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px4io: servorail_status -> px4io_status and log all flags

sbg
Daniel Agar 5 years ago
parent
962b865301
commit
81f57bccb6
7 changed files with 167 additions and 143 deletions
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  1. 4
      .ci/Jenkinsfile-hardware
  2. 2
      msg/CMakeLists.txt
  3. 54
      msg/px4io_status.msg
  4. 3
      msg/servorail_status.msg
  5. 2
      msg/tools/uorb_rtps_message_ids.yaml
  6. 244
      src/drivers/px4io/px4io.cpp
  7. 1
      src/modules/logger/logged_topics.cpp

4
.ci/Jenkinsfile-hardware
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@ -931,7 +931,7 @@ void statusFTDI() { @@ -931,7 +931,7 @@ void statusFTDI() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_gyro"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_gyro_fifo"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_mag"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener servorail_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener px4io_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener system_power"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_air_data"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener vehicle_attitude"'
@ -996,7 +996,7 @@ void statusSEGGER() { @@ -996,7 +996,7 @@ void statusSEGGER() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_gyro"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_gyro_fifo"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_mag"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener servorail_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener px4io_status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener system_power"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_air_data"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener vehicle_attitude"'

2
msg/CMakeLists.txt
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@ -101,6 +101,7 @@ set(msg_files @@ -101,6 +101,7 @@ set(msg_files
power_button_state.msg
power_monitor.msg
pwm_input.msg
px4io_status.msg
qshell_req.msg
qshell_retval.msg
radio_status.msg
@ -120,7 +121,6 @@ set(msg_files @@ -120,7 +121,6 @@ set(msg_files
sensor_mag.msg
sensor_preflight.msg
sensor_selection.msg
servorail_status.msg
subsystem_info.msg
system_power.msg
task_stack_info.msg

54
msg/px4io_status.msg
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@ -0,0 +1,54 @@ @@ -0,0 +1,54 @@
uint64 timestamp # time since system start (microseconds)
uint16 free_memory_bytes
float32 voltage_v # Servo rail voltage in volts
float32 rssi_v # RSSI pin voltage in volts
# PX4IO status flags (PX4IO_P_STATUS_FLAGS)
bool status_outputs_armed
bool status_override
bool status_rc_ok
bool status_rc_ppm
bool status_rc_dsm
bool status_rc_sbus
bool status_fmu_ok
bool status_raw_pwm
bool status_mixer_ok
bool status_arm_sync
bool status_init_ok
bool status_failsafe
bool status_safety_off
bool status_fmu_initialized
bool status_rc_st24
bool status_rc_sumd
# PX4IO alarms (PX4IO_P_STATUS_ALARMS)
bool alarm_vbatt_low
bool alarm_temperature
bool alarm_servo_current
bool alarm_acc_current
bool alarm_fmu_lost
bool alarm_rc_lost
bool alarm_pwm_error
bool alarm_vservo_fault
# PX4IO arming (PX4IO_P_SETUP_ARMING)
bool arming_io_arm_ok
bool arming_fmu_armed
bool arming_fmu_prearmed
bool arming_manual_override_ok
bool arming_failsafe_custom
bool arming_inair_restart_ok
bool arming_always_pwm_enable
bool arming_rc_handling_disabled
bool arming_lockdown
bool arming_force_failsafe
bool arming_termination_failsafe
bool arming_override_immediate
int16[8] actuators
uint16[8] servos
uint16[18] raw_inputs

3
msg/servorail_status.msg
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@ -1,3 +0,0 @@ @@ -1,3 +0,0 @@
uint64 timestamp # time since system start (microseconds)
float32 voltage_v # Servo rail voltage in volts
float32 rssi_v # RSSI pin voltage in volts

2
msg/tools/uorb_rtps_message_ids.yaml
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@ -163,7 +163,7 @@ rtps: @@ -163,7 +163,7 @@ rtps:
- msg: sensor_selection
id: 70
send: true
- msg: servorail_status
- msg: px4io_status
id: 71
- msg: subsystem_info
id: 72

