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AP_BoardConfig: remove more px4 remnants

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This commit is contained in:
Andrew Tridgell 2019-02-25 16:13:46 +11:00
parent 384bca9482
commit 8493b4c07c
5 changed files with 6 additions and 356 deletions
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41
libraries/AP_BoardConfig/AP_BoardConfig.cpp
View File

@ -30,47 +30,11 @@
#endif
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
# define BOARD_SAFETY_ENABLE_DEFAULT 1
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
#define BOARD_PWM_COUNT_DEFAULT 2
#define BOARD_SER1_RTSCTS_DEFAULT 0 // no flow control on UART5 on FMUv1
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
#define BOARD_PWM_COUNT_DEFAULT 6
#define BOARD_SER1_RTSCTS_DEFAULT 2
#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
#define BOARD_PWM_COUNT_DEFAULT 0
#define BOARD_SER1_RTSCTS_DEFAULT 0
# undef BOARD_SAFETY_ENABLE_DEFAULT
# define BOARD_SAFETY_ENABLE_DEFAULT 0
#else // V2
#define BOARD_PWM_COUNT_DEFAULT 4
#define BOARD_SER1_RTSCTS_DEFAULT 2
#endif
#ifndef BOARD_TYPE_DEFAULT
#define BOARD_TYPE_DEFAULT PX4_BOARD_AUTO
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
# define BOARD_SAFETY_ENABLE_DEFAULT 0
# define BOARD_PWM_COUNT_DEFAULT 8
# if defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
# define BOARD_TYPE_DEFAULT VRX_BOARD_BRAIN51
# elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
# define BOARD_TYPE_DEFAULT VRX_BOARD_BRAIN52
# elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52E)
# define BOARD_TYPE_DEFAULT VRX_BOARD_BRAIN52E
# elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
# define BOARD_TYPE_DEFAULT VRX_BOARD_UBRAIN51
# elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
# define BOARD_TYPE_DEFAULT VRX_BOARD_UBRAIN52
# elif defined(CONFIG_ARCH_BOARD_VRCORE_V10)
# define BOARD_TYPE_DEFAULT VRX_BOARD_CORE10
# elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V54)
# define BOARD_TYPE_DEFAULT VRX_BOARD_BRAIN54
# endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
# define BOARD_SAFETY_ENABLE_DEFAULT 1
#ifndef BOARD_PWM_COUNT_DEFAULT
# define BOARD_PWM_COUNT_DEFAULT 6
@ -296,9 +260,6 @@ void AP_BoardConfig::set_default_safety_ignore_mask(uint16_t mask)
{
#if HAL_HAVE_SAFETY_SWITCH
state.ignore_safety_channels.set_default(mask);
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
px4_setup_safety_mask();
#endif
#endif
}

18
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -6,7 +6,7 @@
#include <AP_RTC/AP_RTC.h>
#ifndef AP_FEATURE_BOARD_DETECT
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3) || defined(HAL_CHIBIOS_ARCH_FMUV4) || defined(HAL_CHIBIOS_ARCH_FMUV5) || defined(HAL_CHIBIOS_ARCH_MINDPXV2) || defined(HAL_CHIBIOS_ARCH_FMUV4PRO) || defined(HAL_CHIBIOS_ARCH_BRAINV51) || defined(HAL_CHIBIOS_ARCH_BRAINV52) || defined(HAL_CHIBIOS_ARCH_UBRAINV51) || defined(HAL_CHIBIOS_ARCH_COREV10) || defined(HAL_CHIBIOS_ARCH_BRAINV54)
#if defined(HAL_CHIBIOS_ARCH_FMUV3) || defined(HAL_CHIBIOS_ARCH_FMUV4) || defined(HAL_CHIBIOS_ARCH_FMUV5) || defined(HAL_CHIBIOS_ARCH_MINDPXV2) || defined(HAL_CHIBIOS_ARCH_FMUV4PRO) || defined(HAL_CHIBIOS_ARCH_BRAINV51) || defined(HAL_CHIBIOS_ARCH_BRAINV52) || defined(HAL_CHIBIOS_ARCH_UBRAINV51) || defined(HAL_CHIBIOS_ARCH_COREV10) || defined(HAL_CHIBIOS_ARCH_BRAINV54)
#define AP_FEATURE_BOARD_DETECT 1
#else
#define AP_FEATURE_BOARD_DETECT 0
@ -59,11 +59,6 @@ public:
// that we're never going to boot properly:
static bool in_sensor_config_error(void) { return _in_sensor_config_error; }
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// public method to start a driver
static bool px4_start_driver(main_fn_t main_function, const char *name, const char *arguments);
#endif
// valid types for BRD_TYPE: these values need to be in sync with the
// values from the param description
enum px4_board_type {
@ -174,7 +169,7 @@ private:
AP_Int8 safety_enable;
AP_Int16 safety_option;
AP_Int32 ignore_safety_channels;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
AP_Int8 ser1_rtscts;
AP_Int8 ser2_rtscts;
AP_Int8 sbus_out_rate;
@ -187,15 +182,6 @@ private:
#if AP_FEATURE_BOARD_DETECT
static enum px4_board_type px4_configured_board;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
void px4_setup_pwm(void);
void px4_setup_safety_mask(void);
void px4_tone_alarm(const char *tone_string);
void px4_setup_px4io(void);
void px4_setup_peripherals(void);
#endif
void board_setup_drivers(void);
bool spi_check_register(const char *devname, uint8_t regnum, uint8_t value, uint8_t read_flag = 0x80);
void validate_board_type(void);

