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First try to prevent motors from stopping when armed

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This commit is contained in:
Julian Oes
2013-06-18 00:30:10 +02:00
parent 2daff9ebbf
commit cc452834c0
5 changed files with 192 additions and 2 deletions
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src/drivers/px4io/px4io.cpp
+108
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@@ -125,6 +125,16 @@ public:
*/
int set_failsafe_values(const uint16_t *vals, unsigned len);
/**
* Set the minimum PWM signals when armed
*/
int set_min_values(const uint16_t *vals, unsigned len);
/**
* Set the maximum PWM signal when armed
*/
int set_max_values(const uint16_t *vals, unsigned len);
/**
* Print the current status of IO
*/
@@ -711,6 +721,34 @@ PX4IO::set_failsafe_values(const uint16_t *vals, unsigned len)
return io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, vals, len);
}
int
PX4IO::set_min_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_CONTROL_MIN_PWM, 0, vals, len);
}
int
PX4IO::set_max_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_CONTROL_MAX_PWM, 0, vals, len);
}
int
PX4IO::io_set_arming_state()
{
@@ -1792,6 +1830,76 @@ px4io_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "min")) {
if (argc < 3) {
errx(1, "min command needs at least one channel value (PWM)");
}
if (g_dev != nullptr) {
/* set values for first 8 channels, fill unassigned channels with 900. */
uint16_t min[8];
for (int i = 0; i < sizeof(min) / sizeof(min[0]); i++)
{
/* set channel to commanline argument or to 900 for non-provided channels */
if (argc > i + 2) {
min[i] = atoi(argv[i+2]);
if (min[i] < 900 || min[i] > 1200) {
errx(1, "value out of range of 900 < value < 1200. Aborting.");
}
} else {
/* a zero value will the default */
min[i] = 900;
}
}
int ret = g_dev->set_min_values(min, sizeof(min) / sizeof(min[0]));
if (ret != OK)
errx(ret, "failed setting min values");
} else {
errx(1, "not loaded");
}
exit(0);
}
if (!strcmp(argv[1], "max")) {
if (argc < 3) {
errx(1, "max command needs at least one channel value (PWM)");
}
if (g_dev != nullptr) {
/* set values for first 8 channels, fill unassigned channels with 2100. */
uint16_t max[8];
for (int i = 0; i < sizeof(max) / sizeof(max[0]); i++)
{
/* set channel to commanline argument or to 2100 for non-provided channels */
if (argc > i + 2) {
max[i] = atoi(argv[i+2]);
if (max[i] < 1800 || max[i] > 2100) {
errx(1, "value out of range of 1800 < value < 2100. Aborting.");
}
} else {
/* a zero value will the default */
max[i] = 2100;
}
}
int ret = g_dev->set_max_values(max, sizeof(max) / sizeof(max[0]));
if (ret != OK)
errx(ret, "failed setting max values");
} else {
errx(1, "not loaded");
}
exit(0);
}
if (!strcmp(argv[1], "recovery")) {
if (g_dev != nullptr) {