fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 07:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' into #111-px4io-integrated-mixing

Browse Source 
Fix a botched merge for #106 at the same time.
This commit is contained in:
px4dev
2013-01-06 00:40:17 -08:00
parent dbb841b0dc b3e16b4861
commit 9df2aaf312
8 changed files with 96 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/drivers/px4io/px4io.cpp
+31 -1
View File
@@ -61,6 +61,7 @@
#include <drivers/device/device.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_gpio.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
@@ -117,6 +118,8 @@ private:
bool _primary_pwm_device; ///< true if we are the default PWM output
uint32_t _relays; ///< state of the PX4IO relays, one bit per relay
volatile bool _switch_armed; ///< PX4IO switch armed state
// XXX how should this work?
@@ -195,6 +198,7 @@ PX4IO::PX4IO() :
_mix_buf(nullptr),
_mix_buf_len(0),
_primary_pwm_device(false),
_relays(0),
_switch_armed(false),
_send_needed(false),
_config_needed(false)
@@ -542,7 +546,9 @@ PX4IO::io_send()
/* XXX needs to be based off post-mix values from the IO side */
orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &_outputs);
// XXX relays
/* update relays */
for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++)
cmd.relay_state[i] = (_relays & (1<< i)) ? true : false;
/* armed and not locked down */
cmd.arm_ok = (_armed.armed && !_armed.lockdown);
@@ -641,6 +647,30 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
*(servo_position_t *)arg = _outputs.output[cmd - PWM_SERVO_GET(0)];
break;
case GPIO_RESET:
_relays = 0;
_send_needed = true;
break;
case GPIO_SET:
case GPIO_CLEAR:
/* make sure only valid bits are being set */
if ((arg & ((1UL << PX4IO_RELAY_CHANNELS) - 1)) != arg) {
ret = EINVAL;
break;
}
if (cmd == GPIO_SET) {
_relays |= arg;
} else {
_relays &= ~arg;
}
_send_needed = true;
break;
case GPIO_GET:
*(uint32_t *)arg = _relays;
break;
case MIXERIOCGETOUTPUTCOUNT:
*(unsigned *)arg = PX4IO_CONTROL_CHANNELS;
break;