13
libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
View File

@ -23,14 +23,7 @@
#if HAL_WITH_UAVCAN
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <AP_HAL_PX4/CAN.h>
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <AP_HAL_Linux/CAN.h>
#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include <AP_HAL_ChibiOS/CAN.h>
@ -117,9 +110,7 @@ void AP_BoardConfig_CAN::init()
if (hal.can_mgr[drv_num - 1] == nullptr) {
// CAN Manager is the driver
// So if this driver was not created before for other physical interface - do it
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
const_cast <AP_HAL::HAL&> (hal).can_mgr[drv_num - 1] = new PX4::PX4CANManager;
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
const_cast <AP_HAL::HAL&> (hal).can_mgr[drv_num - 1] = new Linux::CANManager;
#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
const_cast <AP_HAL::HAL&> (hal).can_mgr[drv_num - 1] = new ChibiOS::CANManager;

6
libraries/AP_BoardConfig/board_drivers.cpp
View File

@ -333,11 +333,7 @@ void AP_BoardConfig::board_setup_sbus(void)
*/
void AP_BoardConfig::board_setup()
{
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
px4_setup_peripherals();
px4_setup_pwm();
px4_setup_safety_mask();
#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
// init needs to be done after boardconfig is read so parameters are set
hal.gpio->init();
hal.rcin->init();

