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px4io: add FMU fail test mode

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In order to test what happens in px4iofirmware when the FMU stops
sending PWM or control commands, I added a test mode. When the test mode
is activated, no controls are sent.
This commit is contained in:
Julian Oes
2016-07-29 12:46:17 +02:00
committed by Lorenz Meier
parent 55d21242fe
commit a9a5f3a19e
1 changed files with 55 additions and 7 deletions
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src/drivers/px4io/px4io.cpp
+55 -7
View File
@@ -218,6 +218,16 @@ public:
*/
int print_debug();
/*
* To test what happens if IO stops receiving updates from FMU.
*
* @param is_fail true for failure condition, false for normal operation.
*/
void test_fmu_fail(bool is_fail)
{
_test_fmu_fail = is_fail;
};
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/**
* Set the DSM VCC is controlled by relay one flag
@@ -315,6 +325,7 @@ private:
float _analog_rc_rssi_volt; ///< analog RSSI voltage
float _last_throttle; ///< last throttle value for battery calculation
bool _test_fmu_fail; ///< To test what happens if IO looses FMU
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
bool _dsm_vcc_ctl; ///< true if relay 1 controls DSM satellite RX power
@@ -549,7 +560,8 @@ PX4IO::PX4IO(device::Device *interface) :
_rssi_pwm_min(0),
_analog_rc_rssi_stable(false),
_analog_rc_rssi_volt(-1.0f),
_last_throttle(0.0f)
_last_throttle(0.0f),
_test_fmu_fail(false)
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
, _dsm_vcc_ctl(false)
#endif
@@ -1349,8 +1361,12 @@ PX4IO::io_set_control_state(unsigned group)
_last_throttle = controls.control[3];
}
/* copy values to registers in IO */
return io_reg_set(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT, regs, _max_controls);
if (!_test_fmu_fail) {
/* copy values to registers in IO */
return io_reg_set(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT, regs, _max_controls);
} else {
return OK;
}
}
@@ -2735,8 +2751,14 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
ret = -EINVAL;
} else {
/* send a direct PWM value */
ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, channel, arg);
if (!_test_fmu_fail) {
/* send a direct PWM value */
ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, channel, arg);
} else {
/* Just silently accept the ioctl without doing anything
* in test mode. */
ret = OK;
}
}
break;
@@ -3037,7 +3059,12 @@ PX4IO::write(file * /*filp*/, const char *buffer, size_t len)
if (count > 0) {
perf_begin(_perf_write);
int ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, (uint16_t *)buffer, count);
int ret = OK;
/* The write() is silently ignored in test mode. */
if (!_test_fmu_fail) {
ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, (uint16_t *)buffer, count);
}
perf_end(_perf_write);
if (ret != OK) {
@@ -3869,8 +3896,29 @@ px4io_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "test_fmu_fail")) {
if (g_dev != nullptr) {
g_dev->test_fmu_fail(true);
exit(0);
} else {
errx(1, "px4io must be started first");
}
}
if (!strcmp(argv[1], "test_fmu_ok")) {
if (g_dev != nullptr) {
g_dev->test_fmu_fail(false);
exit(0);
} else {
errx(1, "px4io must be started first");
}
}
out:
errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug <level>',\n"
"'recovery', 'limit <rate>', 'current', 'bind', 'checkcrc', 'safety_on', 'safety_off',\n"
"'forceupdate', 'update', 'sbus1_out', 'sbus2_out', 'rssi_analog' or 'rssi_pwm'");
"'forceupdate', 'update', 'sbus1_out', 'sbus2_out', 'rssi_analog' or 'rssi_pwm',\n"
"'test_fmu_fail', 'test_fmu_ok'");
}