Inheritance diagram for PX4IO:

Collaboration diagram for PX4IO:

Classes
struct	MotorTest

Public Member Functions
	PX4IO (device::Device *interface)
	Constructor. More...

virtual	~PX4IO ()
	Destructor. More...

virtual int	init ()
	Initialize the PX4IO class. More...

int	init (bool disable_rc_handling, bool hitl_mode)
	Initialize the PX4IO class. More...

virtual int	detect ()
	Detect if a PX4IO is connected. More...

virtual int	ioctl (file *filp, int cmd, unsigned long arg)
	IO Control handler. More...

virtual ssize_t	write (file filp, const char buffer, size_t len)
	write handler. More...

int	set_update_rate (int rate)
	Set the update rate for actuator outputs from FMU to IO. More...

int	disable_rc_handling ()
	Disable RC input handling. More...

void	print_status (bool extended_status)
	Print IO status. More...

int	print_debug ()
	Fetch and print debug console output. More...

void	test_fmu_fail (bool is_fail)

uint16_t	system_status () const

Public Member Functions inherited from cdev::CDev
	CDev (const char *devname)
	Constructor. More...

	CDev (const CDev &)=delete

CDev &	operator= (const CDev &)=delete

	CDev (CDev &&)=delete

CDev &	operator= (CDev &&)=delete

virtual	~CDev ()

virtual int	open (file_t *filep)
	Handle an open of the device. More...

virtual int	close (file_t *filep)
	Handle a close of the device. More...

virtual ssize_t	read (file_t filep, char buffer, size_t buflen)
	Perform a read from the device. More...

virtual ssize_t	write (file_t filep, const char buffer, size_t buflen)
	Perform a write to the device. More...

virtual off_t	seek (file_t *filep, off_t offset, int whence)
	Perform a logical seek operation on the device. More...

virtual int	ioctl (file_t *filep, int cmd, unsigned long arg)
	Perform an ioctl operation on the device. More...

virtual int	poll (file_t filep, px4_pollfd_struct_t fds, bool setup)
	Perform a poll setup/teardown operation. More...

const char *	get_devname () const
	Get the device name. More...

Private Member Functions
void	task_main ()
	worker task More...

int	io_set_control_state (unsigned group)
	Send controls for one group to IO. More...

int	io_set_control_groups ()
	Send all controls to IO. More...

int	io_set_arming_state ()
	Update IO's arming-related state. More...

int	io_set_rc_config ()
	Push RC channel configuration to IO. More...

int	io_get_status ()
	Fetch status and alarms from IO. More...

int	io_disable_rc_handling ()
	Disable RC input handling. More...

int	io_get_raw_rc_input (input_rc_s &input_rc)
	Fetch RC inputs from IO. More...

int	io_publish_raw_rc ()
	Fetch and publish raw RC input data. More...

int	io_publish_pwm_outputs ()
	Fetch and publish the PWM servo outputs. More...

int	io_reg_set (uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
	write register(s) More...

int	io_reg_set (uint8_t page, uint8_t offset, const uint16_t value)
	write a register More...

int	io_reg_get (uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values)
	read register(s) More...

uint32_t	io_reg_get (uint8_t page, uint8_t offset)
	read a register More...

int	io_reg_modify (uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits)
	modify a register More...

int	mixer_send (const char *buf, unsigned buflen, unsigned retries=3)
	Send mixer definition text to IO. More...

int	io_handle_status (uint16_t status)
	Handle a status update from IO. More...

int	io_handle_alarms (uint16_t alarms)
	Handle an alarm update from IO. More...

void	dsm_bind_ioctl (int dsmMode)
	Handle issuing dsm bind ioctl to px4io. More...

void	io_handle_vservo (uint16_t vservo, uint16_t vrssi)
	Handle a servorail update from IO. More...

void	handle_motor_test ()
	check and handle test_motor topic updates More...

	PX4IO (const PX4IO &)

PX4IO	operator= (const PX4IO &)

Static Private Member Functions
static void	task_main_trampoline (int argc, char *argv[])
	Trampoline to the worker task. More...

Private Attributes
device::Device *	_interface

unsigned	_hardware
	Hardware revision. More...

unsigned	_max_actuators
	Maximum # of actuators supported by PX4IO. More...

unsigned	_max_controls
	Maximum # of controls supported by PX4IO. More...

unsigned	_max_rc_input
	Maximum receiver channels supported by PX4IO. More...

unsigned	_max_relays
	Maximum relays supported by PX4IO. More...

unsigned	_max_transfer
	Maximum number of I2C transfers supported by PX4IO. More...

unsigned	_update_interval
	Subscription interval limiting send rate. More...

bool	_rc_handling_disabled
	If set, IO does not evaluate, but only forward the RC values. More...

unsigned	_rc_chan_count
	Internal copy of the last seen number of RC channels. More...

uint64_t	_rc_last_valid
	last valid timestamp More...

volatile int	_task
	worker task id More...

volatile bool	_task_should_exit
	worker terminate flag More...

orb_advert_t	_mavlink_log_pub
	mavlink log pub More...

perf_counter_t	_perf_update
	local performance counter for status updates More...

perf_counter_t	_perf_write
	local performance counter for PWM control writes More...

perf_counter_t	_perf_sample_latency
	total system latency (based on passed-through timestamp) More...

uint16_t	_status
	Various IO status flags. More...

uint16_t	_alarms
	Various IO alarms. More...

uint16_t	_last_written_arming_s
	the last written arming state reg More...

uint16_t	_last_written_arming_c
	the last written arming state reg More...

int	_t_actuator_controls_0
	actuator controls group 0 topic More...

uORB::Subscription	_t_actuator_controls_1 {ORB_ID(actuator_controls_1)}
	actuator controls group 1 topic More...

uORB::Subscription	_t_actuator_controls_2 {ORB_ID(actuator_controls_2)}

uORB::Subscription	_t_actuator_controls_3 {ORB_ID(actuator_controls_3)}
	actuator controls group 2 topic More...

uORB::Subscription	_t_actuator_armed {ORB_ID(actuator_armed)}
	actuator controls group 3 topic More...

uORB::Subscription	_t_vehicle_control_mode {ORB_ID(vehicle_control_mode)}
	vehicle control mode topic More...

uORB::Subscription	_parameter_update_sub {ORB_ID(parameter_update)}
	parameter update topic More...

uORB::Subscription	_t_vehicle_command {ORB_ID(vehicle_command)}
	vehicle command topic More...

bool	_param_update_force
	force a parameter update More...