244
src/drivers/px4io/px4io.cpp
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@ -89,7 +89,7 @@ @@ -89,7 +89,7 @@
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/servorail_status.h>
#include <uORB/topics/px4io_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/multirotor_motor_limits.h>
#include <uORB/topics/test_motor.h>
@ -250,10 +250,11 @@ private: @@ -250,10 +250,11 @@ private:
perf_counter_t _perf_sample_latency; ///< total system latency (based on passed-through timestamp)
/* cached IO state */
uint16_t _status; ///< Various IO status flags
uint16_t _alarms; ///< Various IO alarms
uint16_t _last_written_arming_s; ///< the last written arming state reg
uint16_t _last_written_arming_c; ///< the last written arming state reg
uint16_t _status{0}; ///< Various IO status flags
uint16_t _alarms{0}; ///< Various IO alarms
uint16_t _setup_arming{0}; ///< last arming setup state
uint16_t _last_written_arming_s{0}; ///< the last written arming state reg
uint16_t _last_written_arming_c{0}; ///< the last written arming state reg
/* subscribed topics */
int _t_actuator_controls_0; ///< actuator controls group 0 topic
@ -266,13 +267,15 @@ private: @@ -266,13 +267,15 @@ private:
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; ///< parameter update topic
uORB::Subscription _t_vehicle_command{ORB_ID(vehicle_command)}; ///< vehicle command topic
hrt_abstime _last_status_publish{0};
bool _param_update_force; ///< force a parameter update
/* advertised topics */
uORB::PublicationMulti<input_rc_s> _to_input_rc{ORB_ID(input_rc)};
uORB::PublicationMulti<actuator_outputs_s> _to_outputs{ORB_ID(actuator_outputs)};
uORB::PublicationMulti<multirotor_motor_limits_s> _to_mixer_status{ORB_ID(multirotor_motor_limits)};
uORB::Publication<servorail_status_s> _to_servorail{ORB_ID(servorail_status)};
uORB::Publication<px4io_status_s> _px4io_status_pub{ORB_ID(px4io_status)};
uORB::Publication<safety_s> _to_safety{ORB_ID(safety)};
safety_s _safety{};
@ -428,15 +431,6 @@ private: @@ -428,15 +431,6 @@ private:
*/
int io_handle_status(uint16_t status);
/**
* Handle an alarm update from IO.
*
* Publish IO alarm information if necessary.
*
* @param alarm The status register
*/
int io_handle_alarms(uint16_t alarms);
/**
* Handle issuing dsm bind ioctl to px4io.
*
@ -444,16 +438,6 @@ private: @@ -444,16 +438,6 @@ private:
*/
void dsm_bind_ioctl(int dsmMode);
/**
* Handle a servorail update from IO.
*
* Publish servo rail information if necessary.
*
* @param vservo vservo register
* @param vrssi vrssi register
*/
void io_handle_vservo(uint16_t vservo, uint16_t vrssi);
/**
* check and handle test_motor topic updates
*/
@ -490,10 +474,6 @@ PX4IO::PX4IO(device::Device *interface) : @@ -490,10 +474,6 @@ PX4IO::PX4IO(device::Device *interface) :
_perf_update(perf_alloc(PC_ELAPSED, "io update")),
_perf_write(perf_alloc(PC_ELAPSED, "io write")),
_perf_sample_latency(perf_alloc(PC_ELAPSED, "io control latency")),
_status(0),
_alarms(0),
_last_written_arming_s(0),
_last_written_arming_c(0),
_t_actuator_controls_0(-1),
_param_update_force(false),
_primary_pwm_device(false),
@ -1731,65 +1711,116 @@ PX4IO::dsm_bind_ioctl(int dsmMode) @@ -1731,65 +1711,116 @@ PX4IO::dsm_bind_ioctl(int dsmMode)
}
}
int
PX4IO::io_handle_alarms(uint16_t alarms)
PX4IO::io_get_status()
{
/* get
* STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT,
* STATUS_VSERVO, STATUS_VRSSI
* in that order */
uint16_t regs[6] {};
int ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &regs[0], sizeof(regs) / sizeof(regs[0]));
/* XXX handle alarms */
/* set new alarms state */
_alarms = alarms;
return 0;
}
if (ret != OK) {
return ret;
}
void
PX4IO::io_handle_vservo(uint16_t vservo, uint16_t vrssi)
{
servorail_status_s servorail_status{};
const uint16_t STATUS_FLAGS = regs[0];
const uint16_t STATUS_ALARMS = regs[1];
const uint16_t STATUS_VSERVO = regs[4];
const uint16_t STATUS_VRSSI = regs[5];
servorail_status.timestamp = hrt_absolute_time();
io_handle_status(STATUS_FLAGS);
/* voltage is scaled to mV */
servorail_status.voltage_v = vservo * 0.001f;
servorail_status.rssi_v = vrssi * 0.001f;
const float rssi_v = STATUS_VRSSI * 0.001f; // voltage is scaled to mV
if (_analog_rc_rssi_volt < 0.0f) {
_analog_rc_rssi_volt = servorail_status.rssi_v;
if (_analog_rc_rssi_volt < 0.f) {
_analog_rc_rssi_volt = rssi_v;
}
_analog_rc_rssi_volt = _analog_rc_rssi_volt * 0.99f + servorail_status.rssi_v * 0.01f;
_analog_rc_rssi_volt = _analog_rc_rssi_volt * 0.99f + rssi_v * 0.01f;
if (_analog_rc_rssi_volt > 2.5f) {
_analog_rc_rssi_stable = true;
}
/* lazily publish the servorail voltages */
_to_servorail.publish(servorail_status);
}
const uint16_t SETUP_ARMING = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
int
PX4IO::io_get_status()
{
uint16_t regs[6];
int ret;
if ((hrt_elapsed_time(&_last_status_publish) >= 1_s)
|| (_status != STATUS_FLAGS)
|| (_alarms != STATUS_ALARMS)
|| (_setup_arming != SETUP_ARMING)