284
libraries/AP_BoardConfig/px4_drivers.cpp
View File

@ -1,284 +0,0 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* AP_BoardConfig - px4 driver loading and setup
*/
#include <AP_HAL/AP_HAL.h>
#include "AP_BoardConfig.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_sbus.h>
#include <nuttx/arch.h>
#include <spawn.h>
extern const AP_HAL::HAL& hal;
/*
declare driver main entry points
*/
extern "C" {
int fmu_main(int, char **);
int px4io_main(int, char **);
int adc_main(int, char **);
int tone_alarm_main(int, char **);
};
/*
setup PWM pins
*/
void AP_BoardConfig::px4_setup_pwm()
{
#if CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_PX4_AEROFC_V1
/* configure the FMU driver for the right number of PWMs */
static const struct {
uint8_t mode_parm;
uint8_t mode_value;
uint8_t num_gpios;
} mode_table[] = {
/* table mapping BRD_PWM_COUNT to ioctl arguments */
{ 0, PWM_SERVO_MODE_NONE, 6 },
{ 2, PWM_SERVO_MODE_2PWM, 4 },
{ 4, PWM_SERVO_MODE_4PWM, 2 },
{ 6, PWM_SERVO_MODE_6PWM, 0 },
{ 7, PWM_SERVO_MODE_3PWM1CAP, 2 },
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
{ 8, PWM_SERVO_MODE_12PWM, 0 },
#endif
};
uint8_t mode_parm = (uint8_t)pwm_count.get();
uint8_t i;
for (i=0; i<ARRAY_SIZE(mode_table); i++) {
if (mode_table[i].mode_parm == mode_parm) {
break;
}
}
if (i == ARRAY_SIZE(mode_table)) {
hal.console->printf("RCOutput: invalid BRD_PWM_COUNT %u\n", mode_parm);
} else {
int fd = open("/dev/px4fmu", 0);
if (fd == -1) {
AP_HAL::panic("Unable to open /dev/px4fmu");
}
if (ioctl(fd, PWM_SERVO_SET_MODE, mode_table[i].mode_value) != 0) {
hal.console->printf("RCOutput: unable to setup AUX PWM with BRD_PWM_COUNT %u\n", mode_parm);
}
close(fd);
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
if (mode_table[i].num_gpios < 2) {
// reduce change of config mistake where relay and PWM interfere
AP_Param::set_default_by_name("RELAY_PIN", -1);
AP_Param::set_default_by_name("RELAY_PIN2", -1);
}
#endif
}
#endif
}
/*
setup safety switch
*/
void AP_BoardConfig::px4_setup_safety_mask()
{
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && HAL_HAVE_SAFETY_SWITCH
// setup channels to ignore the armed state
int px4io_fd = open("/dev/px4io", 0);
if (px4io_fd != -1) {
if (ioctl(px4io_fd, PWM_SERVO_IGNORE_SAFETY, (uint16_t)state.ignore_safety_channels) != 0) {
hal.console->printf("IGNORE_SAFETY failed\n");
}
}
int px4fmu_fd = open("/dev/px4fmu", 0);
if (px4fmu_fd != -1) {
uint16_t mask = state.ignore_safety_channels;
if (px4io_fd != -1) {
mask >>= 8;
}
if (ioctl(px4fmu_fd, PWM_SERVO_IGNORE_SAFETY, (uint16_t)mask) != 0) {
hal.console->printf("IGNORE_SAFETY failed\n");
}
close(px4fmu_fd);
}
if (px4io_fd != -1) {
close(px4io_fd);
}
#endif
}
extern "C" int waitpid(pid_t, int *, int);
/*
start one px4 driver
*/
bool AP_BoardConfig::px4_start_driver(main_fn_t main_function, const char *name, const char *arguments)
{
char *s = strdup(arguments);
char *args[10];
uint8_t nargs = 0;
char *saveptr = nullptr;
// parse into separate arguments
for (char *tok=strtok_r(s, " ", &saveptr); tok; tok=strtok_r(nullptr, " ", &saveptr)) {
args[nargs++] = tok;
if (nargs == ARRAY_SIZE(args)-1) {
break;
}
}
args[nargs++] = nullptr;
printf("Starting driver %s %s\n", name, arguments);
pid_t pid;
if (task_spawn(&pid, name, main_function, nullptr, nullptr,
args, nullptr) != 0) {
free(s);
printf("Failed to spawn %s\n", name);
return false;
}
// wait for task to exit and gather status
int status = -1;
if (waitpid(pid, &status, 0) != pid) {
printf("waitpid failed for %s\n", name);
free(s);
return false;
}
free(s);
return (status >> 8) == 0;
}
/*
play a tune
*/
void AP_BoardConfig::px4_tone_alarm(const char *tone_string)
{
px4_start_driver(tone_alarm_main, "tone_alarm", tone_string);
}
/*
setup px4io, possibly updating firmware
*/
void AP_BoardConfig::px4_setup_px4io(void)
{
if (px4_start_driver(px4io_main, "px4io", "start norc")) {
printf("px4io started OK\n");
} else {
// might be in bootloader mode if user held down safety switch
// at power on
printf("Loading /etc/px4io/px4io.bin\n");
px4_tone_alarm("MBABGP");
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
// we need to close uartC to prevent conflict between bootloader and
// uartC reada
hal.uartC->end();
#endif
if (px4_start_driver(px4io_main, "px4io", "update /etc/px4io/px4io.bin")) {
printf("upgraded PX4IO firmware OK\n");
px4_tone_alarm("MSPAA");
} else {
printf("Failed to upgrade PX4IO firmware\n");
px4_tone_alarm("MNGGG");
}
hal.scheduler->delay(1000);
if (px4_start_driver(px4io_main, "px4io", "start norc")) {
printf("px4io started OK\n");
} else {
sensor_config_error("px4io start failed");
}
}
/*
see if we need to update px4io firmware
*/
if (px4_start_driver(px4io_main, "px4io", "checkcrc /etc/px4io/px4io.bin")) {
printf("PX4IO CRC OK\n");
} else {
printf("PX4IO CRC failure\n");
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
// we need to close uartC to prevent conflict between bootloader and
// uartC reada
hal.uartC->end();
#endif
px4_tone_alarm("MBABGP");
if (px4_start_driver(px4io_main, "px4io", "safety_on")) {
printf("PX4IO disarm OK\n");
} else {
printf("PX4IO disarm failed\n");
}
hal.scheduler->delay(1000);
if (px4_start_driver(px4io_main, "px4io", "forceupdate 14662 /etc/px4io/px4io.bin")) {
hal.scheduler->delay(1000);
if (px4_start_driver(px4io_main, "px4io", "start norc")) {
printf("px4io restart OK\n");
px4_tone_alarm("MSPAA");
} else {
px4_tone_alarm("MNGGG");
sensor_config_error("PX4IO restart failed");
}
} else {
printf("PX4IO update failed\n");
px4_tone_alarm("MNGGG");
}
}
}
/*
setup required peripherals like adc, rcinput and rcoutput
*/
void AP_BoardConfig::px4_setup_peripherals(void)
{
// always start adc
if (px4_start_driver(adc_main, "adc", "start")) {
hal.analogin->init();
printf("ADC started OK\n");
} else {
sensor_config_error("no ADC found");
}
#if HAL_PX4_HAVE_PX4IO
if (state.io_enable.get() != 0) {
px4_setup_px4io();
}
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
const char *fmu_mode = "mode_serial";
#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
const char *fmu_mode = "mode_rcin";
#else
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
const char *fmu_mode = "mode_pwm";
#else
const char *fmu_mode = "mode_pwm4";
#endif
#endif
if (px4_start_driver(fmu_main, "fmu", fmu_mode)) {
printf("fmu %s started OK\n", fmu_mode);
} else {
sensor_config_error("fmu start failed");
}
hal.gpio->init();
hal.rcin->init();
hal.rcout->init();
}
#endif // HAL_BOARD_PX4