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< safety_s >	_to_safety {ORB_ID(safety)}

bool	_primary_pwm_device
	true if we are the default PWM output More...

bool	_lockdown_override
	allow to override the safety lockdown More...

bool	_armed
	wether the system is armed More...

bool	_override_available
	true if manual reversion mode is enabled More...

bool	_cb_flighttermination
	true if the flight termination circuit breaker is enabled More...

bool	_in_esc_calibration_mode
	do not send control outputs to IO (used for esc calibration) More...

int32_t	_rssi_pwm_chan
	RSSI PWM input channel. More...

int32_t	_rssi_pwm_max
	max RSSI input on PWM channel More...

int32_t	_rssi_pwm_min
	min RSSI input on PWM channel More...

int32_t	_thermal_control
	thermal control state More...

bool	_analog_rc_rssi_stable
	true when analog RSSI input is stable More...

float	_analog_rc_rssi_volt
	analog RSSI voltage More...

bool	_test_fmu_fail
	To test what happens if IO loses FMU. More...

MotorTest	_motor_test

bool	_hitl_mode
	Hardware-in-the-loop simulation mode - don't publish actuator_outputs. More...

Static Private Attributes
static const uint32_t	_io_reg_get_error = 0x80000000

Additional Inherited Members
Protected Member Functions inherited from cdev::CDev
virtual pollevent_t	poll_state (file_t *filep)
	Check the current state of the device for poll events from the perspective of the file. More...

virtual void	poll_notify (pollevent_t events)
	Report new poll events. More...

virtual void	poll_notify_one (px4_pollfd_struct_t *fds, pollevent_t events)
	Internal implementation of poll_notify. More...

virtual int	open_first (file_t *filep)
	Notification of the first open. More...

virtual int	close_last (file_t *filep)
	Notification of the last close. More...

virtual int	register_class_devname (const char *class_devname)
	Register a class device name, automatically adding device class instance suffix if need be. More...

virtual int	unregister_class_devname (const char *class_devname, unsigned class_instance)
	Register a class device name, automatically adding device class instance suffix if need be. More...

void	lock ()
	Take the driver lock. More...

void	unlock ()
	Release the driver lock. More...

int	unregister_driver_and_memory ()
	First, unregisters the driver. More...

Protected Attributes inherited from cdev::CDev
px4_sem_t	_lock
	lock to protect access to all class members (also for derived classes) More...

Static Protected Attributes inherited from cdev::CDev
static const px4_file_operations_t	fops = {}
	Pointer to the default cdev file operations table; useful for registering clone devices etc. More...

Detailed Description

The PX4IO class.

Encapsulates PX4FMU to PX4IO communications modeled as file operations.

Definition at line 125 of file px4io.cpp.

Constructor & Destructor Documentation

◆ PX4IO() [1/2]

PX4IO::PX4IO ( device::Device * interface )

Constructor.

Initialize all class variables.

Definition at line 472 of file px4io.cpp.

References ets_airspeed::g_dev.

Referenced by px4io_main(), and set_update_rate().

Here is the caller graph for this function:

◆ ~PX4IO()

PX4IO::~PX4IO ( )

virtual

Destructor.

Wait for worker thread to terminate.

Definition at line 516 of file px4io.cpp.

References _interface, _perf_sample_latency, _perf_update, _perf_write, _task, _task_should_exit, ets_airspeed::g_dev, and perf_free().

Here is the call graph for this function:

◆ PX4IO() [2/2]

PX4IO::PX4IO ( const PX4IO & )

private

Member Function Documentation

◆ detect()

int PX4IO::detect ( )

virtual

Detect if a PX4IO is connected.

Only validate if there is a PX4IO to talk to.

Definition at line 545 of file px4io.cpp.

References _io_reg_get_error, _mavlink_log_pub, _task, ToneAlarmInterface::init(), io_reg_get(), mavlink_log_emergency, OK, PX4IO_P_CONFIG_PROTOCOL_VERSION, PX4IO_PAGE_CONFIG, and PX4IO_PROTOCOL_VERSION.

Referenced by px4io_main(), and set_update_rate().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ disable_rc_handling()

int PX4IO::disable_rc_handling ( )

Disable RC input handling.

Definition at line 1484 of file px4io.cpp.

References _rc_handling_disabled, and io_disable_rc_handling().

Here is the call graph for this function:

◆ dsm_bind_ioctl()

void PX4IO::dsm_bind_ioctl ( int dsmMode )

private

Handle issuing dsm bind ioctl to px4io.

Parameters

dsmMode 0:dsm2, 1:dsmx

Definition at line 1705 of file px4io.cpp.

References _mavlink_log_pub, _status, DSM2_BIND_PULSES, DSM_BIND_START, DSMX8_BIND_PULSES, DSMX_BIND_PULSES, ioctl(), mavlink_log_critical, mavlink_log_info, and PX4IO_P_STATUS_FLAGS_SAFETY_OFF.

Referenced by task_main().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ handle_motor_test()

void PX4IO::handle_motor_test ( )

private

check and handle test_motor topic updates

Definition at line 1335 of file px4io.cpp.

References _max_actuators, _motor_test, test_motor_s::action, test_motor_s::driver_instance, hrt_absolute_time(), hrt_elapsed_time(), PX4IO::MotorTest::in_test_mode, io_reg_get(), io_reg_set(), test_motor_s::motor_number, PX4IO_PAGE_CONTROL_MAX_PWM, PX4IO_PAGE_CONTROL_MIN_PWM, PX4IO_PAGE_DIRECT_PWM, PX4IO_PAGE_DISARMED_PWM, PX4IO::MotorTest::test_motor_sub, PX4IO::MotorTest::timeout, test_motor_s::timeout_ms, test_motor_s::timestamp, uORB::Subscription::update(), test_motor_s::value, and pwm_output_values::values.

Referenced by task_main().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ init() [1/2]

int PX4IO::init ( )

virtual

Initialize the PX4IO class.

Retrieve relevant initial system parameters. Initialize PX4IO registers.

Reimplemented from cdev::CDev.

Definition at line 588 of file px4io.cpp.