) {
/* get
* STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT,
* STATUS_VSERVO, STATUS_VRSSI, STATUS_PRSSI
* in that order */
ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &regs[0], sizeof(regs) / sizeof(regs[0]));
px4io_status_s status{};
if (ret != OK) {
return ret;
}
status.voltage_v = STATUS_VSERVO * 0.001f; // voltage is scaled to mV
status.rssi_v = rssi_v;
status.free_memory_bytes = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM);
// PX4IO_P_STATUS_FLAGS
status.status_outputs_armed = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED;
status.status_override = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_OVERRIDE;
status.status_rc_ok = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_OK;
status.status_rc_ppm = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_PPM;
status.status_rc_dsm = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_DSM;
status.status_rc_sbus = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_SBUS;
status.status_fmu_ok = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_FMU_OK;
status.status_raw_pwm = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RAW_PWM;
status.status_mixer_ok = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_MIXER_OK;
status.status_arm_sync = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_ARM_SYNC;
status.status_init_ok = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_INIT_OK;
status.status_failsafe = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_FAILSAFE;
status.status_safety_off = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
status.status_fmu_initialized = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED;
status.status_rc_st24 = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_ST24;
status.status_rc_sumd = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_SUMD;
// PX4IO_P_STATUS_ALARMS
status.alarm_vbatt_low = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_VBATT_LOW;
status.alarm_temperature = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_TEMPERATURE;
status.alarm_servo_current = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_SERVO_CURRENT;
status.alarm_acc_current = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_ACC_CURRENT;
status.alarm_fmu_lost = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_FMU_LOST;
status.alarm_rc_lost = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_RC_LOST;
status.alarm_pwm_error = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_PWM_ERROR;
status.alarm_vservo_fault = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_VSERVO_FAULT;
// PX4IO_P_SETUP_ARMING
status.arming_io_arm_ok = SETUP_ARMING & PX4IO_P_SETUP_ARMING_IO_ARM_OK;
status.arming_fmu_armed = SETUP_ARMING & PX4IO_P_SETUP_ARMING_FMU_ARMED;
status.arming_fmu_prearmed = SETUP_ARMING & PX4IO_P_SETUP_ARMING_FMU_PREARMED;
status.arming_manual_override_ok = SETUP_ARMING & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
status.arming_failsafe_custom = SETUP_ARMING & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM;
status.arming_inair_restart_ok = SETUP_ARMING & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK;
status.arming_always_pwm_enable = SETUP_ARMING & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE;
status.arming_rc_handling_disabled = SETUP_ARMING & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED;
status.arming_lockdown = SETUP_ARMING & PX4IO_P_SETUP_ARMING_LOCKDOWN;
status.arming_force_failsafe = SETUP_ARMING & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
status.arming_termination_failsafe = SETUP_ARMING & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
status.arming_override_immediate = SETUP_ARMING & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE;
for (unsigned i = 0; i < _max_actuators; i++) {
status.actuators[i] = static_cast<int16_t>(io_reg_get(PX4IO_PAGE_ACTUATORS, i));
status.servos[i] = io_reg_get(PX4IO_PAGE_SERVOS, i);
}
uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT);
for (unsigned i = 0; i < raw_inputs; i++) {
status.raw_inputs[i] = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i);
}
status.timestamp = hrt_absolute_time();
_px4io_status_pub.publish(status);
io_handle_status(regs[0]);
io_handle_alarms(regs[1]);
_last_status_publish = status.timestamp;
}
io_handle_vservo(regs[4], regs[5]);
_alarms = STATUS_ALARMS;
_setup_arming = SETUP_ARMING;
return ret;
}
@ -2240,59 +2271,13 @@ PX4IO::print_status(bool extended_status) @@ -2240,59 +2271,13 @@ PX4IO::print_status(bool extended_status)
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT));
/* status */
printf("%u bytes free\n",
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM));
uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS);
uint16_t io_status_flags = flags;
printf("status 0x%04hx%s%s%s%s%s%s%s%s%s%s%s%s%s%s\n",
flags,
((flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED) ? " OUTPUTS_ARMED" : ""),
((flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? " SAFETY_OFF" : " SAFETY_SAFE"),
((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""),
((flags & PX4IO_P_STATUS_FLAGS_RC_OK) ? " RC_OK" : " RC_FAIL"),
((flags & PX4IO_P_STATUS_FLAGS_RC_PPM) ? " PPM" : ""),
((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) ? " DSM" : ""),
((flags & PX4IO_P_STATUS_FLAGS_RC_ST24) ? " ST24" : ""),
((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? " SBUS" : ""),
((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"),
((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PWM_PASSTHROUGH" : ""),
((flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ? " MIXER_OK" : " MIXER_FAIL"),
((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"),
((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL"),
((flags & PX4IO_P_STATUS_FLAGS_FAILSAFE) ? " FAILSAFE" : ""));
uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS);
printf("alarms 0x%04hx%s%s%s%s%s%s%s%s\n",
alarms,
((alarms & PX4IO_P_STATUS_ALARMS_VBATT_LOW) ? " VBATT_LOW" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_TEMPERATURE) ? " TEMPERATURE" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_SERVO_CURRENT) ? " SERVO_CURRENT" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_ACC_CURRENT) ? " ACC_CURRENT" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST) ? " FMU_LOST" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) ? " PWM_ERROR" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_VSERVO_FAULT) ? " VSERVO_FAULT" : ""));
/* now clear alarms */
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, 0x0000);
if (_hardware == 2) {
printf("vservo %u mV vservo scale %u\n",
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VSERVO),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VSERVO_SCALE));
printf("vrssi %u\n", io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VRSSI));
}
printf("actuators");
for (unsigned i = 0; i < _max_actuators; i++) {
printf(" %hi", int16_t(io_reg_get(PX4IO_PAGE_ACTUATORS, i)));
}
uORB::SubscriptionData<px4io_status_s> status_sub{ORB_ID(px4io_status)};
status_sub.update();
printf("\n");
printf("servos");
print_message(status_sub.get());
for (unsigned i = 0; i < _max_actuators; i++) {
printf(" %u", io_reg_get(PX4IO_PAGE_SERVOS, i));
}
/* now clear alarms */
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, 0x0000);
uint16_t pwm_invert_mask = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE);
@ -2321,7 +2306,8 @@ PX4IO::print_status(bool extended_status) @@ -2321,7 +2306,8 @@ PX4IO::print_status(bool extended_status)
printf("\n");
flags = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_FLAGS);
uint16_t io_status_flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS);
uint16_t flags = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_FLAGS);
printf("R/C flags: 0x%04hx%s%s%s%s%s\n", flags,
(((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (!(flags & PX4IO_P_RAW_RC_FLAGS_RC_DSM11))) ? " DSM10" : ""),
(((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (flags & PX4IO_P_RAW_RC_FLAGS_RC_DSM11)) ? " DSM11" : ""),
@ -2366,21 +2352,7 @@ PX4IO::print_status(bool extended_status) @@ -2366,21 +2352,7 @@ PX4IO::print_status(bool extended_status)
((features & PX4IO_P_SETUP_FEATURES_PWM_RSSI) ? " RSSI_PWM" : ""),
((features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) ? " RSSI_ADC" : "")
);
uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
printf("arming 0x%04hx%s%s%s%s%s%s%s%s%s%s\n",
arming,
((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : " FMU_DISARMED"),
((arming & PX4IO_P_SETUP_ARMING_FMU_PREARMED) ? " FMU_PREARMED" : " FMU_NOT_PREARMED"),
((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : " IO_ARM_DENIED"),
((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""),
((arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ? " FAILSAFE_CUSTOM" : ""),
((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""),
((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : ""),
((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) ? " LOCKDOWN" : ""),
((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : ""),
((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : ""),
((arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) ? " OVERRIDE_IMMEDIATE" : "")
);
printf("rates 0x%04x default %u alt %u sbus %u\n",
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE),

1
src/modules/logger/logged_topics.cpp
Unescape View File

@ -71,6 +71,7 @@ void LoggedTopics::add_default_topics() @@ -71,6 +71,7 @@ void LoggedTopics::add_default_topics()
add_topic("offboard_control_mode", 1000);
add_topic("position_controller_status", 500);
add_topic("position_setpoint_triplet", 200);
add_topic("px4io_status");
add_topic("radio_status");
add_topic("rate_ctrl_status", 200);
add_topic("rpm", 500);

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