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Commit Graph

102 Commits

Author SHA1 Message Date
Andy Piper c4cfc5dbe4 AP_IOMCU: fix eventing mask and some minor cleanups 2023-08-15 06:53:48 +10:00
Andy Piper 2af3d53eac AP_IOMCU: use a command queue for dshot commands and telemetry requests to avoid losing data 2023-08-15 06:53:48 +10:00
Andy Piper 7b96f66413 AP_IOMCU: add support for getting output mode and mcuid 
give an appropriate MCUID on F103
 2023-08-15 06:53:48 +10:00
Andy Piper ec1edea1da AP_IOMCU: add support for shared DMA to iomcu-dshot 
new event-based update() loop for iomcu to allow for DMA channel sharing
spin event loop at 2Khz to give dshot thread ample access to DMA channels
correct transmission complete callbacks
ensure peripheral is re-enabled on DMA resumption
ensure DMA transactions do not get clobbered by locking
restructure callbacks for shared and non-shared DMA cases
ensure RC updates happen at 1Khz
increase expected delay at startup
 2023-08-15 06:53:48 +10:00
Andy Piper e6e0543b8a AP_IOMCU: propagate dshot rates through to IOMCU 
implement dshot ESC telemetry
add support for channel enablement/disablement
add stack checks and reporting for MSP stack
wait correct timeout in tickless mode
ensure that dshot sees all pwm updates as the occur in order to maintain periodicity
ensure dshot options are propagated on reset
implement dshot commands
ensure oneshot/125 and mode are setup correctly
add instrumentation for process stack
prevent illegal recursive locks
ignore requests for dshot 600
add support for soft reboot of iomcu
 2023-08-15 06:53:48 +10:00
bugobliterator ad428ac060 AP_IOMCU: add support for sending DShot function command 
add support for dshot on iomcu
add support for updating to dshot iofirmware
 2023-08-15 06:53:48 +10:00
Andrew Tridgell 22c31ac729 AP_IOMCU: removed set_blocking_writes 2023-07-12 17:06:02 +10:00
Peter Barker 1e81ef93a4 AP_IOMCU: remove intermediate option_is_enabled methods for RC_Channel 2023-06-14 17:39:43 +10:00
Andrew Tridgell 2f1c38e13a AP_IOMCU: support forcing heater to enabled with a feature bit 2023-03-07 10:33:24 +11:00
Peter Barker a6831805f1 AP_IOMCU: read many bytes using read(buffer, len) method 2023-02-24 09:37:20 -08:00
Andrew Tridgell ab0768871b AP_IOMCU: add internal errors for unresponsive IOMCU 
if IOMCU stops responding completely or stops giving status update
then give an internal error to help with diagnostics
 2023-02-14 09:12:34 +11:00
Andrew Tridgell 65fadfa2fe 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 09:12:34 +11:00
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
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
Iampete1 ba58cb86db AP_IOMCU: support digital write 2021-09-28 09:40:25 +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
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 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 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
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 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
Andrew Tridgell ef5f83d0b5 AP_IOMCU: remove 2s delay on boot and skip crc check on watchdog 
thanks to @Jaaaky for the suggestion in #11232
 2019-05-03 13:44:56 +10:00
Andrew Tridgell 6c50feaead AP_IOMCU: improved handling of IOMCU reset 
use IOMCU timestamp to detect reset
 2019-04-28 07:45:33 +10:00
Andrew Tridgell af54e8620e AP_IOMCU: prevent startup sync causing an internal error 2019-04-28 07:45:33 +10:00
Andrew Tridgell c7be7d7343 AP_IOMCU: cope with IOMCU reset 2019-04-22 16:53:35 +10:00