References _hardware, _io_reg_get_error, _mavlink_log_pub, _max_actuators, _max_controls, _max_rc_input, _max_relays, _max_transfer, _primary_pwm_device, _rc_handling_disabled, _rssi_pwm_chan, _rssi_pwm_max, _rssi_pwm_min, _task, CBRK_IO_SAFETY_KEY, circuit_breaker_enabled(), vehicle_command_s::command, vehicle_command_s::confirmation, DM_INIT_REASON_IN_FLIGHT, DM_INIT_REASON_POWER_ON, DM_INIT_REASON_VOLATILE, errx, cdev::CDev::fops, hrt_absolute_time(), hrt_abstime, hrt_elapsed_time(), ToneAlarmInterface::init(), io_disable_rc_handling(), io_get_status(), io_reg_get(), io_reg_modify(), io_reg_set(), io_set_rc_config(), mavlink_log_critical, mavlink_log_emergency, OK, ORB_ID, vehicle_command_s::param1, param_find(), param_get(), PARAM_INVALID, param_set(), param_set_no_notification(), PWM_OUTPUT0_DEVICE_PATH, PX4IO_FORCE_SAFETY_MAGIC, PX4IO_P_CONFIG_ACTUATOR_COUNT, PX4IO_P_CONFIG_CONTROL_COUNT, PX4IO_P_CONFIG_HARDWARE_VERSION, PX4IO_P_CONFIG_MAX_TRANSFER, PX4IO_P_CONFIG_PROTOCOL_VERSION, PX4IO_P_CONFIG_RC_INPUT_COUNT, PX4IO_P_CONFIG_RELAY_COUNT, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE, PX4IO_P_SETUP_ARMING_FMU_ARMED, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK, PX4IO_P_SETUP_ARMING_LOCKDOWN, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_P_SETUP_REBOOT_BL, PX4IO_PAGE_CONFIG, PX4IO_PAGE_SETUP, PX4IO_PROTOCOL_VERSION, PX4IO_REBOOT_BL_MAGIC, register_driver(), vehicle_command_s::source_component, vehicle_command_s::source_system, vehicle_command_s::target_component, vehicle_command_s::target_system, task_main_trampoline(), and vehicle_command_s::timestamp.

Referenced by init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ init() [2/2]

int PX4IO::init	(	bool	disable_rc_handling,
		bool	hitl_mode
	)

Initialize the PX4IO class.

Retrieve relevant initial system parameters. Initialize PX4IO registers.

Parameters

disable_rc_handling	set to true to forbid override / RC handling on IO
hitl_mode	set to suppress publication of actuator_outputs - instead defer to pwm_out_sim

Definition at line 580 of file px4io.cpp.

References _hitl_mode, _rc_handling_disabled, and init().

Here is the call graph for this function:

◆ io_disable_rc_handling()

int PX4IO::io_disable_rc_handling ( )

private

Disable RC input handling.

Definition at line 1491 of file px4io.cpp.

References io_reg_modify(), PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED, and PX4IO_PAGE_SETUP.

Referenced by disable_rc_handling(), and init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ io_get_raw_rc_input()

int PX4IO::io_get_raw_rc_input ( input_rc_s & input_rc )

private

Fetch RC inputs from IO.

Parameters

input_rc Input structure to populate.

Returns: OK if data was returned.

Definition at line 1785 of file px4io.cpp.

References _analog_rc_rssi_stable, _analog_rc_rssi_volt, _rc_chan_count, _rc_last_valid, _rssi_pwm_chan, _rssi_pwm_max, _rssi_pwm_min, pwm_output_values::channel_count, input_rc_s::channel_count, f(), hrt_absolute_time(), input_rc_s::input_source, io_reg_get(), OK, PX4IO_P_RAW_FRAME_COUNT, PX4IO_P_RAW_LOST_FRAME_COUNT, PX4IO_P_RAW_RC_BASE, PX4IO_P_RAW_RC_COUNT, PX4IO_P_RAW_RC_DATA, PX4IO_P_RAW_RC_FLAGS, PX4IO_P_RAW_RC_FLAGS_FAILSAFE, PX4IO_P_RAW_RC_FLAGS_RC_OK, PX4IO_P_RAW_RC_NRSSI, PX4IO_PAGE_RAW_RC_INPUT, input_rc_s::rc_failsafe, input_rc_s::rc_lost, input_rc_s::rc_lost_frame_count, input_rc_s::rc_ppm_frame_length, input_rc_s::rc_total_frame_count, input_rc_s::rssi, input_rc_s::timestamp, input_rc_s::timestamp_last_signal, and input_rc_s::values.

Referenced by io_publish_raw_rc().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ io_get_status()

int PX4IO::io_get_status ( )

private

Fetch status and alarms from IO.

Also publishes battery voltage/current.

Definition at line 1761 of file px4io.cpp.

References io_handle_alarms(), io_handle_status(), io_handle_vservo(), io_reg_get(), OK, PX4IO_P_STATUS_FLAGS, and PX4IO_PAGE_STATUS.

Referenced by init(), and task_main().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ io_handle_alarms()

int PX4IO::io_handle_alarms ( uint16_t alarms )

private

Handle an alarm update from IO.

Publish IO alarm information if necessary.

Parameters

alarm The status register

Definition at line 1723 of file px4io.cpp.

References _alarms.

Referenced by io_get_status().

Here is the caller graph for this function:

◆ io_handle_status()

int PX4IO::io_handle_status ( uint16_t status )

private

Handle a status update from IO.

Publish IO status information if necessary.

Parameters

status The status register

WARNING: This section handles in-air resets.

Get and handle the safety status

Definition at line 1657 of file px4io.cpp.

References _override_available, _status, _to_safety, hrt_absolute_time(), io_reg_modify(), safety_s::override_available, safety_s::override_enabled, uORB::Publication< T >::publish(), PX4IO_P_STATUS_FLAGS, PX4IO_P_STATUS_FLAGS_ARM_SYNC, PX4IO_P_STATUS_FLAGS_OVERRIDE, PX4IO_P_STATUS_FLAGS_SAFETY_OFF, PX4IO_PAGE_STATUS, safety, safety_s::safety_off, safety_s::safety_switch_available, status, and safety_s::timestamp.

Referenced by io_get_status().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ io_handle_vservo()

void PX4IO::io_handle_vservo	(	uint16_t	vservo,
		uint16_t	vrssi
	)

private

Handle a servorail update from IO.

Publish servo rail information if necessary.

Parameters

vservo	vservo register
vrssi	vrssi register

Definition at line 1736 of file px4io.cpp.

References _analog_rc_rssi_stable, _analog_rc_rssi_volt, _to_servorail, f(), hrt_absolute_time(), uORB::Publication< T >::publish(), and servorail_status_s::timestamp.

Referenced by io_get_status().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ io_publish_pwm_outputs()

int PX4IO::io_publish_pwm_outputs ( )

private

Fetch and publish the PWM servo outputs.

Definition at line 1932 of file px4io.cpp.

