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drivers: allow forcing the safety switch on

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This allows forcing the safety switch to the on position from software
which stops the pwm outputs
This commit is contained in:
Andrew Tridgell
2014-10-30 08:44:00 +11:00
parent 2e33683630
commit dd23d0acbc
5 changed files with 16 additions and 0 deletions
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src/drivers/drv_pwm_output.h
+3
View File
@@ -213,6 +213,9 @@ ORB_DECLARE(output_pwm);
/** make failsafe non-recoverable (termination) if it occurs */
#define PWM_SERVO_SET_TERMINATION_FAILSAFE _IOC(_PWM_SERVO_BASE, 25)
/** force safety switch on (to enable use of safety switch) */
#define PWM_SERVO_SET_FORCE_SAFETY_ON _IOC(_PWM_SERVO_BASE, 26)
/*
*
*
src/drivers/px4fmu/fmu.cpp
+1
View File
@@ -829,6 +829,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_SET_ARM_OK:
case PWM_SERVO_CLEAR_ARM_OK:
case PWM_SERVO_SET_FORCE_SAFETY_OFF:
case PWM_SERVO_SET_FORCE_SAFETY_ON:
// these are no-ops, as no safety switch
break;
src/drivers/px4io/px4io.cpp
+5
View File
@@ -2278,6 +2278,11 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
break;
case PWM_SERVO_SET_FORCE_SAFETY_ON:
/* force safety switch on */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
break;
case PWM_SERVO_SET_FORCE_FAILSAFE:
/* force failsafe mode instantly */
if (arg == 0) {