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149 Commits

Author SHA1 Message Date
Andrew Tridgell 71cbcb49f5 AP_IOMCU: fixed issue with not regaining RC input 
this fixes an issue where when you lose R/C input on IOMCU that you
may not regain it when R/C comes back.

The issue stems from us still processing the DSM uart when we are
using the SD3 "SBUS" uart for RC input, and still doing the switch of
the SD3 config every 2 seconds.

When we are not searching for a new protocol we should not be changing
UART config
 2023-05-25 11:33:10 +10:00
Andrew Tridgell daec6e6ee3 AP_IOMCU: fixed an issue with double reset of IOMCU 
if the IOMCU resets twice in quick succession then the code that
restores the safety state while flying can fail, leading to the
aircraft trying to continue flying with safety on

This results from two issues:

- a race in handling the last_safety_off variable
- the fact that plane sets the soft_armed state based on safety state
 2023-02-14 16:22:17 +09:00
Peter Barker b580c873a8 AP_IOMCU: log number of errors reading status page 2022-09-02 11:16:52 +10:00
Peter Barker 605f42947e AP_IOMCU: log regardless of success reading status page 2022-09-02 11:16:52 +10:00
Peter Barker 0be9c83692 AP_IOMCU: break logging out as a method 2022-09-02 11:16:52 +10:00
murata 70f0636c90 AP_IOMCU: Console output can be disabled 2022-05-17 09:53:06 +10:00
Randy Mackay b6e86eee49 AP_IOMCU: valid_GPIO_pin checks if pin configured for GPIO 2022-04-26 15:19:28 +09:00
Randy Mackay caa2ed3294 AP_IOMCU: convert_pin_number leaves input untouched on failure 2022-04-26 15:19:28 +09:00
Andrew Tridgell ce0b7a8957 AP_IOMCU: fixed handling of RC_OPTIONS bit to ignore RC failsafe bit 
this worked on FMU but not on IOMCU
 2022-03-22 10:30:35 +11:00
Peter Barker 4e122a3d50 AP_IOMCU: rename and make enum RC_Channel::ControlType 
Type:: is too generic; get_type should probably be get_control_type
 2022-02-27 09:55:01 +11:00
Andrew Tridgell 4c5fc1f5ef AP_IOMCU: removed include of ch.h from headers 2022-02-22 12:13:19 +11:00
TunaLobster db6383eee7 AP_IOMCU: fix ADC scaling on IOMCU 2021-11-16 14:12:43 +11:00
bugobliterator 1a6179148b AP_IOMCU: ensure page_GPIO is aligned to 16bit 2021-09-29 19:08:10 +10:00
Iampete1 ba58cb86db AP_IOMCU: support digital write 2021-09-28 09:40:25 +10:00
Iampete1 12d5fbbc86 AP_IOMCU: iofirmware: support digital write 2021-09-28 09:40:25 +10:00
Iampete1 cc03b2975c AP_IOMCU: iofirmware: remove saftey PWM 2021-09-14 09:23:02 +10:00
Iampete1 c1a2379504 AP_IOMCU: remove safe PWM 2021-09-14 09:23:02 +10:00
Andrew Tridgell c0c32a63cc AP_IOMCU: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Andrew Tridgell 45d82887b3 AP_IOMCU: fixed a safety reset case for IOMCU reset 
if IOMCU resets in flight when user had disabled the safety switch
using the button then the IOCMU force safety code was not called
 2021-05-25 12:14:01 +10:00
Andy Piper c26f49fb0a AP_IOMCU: ChibiOS 20.3.x build fix 2021-03-23 12:01:20 +11:00
Andrew Tridgell 9d87645c6e AP_IOMCU: fixed event handling bug in IOMCU code 
if a a message send fails to IOMCU then we were discarding all
currently pending non-recurring events. This means that states like
oneshot enable would be lost if the IOMCU reset.

We now re-trigger all events that have not yet been handled
 2021-02-24 18:21:08 +11:00
Andrew Tridgell 9126579b77 AP_IOMCU: added memory to debug code 2021-02-24 18:21:08 +11:00
Andrew Tridgell 87528f47c8 AP_IOMCU: prevent internal error on bootloader flash 
when we flash the bootloader on boards with an IOMCU we expect a long
delay as the CPU stops during the flash
 2021-01-27 09:49:35 +11:00
Jaaaky 4ec1c2ea67 AP_IOMCU: Remove duplicate includes from AP_IOMCU.cpp 2020-12-15 10:01:54 +11:00
Andrew Tridgell 1b5551206a AP_IOMCU: fixed bug in SBUS output when scanning for FPort input 
when we are looking for FPort input, we normally switch UART3 on the
IOMCU to 115200 to look for inverted inputs at 115200 baudrate. We
need to disable this switching when we have SBUS output enabled to
prevent a change in the SBUS output baudrate