References _hitl_mode, _max_actuators, _to_mixer_status, _to_outputs, MultirotorMixer::saturation_status::flags, hrt_absolute_time(), io_reg_get(), actuator_outputs_s::noutputs, OK, actuator_outputs_s::output, uORB::PublicationMulti< T >::publish(), PX4IO_P_STATUS_MIXER, PX4IO_PAGE_SERVOS, PX4IO_PAGE_STATUS, multirotor_motor_limits_s::timestamp, actuator_outputs_s::timestamp, MultirotorMixer::saturation_status::valid, and MultirotorMixer::saturation_status::value.

Referenced by task_main().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ io_publish_raw_rc()

int PX4IO::io_publish_raw_rc ( )

private

Fetch and publish raw RC input data.

Definition at line 1888 of file px4io.cpp.

References _rc_last_valid, _status, _to_input_rc, input_rc_s::input_source, io_get_raw_rc_input(), OK, uORB::PublicationMulti< T >::publish(), PX4IO_P_STATUS_FLAGS_RC_DSM, PX4IO_P_STATUS_FLAGS_RC_OK, PX4IO_P_STATUS_FLAGS_RC_PPM, PX4IO_P_STATUS_FLAGS_RC_SBUS, PX4IO_P_STATUS_FLAGS_RC_ST24, and input_rc_s::rc_lost.

Referenced by task_main().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ io_reg_get() [1/2]

int PX4IO::io_reg_get	(	uint8_t	page,
		uint8_t	offset,
		uint16_t *	values,
		unsigned	num_values
	)

private

read register(s)

Parameters

page	Register page to read from.
offset	Register offset to start reading from.
values	Pointer to array where values should be stored.
num_values	The number of values to read.

Returns: OK if all values were successfully read.

Definition at line 2003 of file px4io.cpp.

References _interface, _max_transfer, OK, and device::Device::read().

Referenced by detect(), handle_motor_test(), init(), io_get_raw_rc_input(), io_get_status(), io_publish_pwm_outputs(), io_reg_get(), io_reg_modify(), io_set_rc_config(), ioctl(), mixer_send(), and print_status().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ io_reg_get() [2/2]

uint32_t PX4IO::io_reg_get	(	uint8_t	page,
		uint8_t	offset
	)

private

read a register

Parameters

page	Register page to read from.
offset	Register offset to start reading from.

Returns: Register value that was read, or _io_reg_get_error on error.

Definition at line 2022 of file px4io.cpp.

References _io_reg_get_error, io_reg_get(), and OK.

Here is the call graph for this function:

◆ io_reg_modify()

int PX4IO::io_reg_modify	(	uint8_t	page,
		uint8_t	offset,
		uint16_t	clearbits,
		uint16_t	setbits
	)

private

modify a register

Parameters

page	Register page to modify.
offset	Register offset to modify.
clearbits	Bits to clear in the register.
setbits	Bits to set in the register.

Definition at line 2034 of file px4io.cpp.

References io_reg_get(), io_reg_set(), and OK.

Referenced by init(), io_disable_rc_handling(), io_handle_status(), io_set_arming_state(), ioctl(), mixer_send(), and task_main().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ io_reg_set() [1/2]

int PX4IO::io_reg_set	(	uint8_t	page,
		uint8_t	offset,
		const uint16_t *	values,
		unsigned	num_values
	)

private

write register(s)

Parameters

page	Register page to write to.
offset	Register offset to start writing at.
values	Pointer to array of values to write.
num_values	The number of values to write.

Returns: OK if all values were successfully written.

Definition at line 1978 of file px4io.cpp.

References _interface, _max_transfer, OK, and device::Device::write().

Referenced by handle_motor_test(), init(), io_reg_modify(), io_reg_set(), io_set_control_state(), io_set_rc_config(), ioctl(), mixer_send(), print_status(), task_main(), and write().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ io_reg_set() [2/2]

int PX4IO::io_reg_set	(	uint8_t	page,
		uint8_t	offset,
		const uint16_t	value
	)

private

write a register

Parameters

page	Register page to write to.
offset	Register offset to write to.
value	Value to write.

Returns: OK if the value was written successfully.

Definition at line 1997 of file px4io.cpp.

References io_reg_set().

Here is the call graph for this function:

◆ io_set_arming_state()

int PX4IO::io_set_arming_state ( )

private

Update IO's arming-related state.

Definition at line 1403 of file px4io.cpp.

References _armed, _in_esc_calibration_mode, _last_written_arming_c, _last_written_arming_s, _lockdown_override, _override_available, _t_actuator_armed, _t_vehicle_control_mode, actuator_armed_s::armed, armed, uORB::Subscription::copy(), vehicle_control_mode_s::flag_external_manual_override_ok, actuator_armed_s::force_failsafe, actuator_armed_s::in_esc_calibration_mode, io_reg_modify(), actuator_armed_s::lockdown, actuator_armed_s::manual_lockdown, actuator_armed_s::prearmed, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FMU_ARMED, PX4IO_P_SETUP_ARMING_FMU_PREARMED, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE, PX4IO_P_SETUP_ARMING_IO_ARM_OK, PX4IO_P_SETUP_ARMING_LOCKDOWN, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, PX4IO_PAGE_SETUP, and actuator_armed_s::ready_to_arm.

Referenced by task_main().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ io_set_control_groups()

int PX4IO::io_set_control_groups ( )

private

Send all controls to IO.

Definition at line 1254 of file px4io.cpp.

References io_set_control_state().

Referenced by task_main().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ io_set_control_state()

int PX4IO::io_set_control_state ( unsigned group )

private

Send controls for one group to IO.

< actuator outputs

Definition at line 1267 of file px4io.cpp.

References _in_esc_calibration_mode, _max_actuators, _max_controls, _motor_test, _perf_sample_latency, _t_actuator_controls_0, _t_actuator_controls_1, _t_actuator_controls_2, _t_actuator_controls_3, _test_fmu_fail, math::constrain(), FLOAT_TO_REG, hrt_elapsed_time(), PX4IO::MotorTest::in_test_mode, io_reg_set(), OK, orb_check(), orb_copy(), ORB_ID, perf_set_elapsed(), PX4IO_PAGE_CONTROLS, PX4IO_PROTOCOL_MAX_CONTROL_COUNT, and uORB::Subscription::update().

Referenced by io_set_control_groups().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ io_set_rc_config()

int PX4IO::io_set_rc_config ( )

private

Push RC channel configuration to IO.

Definition at line 1500 of file px4io.cpp.

