Inheritance diagram for PX4IO:

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)
	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	set_failsafe_values (const uint16_t *vals, unsigned len)
	Push failsafe values to IO. More...

int	disable_rc_handling ()
	Disable RC input handling.

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

int	print_debug ()
	Fetch and print debug console output.

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...

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...

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.

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

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.

Detailed Description

The PX4IO class.

Encapsulates PX4FMU to PX4IO communications modeled as file operations.

Constructor & Destructor Documentation

§ PX4IO()

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

Constructor.

Initialize all class variables.

§ ~PX4IO()

PX4IO::~PX4IO ( )

virtual

Destructor.

Wait for worker thread to terminate.

Member Function Documentation

§ detect()

int PX4IO::detect ( )

virtual

Detect if a PX4IO is connected.

Only validate if there is a PX4IO to talk to.

§ init() [1/2]

int PX4IO::init ( )

virtual

Initialize the PX4IO class.

Retrieve relevant initial system parameters. Initialize PX4IO registers.

Reimplemented from cdev::CDev.

§ init() [2/2]

int PX4IO::init ( bool disable_rc_handling )

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

§ 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)

§ 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)

§ set_failsafe_values()

int PX4IO::set_failsafe_values	(	const uint16_t *	vals,
		unsigned	len
	)

Push failsafe values to IO.

Parameters

[in]	vals	Failsafe control inputs: in us PPM (900 for zero, 1500 for centered, 2100 for full)
[in]	len	Number of channels, could up to 8

§ 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

§ 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

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

src/drivers/px4io/px4io.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ PX4IO()

§ ~PX4IO()

Member Function Documentation

§ detect()

§ init() [1/2]

§ init() [2/2]

§ ioctl()

§ print_status()

§ set_failsafe_values()

§ set_update_rate()

§ write()