Many thanks to afishman for finding this bug

Fixes #15522
 2020-10-07 16:44:13 +11:00
Andrew Tridgell fdff355a8a AP_IOMCU: fixed handling of RC ignore failsafe option 
this allows for ignoring SBUS failsafe on boards using an IOMCU
 2020-08-25 09:53:26 +10:00
Andrew Tridgell 017f005737 AP_IOMCU: pass supported RC protocols to IOMCU 2020-08-24 16:32:35 +10:00
Peter Barker f1182637a6 AP_IOMCU: use new UARTDriver discard_input method 2020-05-26 09:20:32 +10:00
Andrew Tridgell fd32dff45a AP_IOMCU: force safety off on IOMCU reset 
if safety was forced off previously and we get an IOMCU reset then
force it off when the reset happens so vehicle can keep flying
 2020-05-14 18:28:50 +10:00
Peter Barker f0b38fa11c AP_IOMCU: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Peter Barker e5b634cdd0 AP_IOMCU: add IOMC log message documentation 2020-04-12 08:36:48 +10:00
Andrew Tridgell 258b8b71ea AP_IOMCU: use more efficient read API for rcin 2020-01-31 11:09:07 +11:00
Andrew Tridgell ba779c65ad AP_IOMCU: added a health check based on status read errors 
if we have more than 1 in 128 read status requests failing then mark
IOMCU unhealthy
 2020-01-18 07:13:11 +11:00
Andrew Tridgell 2d02062bfc AP_IOMCU: reduce uart buffer sizes 2020-01-18 07:13:11 +11:00
Andrew Tridgell 63c199a600 AP_IOMCU: support RSSI from receiver 2020-01-02 09:52:57 +11:00
Andrew Tridgell 6599fd49a2 AP_IOMCU: don't use pulse input for FPORT 2020-01-02 09:52:57 +11:00
Stephen Dade 52f2ec34fa AP_IOMCU: Ensure IOMCU does not log if there is no logger 2019-11-20 11:46:34 +11:00
Mark Whitehorn 5276cb7f2b AP_IOMCU: rename sensor_config_error to config_error 2019-11-08 10:14:34 +11:00
Andrew Tridgell a11f2b5cfb AP_IOCMU: added singleton in AP namespace 2019-11-02 16:31:04 +11:00
Andrew Tridgell 34f5b40919 AP_IOMCU: use crc32_small() in AP_IOMCU 
the slower speed is not noticible and this saves 1k ram
 2019-10-28 15:53:16 +11:00
Andrew Tridgell ef1aaa6db0 AP_IOMCU: fixes for modified AP_ROMFS API 
need to use AP_ROMFS::free()
 2019-10-24 22:03:43 +11:00
Mirko Denecke 12c9e50aef AP_IOMCU: remove unnecessary tabs and whitespaces 2019-10-21 07:57:44 +11:00
Mark Whitehorn 0a6ae60c89 AP_IOMCU: fix IO fast channel mask 2019-10-01 07:13:33 +10:00
Andrew Tridgell 7c3df18ea3 AP_IOMCU: change optimisation from -O3 to -O2 2019-09-28 08:57:26 +10:00
Andrew Tridgell 672d09c965 AP_IOMCU: use AP::RC() for AP_RCProtocol 2019-09-06 08:51:45 +10:00
Andrew Tridgell 8ef2046f7b AP_IOMCU: use blocking writes to uart 
this avoids the issue of arming failing due to a non-zero protocol count
 2019-08-17 17:36:41 +10:00
Andrew Tridgell 454717cf6f AP_IOMCU: cleanup IO protocol and add logging 
this cleans up the IOMCU protocol structures now we don't need to be
compatible with the old nuttx based protocol and adds logging of IOMCU
errors
 2019-08-17 17:36:41 +10:00
Andrew Tridgell 984542fa53 AP_IOMCU: fixed error handling for short packets 
this prevents short packets from the IOMCU being processed. A short
enough read could be processed as a valid status packet, which would
lead to invalid values for safety flag and servo voltage

fixes issue #12030
 2019-08-17 17:36:41 +10:00
bugobliterator c07fe55b87 AP_IOMCU: remove autodetection of heater pin polarity, instead hardcode it 2019-07-25 17:05:41 +10:00
Andrew Tridgell 76a8d494c3 AP_IOMCU: dither heater pin to prevent 1Hz impact on mags 
with the simpler duty cycle code we see a 1Hz 25 mGauss cycle in the
internal mags
 2019-07-12 12:46:27 +10:00