References _mavlink_log_pub, _max_rc_input, io_reg_get(), io_reg_set(), mavlink_log_critical, OK, param_find(), param_get(), PX4IO_P_RC_CONFIG_ASSIGNMENT, PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH, PX4IO_P_RC_CONFIG_CENTER, PX4IO_P_RC_CONFIG_DEADZONE, PX4IO_P_RC_CONFIG_MAX, PX4IO_P_RC_CONFIG_MIN, PX4IO_P_RC_CONFIG_OPTIONS, PX4IO_P_RC_CONFIG_OPTIONS_ENABLED, PX4IO_P_RC_CONFIG_OPTIONS_REVERSE, PX4IO_P_RC_CONFIG_STRIDE, PX4IO_P_STATUS_FLAGS, PX4IO_P_STATUS_FLAGS_INIT_OK, PX4IO_PAGE_RC_CONFIG, and PX4IO_PAGE_STATUS.

Referenced by init(), and task_main().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ ioctl()

int PX4IO::ioctl	(	file *	filp,
		int	cmd,
		unsigned long	arg
	)

virtual

IO Control handler.

Handle all IOCTL calls to the PX4IO file descriptor.

Parameters

[in]	filp	file handle (not used). This function is always called directly through object reference
[in]	cmd	the IOCTL command
[in]	the	IOCTL command parameter (optional)

Definition at line 2437 of file px4io.cpp.

References _io_reg_get_error, cdev::CDev::_lock, _lockdown_override, _max_actuators, _motor_test, _test_fmu_fail, pwm_output_values::channel_count, DSM2_BIND_PULSES, dsm_bind_power_down, DSM_BIND_POWER_UP, dsm_bind_power_up, dsm_bind_reinit_uart, dsm_bind_send_pulses, dsm_bind_set_rx_out, DSM_BIND_START, DSMX8_BIND_PULSES, DSMX_BIND_PULSES, PX4IO::MotorTest::in_test_mode, io_reg_get(), io_reg_modify(), io_reg_set(), mixer_send(), MIXERIOCLOADBUF, MIXERIOCRESET, OK, PWM_HIGHEST_MAX, PWM_LOWEST_MIN, PWM_OUTPUT_MAX_CHANNELS, PWM_SERVO_ARM, PWM_SERVO_CLEAR_ARM_OK, PWM_SERVO_DISARM, PWM_SERVO_ENTER_TEST_MODE, PWM_SERVO_EXIT_TEST_MODE, PWM_SERVO_GET, PWM_SERVO_GET_COUNT, PWM_SERVO_GET_DEFAULT_UPDATE_RATE, PWM_SERVO_GET_DISABLE_LOCKDOWN, PWM_SERVO_GET_DISARMED_PWM, PWM_SERVO_GET_FAILSAFE_PWM, PWM_SERVO_GET_MAX_PWM, PWM_SERVO_GET_MIN_PWM, PWM_SERVO_GET_RATEGROUP, PWM_SERVO_GET_SELECT_UPDATE_RATE, PWM_SERVO_GET_TRIM_PWM, PWM_SERVO_GET_UPDATE_RATE, PWM_SERVO_SET, PWM_SERVO_SET_ARM_OK, PWM_SERVO_SET_DISABLE_LOCKDOWN, PWM_SERVO_SET_DISARMED_PWM, PWM_SERVO_SET_FAILSAFE_PWM, PWM_SERVO_SET_FORCE_FAILSAFE, PWM_SERVO_SET_FORCE_SAFETY_OFF, PWM_SERVO_SET_FORCE_SAFETY_ON, PWM_SERVO_SET_MAX_PWM, PWM_SERVO_SET_MIN_PWM, PWM_SERVO_SET_MODE, PWM_SERVO_SET_OVERRIDE_IMMEDIATE, PWM_SERVO_SET_SBUS_RATE, PWM_SERVO_SET_SELECT_UPDATE_RATE, PWM_SERVO_SET_TERMINATION_FAILSAFE, PWM_SERVO_SET_TRIM_PWM, PWM_SERVO_SET_UPDATE_RATE, PX4IO_CHECK_CRC, PX4IO_FORCE_SAFETY_MAGIC, PX4IO_INAIR_RESTART_ENABLE, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FMU_ARMED, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK, PX4IO_P_SETUP_ARMING_IO_ARM_OK, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE, PX4IO_P_SETUP_CRC, PX4IO_P_SETUP_DSM, PX4IO_P_SETUP_FEATURES, PX4IO_P_SETUP_FEATURES_ADC_RSSI, PX4IO_P_SETUP_FEATURES_PWM_RSSI, PX4IO_P_SETUP_FEATURES_SBUS1_OUT, PX4IO_P_SETUP_FEATURES_SBUS2_OUT, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_P_SETUP_PWM_ALTRATE, PX4IO_P_SETUP_PWM_DEFAULTRATE, PX4IO_P_SETUP_PWM_RATES, PX4IO_P_SETUP_REBOOT_BL, PX4IO_P_SETUP_SBUS_RATE, PX4IO_P_SETUP_SET_DEBUG, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR, PX4IO_P_STATUS_FLAGS_SAFETY_OFF, PX4IO_PAGE_CONTROL_MAX_PWM, PX4IO_PAGE_CONTROL_MIN_PWM, PX4IO_PAGE_CONTROL_TRIM_PWM, PX4IO_PAGE_DIRECT_PWM, PX4IO_PAGE_DISARMED_PWM, PX4IO_PAGE_FAILSAFE_PWM, PX4IO_PAGE_PWM_INFO, PX4IO_PAGE_SERVOS, PX4IO_PAGE_SETUP, PX4IO_PAGE_STATUS, PX4IO_RATE_MAP_BASE, PX4IO_REBOOT_BOOTLOADER, PX4IO_SET_DEBUG, RC_INPUT_ENABLE_RSSI_ANALOG, RC_INPUT_ENABLE_RSSI_PWM, SBUS_SET_PROTO_VERSION, system_status(), and pwm_output_values::values.

Referenced by dsm_bind_ioctl(), and set_update_rate().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ mixer_send()

int PX4IO::mixer_send	(	const char *	buf,
		unsigned	buflen,
		unsigned	retries = `3`
	)

private

Send mixer definition text to IO.

Definition at line 2096 of file px4io.cpp.

References _mavlink_log_pub, _max_transfer, px4io_mixdata::action, F2I_MIXER_ACTION_APPEND, F2I_MIXER_ACTION_RESET, px4io_mixdata::f2i_mixer_magic, F2I_MIXER_MAGIC, io_reg_get(), io_reg_modify(), io_reg_set(), mavlink_and_console_log_info, msg, print_debug(), PX4IO_P_SETUP_SET_DEBUG, PX4IO_P_STATUS_FLAGS, PX4IO_P_STATUS_FLAGS_MIXER_OK, PX4IO_PAGE_MIXERLOAD, PX4IO_PAGE_SETUP, PX4IO_PAGE_STATUS, px4io_mixdata::text, and warnx.

