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AP_IOMCU: resync for 4.0 update

This commit is contained in:
Andrew Tridgell 2020-05-11 15:55:57 +10:00
parent ee9d161196
commit bdd7094d17
5 changed files with 52 additions and 13 deletions
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11
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -334,6 +334,16 @@ void AP_IOMCU::read_status()
uint32_t now = AP_HAL::millis();
if (now - last_log_ms >= 1000U) {
last_log_ms = now;
if (AP_Logger::get_singleton()) {
// @LoggerMessage: IOMC
// @Description: IOMCU diagnostic information
// @Field: TimeUS: Time since system startup
// @Field: Mem: Free memory
// @Field: TS: IOMCU uptime
// @Field: NPkt: Number of packets received by IOMCU
// @Field: Nerr: Protocol failures on MCU side
// @Field: Nerr2: Reported number of failures on IOMCU side
// @Field: NDel: Number of delayed packets received by MCU
AP::logger().Write("IOMC", "TimeUS,Mem,TS,NPkt,Nerr,Nerr2,NDel", "QHIIIII",
AP_HAL::micros64(),
reg_status.freemem,
@ -342,6 +352,7 @@ void AP_IOMCU::read_status()
total_errors,
reg_status.num_errors,
num_delayed);
}
#if IOMCU_DEBUG_ENABLE
static uint32_t last_io_print;
if (now - last_io_print >= 5000) {

5
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -71,6 +71,11 @@ public:
// get the name of the RC protocol
const char *get_rc_protocol(void);
// get receiver RSSI
int16_t get_RSSI(void) const {
return rc_input.rssi;
}
/*
get servo rail voltage
*/

1
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
View File

@ -304,6 +304,7 @@ void AP_IOMCU_FW::rcin_update()
hal.rcin->read(rc_input.pwm, IOMCU_MAX_CHANNELS);
rc_last_input_ms = last_ms;
rc_input.rc_protocol = (uint16_t)AP::RC().protocol_detected();
rc_input.rssi = AP::RC().get_RSSI();
} else if (last_ms - rc_last_input_ms > 200U) {
rc_input.flags_rc_ok = false;
}

1
libraries/AP_IOMCU/iofirmware/ioprotocol.h
View File

@ -123,6 +123,7 @@ struct page_rc_input {
uint8_t flags_rc_ok:1;
uint8_t rc_protocol;
uint16_t pwm[IOMCU_MAX_CHANNELS];
int16_t rssi;
};
/*

47
libraries/AP_IOMCU/iofirmware/rc.cpp
View File

@ -28,7 +28,7 @@
extern const AP_HAL::HAL& hal;
// usart3 is for SBUS input and output
static const SerialConfig uart3_cfg = {
static const SerialConfig sbus_cfg = {
100000, // speed
USART_CR1_PCE | USART_CR1_M, // cr1, enable even parity
USART_CR2_STOP_1, // cr2, two stop bits
@ -40,15 +40,19 @@ static const SerialConfig uart3_cfg = {
// listen for parity errors on sd3 input
static event_listener_t sd3_listener;
static uint8_t sd3_config;
void sbus_out_write(uint16_t *channels, uint8_t nchannels)
{
uint8_t buffer[25];
AP_SBusOut::sbus_format_frame(channels, nchannels, buffer);
chnWrite(&SD3, buffer, sizeof(buffer));
if (sd3_config == 0) {
uint8_t buffer[25];
AP_SBusOut::sbus_format_frame(channels, nchannels, buffer);
chnWrite(&SD3, buffer, sizeof(buffer));
}
}
// usart1 is for DSM input and (optionally) debug to FMU
static const SerialConfig uart1_cfg = {
static const SerialConfig dsm_cfg = {
115200, // speed
0, // cr1
0, // cr2
@ -62,16 +66,17 @@ static const SerialConfig uart1_cfg = {
*/
void AP_IOMCU_FW::rcin_serial_init(void)
{
sdStart(&SD1, &uart1_cfg);
sdStart(&SD3, &uart3_cfg);
sdStart(&SD1, &dsm_cfg);
sdStart(&SD3, &sbus_cfg);
chEvtRegisterMaskWithFlags(chnGetEventSource(&SD3),
&sd3_listener,
EVENT_MASK(1),
SD_PARITY_ERROR);
// disable input for SBUS with pulses, we will use the UART for
// SBUS.
// SBUS and FPORT
AP::RC().disable_for_pulses(AP_RCProtocol::SBUS);
AP::RC().disable_for_pulses(AP_RCProtocol::SBUS_NI);
AP::RC().disable_for_pulses(AP_RCProtocol::FPORT);
}
static struct {
@ -79,6 +84,7 @@ static struct {
uint32_t num_sbus_bytes;
uint32_t num_sbus_errors;
eventflags_t sbus_error;
uint32_t last_good_ms;
} rc_stats;
/*
@ -88,13 +94,19 @@ void AP_IOMCU_FW::rcin_serial_update(void)
{
uint8_t b[16];
uint32_t n;
uint32_t now = AP_HAL::millis();
// read from DSM port
if ((n = chnReadTimeout(&SD1, b, sizeof(b), TIME_IMMEDIATE)) > 0) {
n = MIN(n, sizeof(b));
rc_stats.num_dsm_bytes += n;
for (uint8_t i=0; i<n; i++) {
AP::RC().process_byte(b[i], 115200);
// don't mix two 115200 uarts
if (sd3_config == 0) {
rc_stats.num_dsm_bytes += n;
for (uint8_t i=0; i<n; i++) {
if (AP::RC().process_byte(b[i], 115200)) {
rc_stats.last_good_ms = now;
}
}
}
//BLUE_TOGGLE();
}
@ -102,17 +114,26 @@ void AP_IOMCU_FW::rcin_serial_update(void)
// read from SBUS port
if ((n = chnReadTimeout(&SD3, b, sizeof(b), TIME_IMMEDIATE)) > 0) {
eventflags_t flags;
if ((flags = chEvtGetAndClearFlags(&sd3_listener)) & SD_PARITY_ERROR) {
if (sd3_config == 0 && ((flags = chEvtGetAndClearFlags(&sd3_listener)) & SD_PARITY_ERROR)) {
rc_stats.sbus_error = flags;
rc_stats.num_sbus_errors++;
} else {
n = MIN(n, sizeof(b));
rc_stats.num_sbus_bytes += n;
for (uint8_t i=0; i<n; i++) {
AP::RC().process_byte(b[i], 100000);
if (AP::RC().process_byte(b[i], sd3_config==0?100000:115200)) {
rc_stats.last_good_ms = now;
}
}
}
}
if (now - rc_stats.last_good_ms > 2000) {
rc_stats.last_good_ms = now;
sd3_config ^= 1;
sdStop(&SD3);
sdStart(&SD3, sd3_config==0?&sbus_cfg:&dsm_cfg);
}
}
/*