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Make communication rate between IO and FMU configurable

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Lorenz Meier
2013-03-15 19:19:52 +01:00
parent 7011fe563b
commit 7e4d6133ae
1 changed files with 45 additions and 1 deletions
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apps/drivers/px4io/px4io.cpp
+45 -1
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@@ -100,6 +100,17 @@ public:
virtual int ioctl(file *filp, int cmd, unsigned long arg);
virtual ssize_t write(file *filp, const char *buffer, size_t len);
/**
* Set the update rate for actuator outputs from FMU to IO.
*
* @param rate The rate in Hz actuator outpus are sent to IO.
* Min 10 Hz, max 400 Hz
*/
int set_update_rate(int rate);
/**
* Print the current status of IO
*/
void print_status();
private:
@@ -1496,6 +1507,25 @@ PX4IO::write(file *filp, const char *buffer, size_t len)
return count * 2;
}
int
PX4IO::set_update_rate(int rate)
{
int interval_ms = 1000 / rate;
if (interval_ms < 5) {
interval_ms = 5;
warnx("update rate too high, limiting interval to %d ms (%d Hz).", interval_ms, 1000 / interval_ms);
}
if (interval_ms > 100) {
interval_ms = 100;
warnx("update rate too low, limiting to %d ms (%d Hz).", interval_ms, 1000 / interval_ms);
}
_update_interval = interval_ms;
return 0;
}
extern "C" __EXPORT int px4io_main(int argc, char *argv[]);
namespace
@@ -1618,6 +1648,20 @@ px4io_main(int argc, char *argv[])
if (!strcmp(argv[1], "start"))
start(argc - 1, argv + 1);
if (!strcmp(argv[1], "limit")) {
if (g_dev != nullptr) {
if ((argc > 2)) {
g_dev->set_update_rate(atoi(argv[2 + 1]));
} else {
errx(1, "missing argument (50 - 200 Hz)");
return 1;
}
}
exit(0);
}
if (!strcmp(argv[1], "recovery")) {
if (g_dev != nullptr) {
@@ -1745,5 +1789,5 @@ px4io_main(int argc, char *argv[])
monitor();
out:
errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug' or 'update'");
errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit' or 'update'");
}