Referenced by ioctl().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ operator=()

PX4IO PX4IO::operator= ( const PX4IO & )

private

◆ print_debug()

int PX4IO::print_debug ( )

Fetch and print debug console output.

Definition at line 2052 of file px4io.cpp.

References cdev::CDev::close(), cdev::CDev::open(), cdev::CDev::poll(), cdev::CDev::read(), and warnx.

Referenced by mixer_send().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ print_status()

void PX4IO::print_status ( bool extended_status )

Print IO status.

Print all relevant IO status information

Parameters

extended_status Shows more verbose information (in particular RC config)

Definition at line 2212 of file px4io.cpp.

Here is the call graph for this function:

◆ set_update_rate()

int PX4IO::set_update_rate ( int rate )

Set the update rate for actuator outputs from FMU to IO.

Parameters

[in] rate The rate in Hz actuator outpus are sent to IO. Min 10 Hz, max 400 Hz

Definition at line 2947 of file px4io.cpp.

References _update_interval, cdev::CDev::close(), math::constrain(), detect(), DSM2_BIND_PULSES, DSM_BIND_START, DSMX8_BIND_PULSES, DSMX_BIND_PULSES, err, errx, fd, ets_airspeed::g_dev, hrt_absolute_time(), hrt_abstime, hrt_elapsed_time(), Airspeed::init(), Airspeed::ioctl(), device::Device::ioctl(), ioctl(), OK, cdev::CDev::open(), cdev::CDev::poll(), PWM_SERVO_ARM, PWM_SERVO_GET, PWM_SERVO_GET_COUNT, PWM_SERVO_SET_ARM_OK, PWM_SERVO_SET_DISABLE_LOCKDOWN, PX4IO(), PX4IO_CHECK_CRC, PX4IO_DEVICE_PATH, px4io_main(), PX4IO_P_STATUS_FLAGS_SAFETY_OFF, PX4IO_serial_interface(), cdev::CDev::read(), start(), lps25h::test(), UPDATE_INTERVAL_MAX, UPDATE_INTERVAL_MIN, warn, warnx, and write().

Here is the call graph for this function:

◆ system_status()

uint16_t PX4IO::system_status ( ) const

inline

Definition at line 226 of file px4io.cpp.

Referenced by ioctl().

Here is the caller graph for this function:

◆ task_main()

void PX4IO::task_main ( )

private

worker task

Definition at line 902 of file px4io.cpp.

References _armed, _cb_flighttermination, _lockdown_override, _mavlink_log_pub, _max_actuators, _motor_test, _param_update_force, _parameter_update_sub, _perf_update, _primary_pwm_device, _rc_handling_disabled, _rssi_pwm_chan, _rssi_pwm_max, _rssi_pwm_min, _t_actuator_armed, _t_actuator_controls_0, _t_vehicle_command, _t_vehicle_control_mode, _task, _task_should_exit, _thermal_control, _update_interval, CBRK_FLIGHTTERM_KEY, CBRK_IO_SAFETY_KEY, circuit_breaker_enabled(), math::constrain(), uORB::Subscription::copy(), dsm_bind_ioctl(), FLOAT_TO_REG, handle_motor_test(), hrt_absolute_time(), hrt_abstime, PX4IO::MotorTest::in_test_mode, io_get_status(), IO_POLL_INTERVAL, io_publish_pwm_outputs(), io_publish_raw_rc(), io_reg_modify(), io_reg_set(), io_set_arming_state(), io_set_control_groups(), io_set_rc_config(), cdev::CDev::lock(), mavlink_log_critical, OK, ORB_CHECK_INTERVAL, ORB_ID, orb_set_interval(), orb_subscribe(), param_find(), param_get(), PARAM_INVALID, perf_begin(), perf_end(), cdev::CDev::poll(), PWM_OUTPUT0_DEVICE_PATH, PX4IO_P_SETUP_AIRMODE, PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION, PX4IO_P_SETUP_FEATURES, PX4IO_P_SETUP_FEATURES_SBUS1_OUT, PX4IO_P_SETUP_FEATURES_SBUS2_OUT, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_P_SETUP_MOTOR_SLEW_MAX, PX4IO_P_SETUP_PWM_REVERSE, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, PX4IO_P_SETUP_SCALE_PITCH, PX4IO_P_SETUP_SCALE_ROLL, PX4IO_P_SETUP_SCALE_YAW, PX4IO_P_SETUP_THERMAL, PX4IO_P_SETUP_THR_MDL_FAC, PX4IO_P_SETUP_TRIM_PITCH, PX4IO_P_SETUP_TRIM_ROLL, PX4IO_P_SETUP_TRIM_YAW, PX4IO_PAGE_CONTROL_TRIM_PWM, PX4IO_PAGE_SETUP, PX4IO_THERMAL_IGNORE, PX4IO_THERMAL_OFF, SIGNED_TO_REG, cdev::CDev::unlock(), unregister_driver(), UPDATE_INTERVAL_MAX, UPDATE_INTERVAL_MIN, uORB::Subscription::updated(), pwm_output_values::values, and warnx.

Here is the call graph for this function:

◆ task_main_trampoline()

void PX4IO::task_main_trampoline	(	int	argc,
		char *	argv[]
	)

staticprivate

Trampoline to the worker task.

Definition at line 896 of file px4io.cpp.

References ets_airspeed::g_dev.

Referenced by init().

Here is the caller graph for this function:

◆ test_fmu_fail()

void PX4IO::test_fmu_fail ( bool is_fail )

inline

Definition at line 221 of file px4io.cpp.

◆ write()

ssize_t PX4IO::write	(	file *	filp,
		const char *	buffer,
		size_t	len
	)

virtual

write handler.

Handle writes to the PX4IO file descriptor.

Parameters

[in]	filp	file handle (not used). This function is always called directly through object reference
[in]	buffer	pointer to the data buffer to be written
[in]	len	size in bytes to be written

Returns: number of bytes written

Definition at line 2916 of file px4io.cpp.

References _max_actuators, _perf_write, _test_fmu_fail, io_reg_set(), OK, perf_begin(), perf_end(), and PX4IO_PAGE_DIRECT_PWM.

Referenced by set_update_rate().

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

◆ _alarms

uint16_t PX4IO::_alarms

private

Various IO alarms.

Definition at line 254 of file px4io.cpp.

Referenced by io_handle_alarms().

◆ _analog_rc_rssi_stable

bool PX4IO::_analog_rc_rssi_stable

private

true when analog RSSI input is stable

Definition at line 290 of file px4io.cpp.

Referenced by io_get_raw_rc_input(), and io_handle_vservo().

