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warnx("servo %u readback error, got %hu expected %hu", i, value, servos[i]);
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}
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}
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/* Check if user wants to quit */
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char c;
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ret = poll(&fds, 1, 0);
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if (ret > 0) {
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read(0, &c, 1);
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if (c == 0x03 || c == 0x63 || c == 'q') {
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warnx("User abort\n");
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exit(0);
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}
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}
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}
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}
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void
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monitor(void)
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{
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@ -3299,23 +3120,6 @@ monitor(void)
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}
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}
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void
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if_test(unsigned mode)
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{
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device::Device *interface = get_interface();
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int result;
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if (interface) {
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result = interface->ioctl(1, mode); /* XXX magic numbers */
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delete interface;
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} else {
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errx(1, "interface not loaded, exiting");
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}
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errx(0, "test returned %d", result);
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}
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void
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lockdown(int argc, char *argv[])
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{
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@ -3450,14 +3254,6 @@ px4io_main(int argc, char *argv[])
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return ret;
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}
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if (!strcmp(argv[1], "iftest")) {
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if (g_dev != nullptr) {
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errx(1, "can't iftest when started");
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}
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if_test((argc > 2) ? strtol(argv[2], NULL, 0) : 0);
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}
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if (!strcmp(argv[1], "forceupdate")) {
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/*
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force update of the IO firmware without requiring
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@ -3511,26 +3307,6 @@ px4io_main(int argc, char *argv[])
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errx(1, "not started");
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}
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if (!strcmp(argv[1], "limit")) {
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if ((argc > 2)) {
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int limitrate = atoi(argv[2]);
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if (limitrate > 0) {
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g_dev->set_update_rate(limitrate);
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} else {
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errx(1, "invalid rate: %d", limitrate);
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}
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} else {
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errx(1, "missing argument (50 - 500 Hz)");
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return 1;
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}
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exit(0);
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}
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if (!strcmp(argv[1], "safety_off")) {
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int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);
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@ -3615,10 +3391,6 @@ px4io_main(int argc, char *argv[])
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errx(0, "receiver type is automatically detected, option '%s' is deprecated", argv[1]);
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}
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if (!strcmp(argv[1], "test")) {
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test();
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}
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if (!strcmp(argv[1], "monitor")) {
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monitor();
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}
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@ -3706,8 +3478,8 @@ px4io_main(int argc, char *argv[])
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}
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out:
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errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug <level>',\n"
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"'recovery', 'limit <rate>', 'bind', 'checkcrc', 'safety_on', 'safety_off',\n"
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errx(1, "need a command, try 'start', 'stop', 'status', 'monitor', 'debug <level>',\n"
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"'recovery', 'bind', 'checkcrc', 'safety_on', 'safety_off',\n"
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"'forceupdate', 'update', 'sbus1_out', 'sbus2_out', 'rssi_analog' or 'rssi_pwm',\n"
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"'test_fmu_fail', 'test_fmu_ok'");
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}
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