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Implement settable failsafe values for PWM outputs.

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By default in failsafe mode, PWM output pulses are not generated.
This commit is contained in:
px4dev
2013-01-25 22:58:33 -08:00
parent 900b0d58ef
commit b46d05835b
5 changed files with 44 additions and 10 deletions
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apps/px4io/i2c.c
+1 -1
View File
@@ -82,7 +82,7 @@ static unsigned rx_len;
static const uint8_t junk_buf[] = { 0xff, 0xff, 0xff, 0xff };
static uint8_t *tx_buf = junk_buf;
static const uint8_t *tx_buf = junk_buf;
static unsigned tx_len = sizeof(junk_buf);
static uint8_t selected_page;
apps/px4io/mixer.cpp
+13 -4
View File
@@ -92,7 +92,7 @@ mixer_tick(void)
/* too long without FMU input, time to go to failsafe */
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PPM);
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM);
r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST;
debug("AP RX timeout");
}
@@ -102,7 +102,7 @@ mixer_tick(void)
/*
* Decide which set of controls we're using.
*/
if (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PPM) {
if (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) {
/* don't actually mix anything - we already have raw PWM values */
source = MIX_NONE;
@@ -127,7 +127,13 @@ mixer_tick(void)
/*
* Run the mixers.
*/
if (source != MIX_NONE) {
if (source == MIX_FAILSAFE) {
/* copy failsafe values to the servo outputs */
for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
r_page_servos[i] = r_page_servo_failsafe[i];
} else if (source != MIX_NONE) {
float outputs[IO_SERVO_COUNT];
unsigned mixed;
@@ -225,9 +231,12 @@ mixer_tick(void)
*
* We must be armed, and we must have a PWM source; either raw from
* FMU or from the mixer.
*
* XXX correct behaviour for failsafe may require an additional case
* here.
*/
bool should_arm = ((r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
(r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PPM | PX4IO_P_STATUS_FLAGS_MIXER_OK)));
(r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)));
if (should_arm && !mixer_servos_armed) {
/* need to arm, but not armed */
apps/px4io/protocol.h
+4 -1
View File
@@ -100,7 +100,7 @@
#define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 4) /* DSM input is valid */
#define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 5) /* SBUS input is valid */
#define PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 6) /* controls from FMU are valid */
#define PX4IO_P_STATUS_FLAGS_RAW_PPM (1 << 7) /* raw PPM from FMU is bypassing the mixer */
#define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 7) /* raw PWM from FMU is bypassing the mixer */
#define PX4IO_P_STATUS_FLAGS_MIXER_OK (1 << 8) /* mixer is OK */
#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */
@@ -172,6 +172,9 @@
/* PWM output - overrides mixer */
#define PX4IO_PAGE_DIRECT_PWM 104 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/* PWM failsafe values - zero disables the output */
#define PX4IO_PAGE_FAILSAFE_PWM 105 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/**
* As-needed mixer data upload.
*
apps/px4io/px4io.h
+1
View File
@@ -76,6 +76,7 @@ extern uint16_t r_page_adc[]; /* PX4IO_PAGE_RAW_ADC_INPUT */
extern volatile uint16_t r_page_setup[]; /* PX4IO_PAGE_SETUP */
extern volatile uint16_t r_page_controls[]; /* PX4IO_PAGE_CONTROLS */
extern uint16_t r_page_rc_input_config[]; /* PX4IO_PAGE_RC_INPUT_CONFIG */
extern uint16_t r_page_servo_failsafe[]; /* PX4IO_PAGE_FAILSAFE_PWM */
/*
* Register aliases.
apps/px4io/registers.c
+25 -4
View File
@@ -118,6 +118,11 @@ uint16_t r_page_actuators[IO_SERVO_COUNT];
*/
uint16_t r_page_servos[IO_SERVO_COUNT];
/**
* Servo PWM values
*/
uint16_t r_page_servo_failsafe[IO_SERVO_COUNT];
/**
* Scaled/routed RC input
*/
@@ -166,7 +171,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
/* XXX we should cause a mixer tick ASAP */
system_state.fmu_data_received_time = hrt_absolute_time();
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RAW_PPM;
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RAW_PWM;
break;
/* handle raw PWM input */
@@ -183,9 +188,24 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
values++;
}
/* XXX need to force these values to the servos */
/* XXX we should cause a mixer tick ASAP */
system_state.fmu_data_received_time = hrt_absolute_time();
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PPM;
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM;
break;
/* handle setup for servo failsafe values */
case PX4IO_PAGE_FAILSAFE_PWM:
/* copy channel data */
while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
/* XXX range-check value? */
r_page_servo_failsafe[offset] = *values;
offset++;
num_values--;
values++;
}
break;
/* handle text going to the mixer parser */
@@ -353,7 +373,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
int
registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_values)
{
#define SELECT_PAGE(_page_name) { *values = _page_name; *num_values = sizeof(_page_name) / sizeof(_page_name[0]); }
#define SELECT_PAGE(_page_name) { *values = (uint16_t *)_page_name; *num_values = sizeof(_page_name) / sizeof(_page_name[0]); }
switch (page) {
@@ -441,6 +461,7 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
COPY_PAGE(PX4IO_PAGE_SETUP, r_page_setup);
COPY_PAGE(PX4IO_PAGE_CONTROLS, r_page_controls);
COPY_PAGE(PX4IO_PAGE_RC_CONFIG, r_page_rc_input_config);
COPY_PAGE(PX4IO_PAGE_FAILSAFE_PWM, r_page_servo_failsafe);
default:
return -1;