◆ _analog_rc_rssi_volt

float PX4IO::_analog_rc_rssi_volt

private

analog RSSI voltage

Definition at line 291 of file px4io.cpp.

Referenced by io_get_raw_rc_input(), and io_handle_vservo().

◆ _armed

bool PX4IO::_armed

private

wether the system is armed

Definition at line 280 of file px4io.cpp.

Referenced by io_set_arming_state(), and task_main().

◆ _cb_flighttermination

bool PX4IO::_cb_flighttermination

private

true if the flight termination circuit breaker is enabled

Definition at line 283 of file px4io.cpp.

Referenced by task_main().

◆ _hardware

unsigned PX4IO::_hardware

private

Hardware revision.

Definition at line 231 of file px4io.cpp.

Referenced by init(), and print_status().

◆ _hitl_mode

bool PX4IO::_hitl_mode

private

Hardware-in-the-loop simulation mode - don't publish actuator_outputs.

Definition at line 301 of file px4io.cpp.

Referenced by init(), io_publish_pwm_outputs(), and print_status().

◆ _in_esc_calibration_mode

bool PX4IO::_in_esc_calibration_mode

private

do not send control outputs to IO (used for esc calibration)

Definition at line 284 of file px4io.cpp.

Referenced by io_set_arming_state(), and io_set_control_state().

◆ _interface

device::Device* PX4IO::_interface

private

Definition at line 229 of file px4io.cpp.

Referenced by io_reg_get(), io_reg_set(), and ~PX4IO().

◆ _io_reg_get_error

const uint32_t PX4IO::_io_reg_get_error = 0x80000000

staticprivate

Definition at line 403 of file px4io.cpp.

Referenced by detect(), init(), io_reg_get(), and ioctl().

◆ _last_written_arming_c

uint16_t PX4IO::_last_written_arming_c

private

the last written arming state reg

Definition at line 256 of file px4io.cpp.

Referenced by io_set_arming_state().

◆ _last_written_arming_s

uint16_t PX4IO::_last_written_arming_s

private

the last written arming state reg

Definition at line 255 of file px4io.cpp.

Referenced by io_set_arming_state().

◆ _lockdown_override

bool PX4IO::_lockdown_override

private

allow to override the safety lockdown

Definition at line 279 of file px4io.cpp.

Referenced by io_set_arming_state(), ioctl(), and task_main().

◆ _mavlink_log_pub

orb_advert_t PX4IO::_mavlink_log_pub

private

mavlink log pub

Definition at line 246 of file px4io.cpp.

Referenced by detect(), dsm_bind_ioctl(), init(), io_set_rc_config(), mixer_send(), and task_main().

◆ _max_actuators

unsigned PX4IO::_max_actuators

private

Maximum # of actuators supported by PX4IO.

Definition at line 232 of file px4io.cpp.

Referenced by handle_motor_test(), init(), io_publish_pwm_outputs(), io_set_control_state(), ioctl(), print_status(), task_main(), and write().

◆ _max_controls

unsigned PX4IO::_max_controls

private

Maximum # of controls supported by PX4IO.

Definition at line 233 of file px4io.cpp.

Referenced by init(), io_set_control_state(), and print_status().

◆ _max_rc_input

unsigned PX4IO::_max_rc_input

private

Maximum receiver channels supported by PX4IO.

Definition at line 234 of file px4io.cpp.

Referenced by init(), io_set_rc_config(), and print_status().

◆ _max_relays

unsigned PX4IO::_max_relays

private

Maximum relays supported by PX4IO.

Definition at line 235 of file px4io.cpp.

Referenced by init().

◆ _max_transfer

unsigned PX4IO::_max_transfer

private

Maximum number of I2C transfers supported by PX4IO.

Definition at line 236 of file px4io.cpp.

Referenced by init(), io_reg_get(), io_reg_set(), and mixer_send().

◆ _motor_test

MotorTest PX4IO::_motor_test

private

Definition at line 300 of file px4io.cpp.

Referenced by handle_motor_test(), io_set_control_state(), ioctl(), and task_main().

◆ _override_available

bool PX4IO::_override_available

private

true if manual reversion mode is enabled

Definition at line 281 of file px4io.cpp.

Referenced by io_handle_status(), and io_set_arming_state().

◆ _param_update_force

bool PX4IO::_param_update_force

private

force a parameter update

Definition at line 269 of file px4io.cpp.

Referenced by task_main().

◆ _parameter_update_sub

uORB::Subscription PX4IO::_parameter_update_sub {ORB_ID(parameter_update)}

private

parameter update topic

Definition at line 266 of file px4io.cpp.

Referenced by task_main().

◆ _perf_sample_latency

perf_counter_t PX4IO::_perf_sample_latency

private

total system latency (based on passed-through timestamp)

Definition at line 250 of file px4io.cpp.

Referenced by io_set_control_state(), and ~PX4IO().

◆ _perf_update

perf_counter_t PX4IO::_perf_update

private

local performance counter for status updates

Definition at line 248 of file px4io.cpp.

Referenced by task_main(), and ~PX4IO().

◆ _perf_write

perf_counter_t PX4IO::_perf_write

private

local performance counter for PWM control writes

Definition at line 249 of file px4io.cpp.

Referenced by write(), and ~PX4IO().

◆ _primary_pwm_device

bool PX4IO::_primary_pwm_device

private

true if we are the default PWM output

Definition at line 278 of file px4io.cpp.

Referenced by init(), and task_main().

◆ _rc_chan_count

unsigned PX4IO::_rc_chan_count

private

Internal copy of the last seen number of RC channels.

Definition at line 240 of file px4io.cpp.

Referenced by io_get_raw_rc_input().

◆ _rc_handling_disabled

bool PX4IO::_rc_handling_disabled

private

If set, IO does not evaluate, but only forward the RC values.

Definition at line 239 of file px4io.cpp.

Referenced by disable_rc_handling(), init(), and task_main().

◆ _rc_last_valid

uint64_t PX4IO::_rc_last_valid

private

last valid timestamp

Definition at line 241 of file px4io.cpp.

Referenced by io_get_raw_rc_input(), and io_publish_raw_rc().

◆ _rssi_pwm_chan

int32_t PX4IO::_rssi_pwm_chan

private

RSSI PWM input channel.

Definition at line 286 of file px4io.cpp.

Referenced by init(), io_get_raw_rc_input(), and task_main().

◆ _rssi_pwm_max

int32_t PX4IO::_rssi_pwm_max

private

max RSSI input on PWM channel

Definition at line 287 of file px4io.cpp.

Referenced by init(), io_get_raw_rc_input(), and task_main().

