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1.14 backport - Pr ver px4io check backport #22527

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merged 2 commits into from
Dec 13, 2023
Merged

1.14 backport - Pr ver px4io check backport #22527

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922e3da
px4io:Add 'supported' command and uses it in rcS
davids5 Nov 15, 2023
e3d756c
px4io: change not supported message to INFO instead of ERR
AlexKlimaj Nov 17, 2023
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42 changes: 22 additions & 20 deletions ROMFS/px4fmu_common/init.d/rcS
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Original file line number Diff line number Diff line change
Expand Up @@ -266,37 +266,39 @@ else
. $FCONFIG
fi

# Check if PX4IO present and update firmware if needed.
if [ -f $IOFW ]
if px4io supported
then
if ! px4io checkcrc ${IOFW}
# Check if PX4IO present and update firmware if needed.
if [ -f $IOFW ]
then
# tune Program PX4IO
tune_control play -t 16 # tune 16 = PROG_PX4IO

if px4io update ${IOFW}
if ! px4io checkcrc ${IOFW}
then
usleep 10000
tune_control stop
if px4io checkcrc ${IOFW}
# tune Program PX4IO
tune_control play -t 16 # tune 16 = PROG_PX4IO

if px4io update ${IOFW}
then
tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
usleep 10000
tune_control stop
if px4io checkcrc ${IOFW}
then
tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
else
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
fi
else
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
tune_control stop
fi
else
tune_control stop
fi
fi

if ! px4io start
then
echo "PX4IO start failed"
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
if ! px4io start
then
echo "PX4IO start failed"
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
fi
fi
fi


#
# RC update (map raw RC input to calibrate manual control)
# start before commander
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6 changes: 5 additions & 1 deletion src/drivers/px4io/px4io.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1556,6 +1556,10 @@ int PX4IO::custom_command(int argc, char *argv[])
{
const char *verb = argv[0];

if (!strcmp(verb, "supported")) {
return 0;
}

if (!strcmp(verb, "checkcrc")) {
if (is_running()) {
PX4_ERR("io must be stopped");
Expand Down Expand Up @@ -1761,7 +1765,7 @@ Output driver communicating with the IO co-processor.
extern "C" __EXPORT int px4io_main(int argc, char *argv[])
{
if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_PX4IO)) {
PX4_ERR("PX4IO Not Supported");
PX4_INFO("PX4IO Not Supported");
return -1;
}
return PX4IO::main(argc, argv);
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