◆ _rssi_pwm_min

int32_t PX4IO::_rssi_pwm_min

private

min RSSI input on PWM channel

Definition at line 288 of file px4io.cpp.

Referenced by init(), io_get_raw_rc_input(), and task_main().

◆ _status

uint16_t PX4IO::_status

private

Various IO status flags.

Definition at line 253 of file px4io.cpp.

Referenced by dsm_bind_ioctl(), io_handle_status(), and io_publish_raw_rc().

◆ _t_actuator_armed

uORB::Subscription PX4IO::_t_actuator_armed {ORB_ID(actuator_armed)}

private

actuator controls group 3 topic

system armed control topic

Definition at line 264 of file px4io.cpp.

Referenced by io_set_arming_state(), and task_main().

◆ _t_actuator_controls_0

int PX4IO::_t_actuator_controls_0

private

actuator controls group 0 topic

Definition at line 259 of file px4io.cpp.

Referenced by io_set_control_state(), and task_main().

◆ _t_actuator_controls_1

uORB::Subscription PX4IO::_t_actuator_controls_1 {ORB_ID(actuator_controls_1)}

private

actuator controls group 1 topic

Definition at line 261 of file px4io.cpp.

Referenced by io_set_control_state().

◆ _t_actuator_controls_2

uORB::Subscription PX4IO::_t_actuator_controls_2 {ORB_ID(actuator_controls_2)}

private

Definition at line 262 of file px4io.cpp.

Referenced by io_set_control_state().

◆ _t_actuator_controls_3

uORB::Subscription PX4IO::_t_actuator_controls_3 {ORB_ID(actuator_controls_3)}

private

actuator controls group 2 topic

Definition at line 263 of file px4io.cpp.

Referenced by io_set_control_state().

◆ _t_vehicle_command

uORB::Subscription PX4IO::_t_vehicle_command {ORB_ID(vehicle_command)}

private

vehicle command topic

Definition at line 267 of file px4io.cpp.

Referenced by task_main().

◆ _t_vehicle_control_mode

uORB::Subscription PX4IO::_t_vehicle_control_mode {ORB_ID(vehicle_control_mode)}

private

vehicle control mode topic

Definition at line 265 of file px4io.cpp.

Referenced by io_set_arming_state(), and task_main().

◆ _task

volatile int PX4IO::_task

private

worker task id

Definition at line 243 of file px4io.cpp.

Referenced by detect(), init(), task_main(), and ~PX4IO().

◆ _task_should_exit

volatile bool PX4IO::_task_should_exit

private

worker terminate flag

Definition at line 244 of file px4io.cpp.

Referenced by task_main(), and ~PX4IO().

◆ _test_fmu_fail

bool PX4IO::_test_fmu_fail

private

To test what happens if IO loses FMU.

Definition at line 293 of file px4io.cpp.

Referenced by io_set_control_state(), ioctl(), and write().

◆ _thermal_control

int32_t PX4IO::_thermal_control

private

thermal control state

Definition at line 289 of file px4io.cpp.

Referenced by task_main().

◆ _to_input_rc

uORB::PublicationMulti<input_rc_s> PX4IO::_to_input_rc {ORB_ID(input_rc)}

private

Definition at line 272 of file px4io.cpp.

Referenced by io_publish_raw_rc().

◆ _to_mixer_status

uORB::PublicationMulti<multirotor_motor_limits_s> PX4IO::_to_mixer_status {ORB_ID(multirotor_motor_limits)}

private

Definition at line 274 of file px4io.cpp.

Referenced by io_publish_pwm_outputs().

◆ _to_outputs

uORB::PublicationMulti<actuator_outputs_s> PX4IO::_to_outputs {ORB_ID(actuator_outputs)}

private

Definition at line 273 of file px4io.cpp.

Referenced by io_publish_pwm_outputs().

◆ _to_safety

uORB::Publication<safety_s> PX4IO::_to_safety {ORB_ID(safety)}

private

Definition at line 276 of file px4io.cpp.

Referenced by io_handle_status().

◆ _to_servorail

uORB::Publication<servorail_status_s> PX4IO::_to_servorail {ORB_ID(servorail_status)}

private

Definition at line 275 of file px4io.cpp.

Referenced by io_handle_vservo().

◆ _update_interval

unsigned PX4IO::_update_interval

private

Subscription interval limiting send rate.

Definition at line 238 of file px4io.cpp.

Referenced by set_update_rate(), and task_main().

The documentation for this class was generated from the following file:

src/drivers/px4io/px4io.cpp

Classes

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PX4IO() [1/2]

◆ ~PX4IO()

◆ PX4IO() [2/2]

Member Function Documentation

◆ detect()

◆ disable_rc_handling()

◆ dsm_bind_ioctl()

◆ handle_motor_test()

◆ init() [1/2]

◆ init() [2/2]

◆ io_disable_rc_handling()

◆ io_get_raw_rc_input()

◆ io_get_status()

◆ io_handle_alarms()

◆ io_handle_status()

◆ io_handle_vservo()

◆ io_publish_pwm_outputs()

◆ io_publish_raw_rc()

◆ io_reg_get() [1/2]

◆ io_reg_get() [2/2]

◆ io_reg_modify()

◆ io_reg_set() [1/2]

◆ io_reg_set() [2/2]

◆ io_set_arming_state()

◆ io_set_control_groups()

◆ io_set_control_state()

◆ io_set_rc_config()

◆ ioctl()

◆ mixer_send()

◆ operator=()

◆ print_debug()

◆ print_status()

◆ set_update_rate()

◆ system_status()

◆ task_main()

◆ task_main_trampoline()

◆ test_fmu_fail()

◆ write()

Member Data Documentation

◆ _alarms

◆ _analog_rc_rssi_stable

◆ _analog_rc_rssi_volt

◆ _armed

◆ _cb_flighttermination

◆ _hardware

◆ _hitl_mode

◆ _in_esc_calibration_mode

◆ _interface

◆ _io_reg_get_error

◆ _last_written_arming_c

◆ _last_written_arming_s

◆ _lockdown_override

◆ _mavlink_log_pub

◆ _max_actuators

◆ _max_controls

◆ _max_rc_input

◆ _max_relays

◆ _max_transfer

◆ _motor_test

◆ _override_available

◆ _param_update_force

◆ _parameter_update_sub

◆ _perf_sample_latency

◆ _perf_update

◆ _perf_write

◆ _primary_pwm_device

◆ _rc_chan_count

◆ _rc_handling_disabled

◆ _rc_last_valid

◆ _rssi_pwm_chan

◆ _rssi_pwm_max