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181 Commits

Author SHA1 Message Date
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
Siddharth Purohit
f23746053d AP_IOMCU_FW: autodetect active high/low on heater control pin 2019-06-08 14:31:01 +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
d4c68da76e AP_IOMCU: added IOMCU time since boot to protocol 
and optional watchdog testing using safety switch
(compile time option)
 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
Andrew Tridgell
6181c66e5c AP_IOMCU: handle watchdog reset in IO firmware 2019-04-22 16:53:35 +10:00
Andrew Tridgell
480d33706c AP_IOMCU: fixed safety state on reboot 
fixes issue #11031
 2019-04-20 14:48:59 +10:00
Pierre Kancir
eab7d08021 AP_IOMCU: fix includes 2019-03-26 10:27:54 +11:00
Andrew Tridgell
664e92ed7e AP_IOMCU: fixed build warnings 2019-02-26 16:18:26 +11:00
Andrew Tridgell
a6e989e263 AP_IOMCU: fixed shadowed variable warning 2019-02-26 16:18:26 +11:00
Tom Pittenger
28323147ab AP_IOMCU: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Michael du Breuil
85f3280705 AP_IOMCU: Remove unneeded AP_Buffer include 2018-12-31 11:41:43 +09:00
Andrew Tridgell
41264568ba AP_IOMCU: added brushed motor feature bit in protocol 2018-11-30 13:14:14 +11:00
Andrew Tridgell
69c4fb671e AP_IOMCU: optimisations to reduce ISR latency 
this speeds up the DMA ISR handlers to reduce the change of losing a
byte on RC input due to loss of an interrupt
 2018-11-27 09:38:18 +11:00
Andrew Tridgell
8e7695e5f0 AP_IOMCU: respond to override change more quickly 2018-11-07 07:35:45 +11:00
Andrew Tridgell
5771e0a90e AP_IOMCU: added access to RC protocol name 2018-11-07 07:35:45 +11:00
Andrew Tridgell
3d90ddc453 AP_IOMCU: fixed stop bits in sbus output 2018-11-07 07:35:45 +11:00
Andrew Tridgell
a7c5ac8902 AP_IOMCU: run main loop at max rate 
removed delay in main loop to reduce latency of RC input. This works
as we only have one thread
 2018-11-07 07:35:45 +11:00
Andrew Tridgell
2159198c3e AP_IOMCU: allow DSM input as pulses in iomcu 
useful for receivers where DSM uses a normal servo plug
 2018-11-07 07:35:45 +11:00
Andrew Tridgell
e6cadfa2d9 AP_IOMCU: disable DSM and SBUS for pulse input 2018-11-07 07:35:45 +11:00
Andrew Tridgell
49d07ed234 AP_IOMCU: catch parity errors on SBUS input 2018-11-07 07:35:45 +11:00
Andrew Tridgell
c148813c17 AP_IOMCU: enable uart for SBUS input 2018-11-07 07:35:45 +11:00
Andrew Tridgell
fab181345c AP_IOMCU: fixed override on RC loss 
use mid-stick positions
 2018-11-07 07:35:45 +11:00
Andrew Tridgell
29fb674f3f AP_IOMCU: use macros for LED outputs in iofirmware 2018-11-07 07:35:45 +11:00
Andrew Tridgell
a8d91a24b6 AP_IOMCU: fixed compat with nuttx firmwares 
this allows older firmwares to change the IO firmware back to a nuttx
based firmware
 2018-11-07 07:35:45 +11:00
Andrew Tridgell
107ccb3eef AP_IOMCU: enable DSM input in iofirmware 2018-11-07 07:35:45 +11:00
Andrew Tridgell
b9e4916c17 AP_IOMCU: fixed delay in DSM bind 2018-11-07 07:35:45 +11:00
Andrew Tridgell
2488d25284 AP_IOMCU: fixed rate of failsafe handling 2018-11-07 07:35:45 +11:00
Andrew Tridgell
f8dc17f8ff AP_IOMCU: implement DSM bind 2018-11-07 07:35:45 +11:00
Andrew Tridgell
184c05bc70 AP_IOMCU: fixed DSM bind 2018-11-07 07:35:45 +11:00
Andrew Tridgell
c57fe83217 AP_IOMCU: rename sbus_out.cpp to rc.cpp 
will also handle DSM input on USART1
 2018-11-07 07:35:45 +11:00
Eugene Shamaev
4d64b86f87 AP_IOMCU: Add binding procedure for DSMx 2018-11-07 07:35:45 +11:00
Andrew Tridgell
843772a2bc AP_IOMCU: added some debug code 
and lower PKT_MAX_REGS to reduce max DMA size. This fixes an
occasional fault
 2018-11-07 07:35:45 +11:00
Andrew Tridgell
8ece4e3f64 AP_IOMCU: implement BRD_SAFETY_MASK in iofirmware 2018-11-07 07:35:45 +11:00
Andrew Tridgell
beff16abe6 AP_IOMCU: implement manual_rc_mask 2018-11-07 07:35:45 +11:00
Andrew Tridgell
27f06ce810 AP_IOMCU: trigger override at 1750 
thanks Michael
 2018-11-07 07:35:45 +11:00
Andrew Tridgell
46fcfe0582 AP_IOMCU: removed rc_channel range check 
feedback from @WickedShell
 2018-11-07 07:35:45 +11:00
Andrew Tridgell
e70a98fa9a AP_IOMCU: support elevon and vtail mixing in failsafe 2018-11-07 07:35:45 +11:00
Andrew Tridgell
285508d568 AP_IOMCU: added initial mixing support 
supports aileron, elevator, throttle and rudder
 2018-11-07 07:35:45 +11:00
Andrew Tridgell
ec73a7072b AP_IOMCU: use more bandwidth efficient IO read 2018-11-07 07:35:45 +11:00
Andrew Tridgell
191f72d2e6 AP_IOMCU: added mixing structure to protocol 2018-11-07 07:35:45 +11:00
Andrew Tridgell
cab5199da8 AP_IOMCU: fixed a race in event trigger on startup 
this fixes the issue with initial safety option state, and with
initial safety mask
 2018-11-05 19:24:44 +11:00
Andrew Tridgell
1711b93602 AP_IOMCU: fixed read packet count 2018-10-30 13:00:48 +11:00
Andrew Tridgell
ed48c24600 AP_IOMCU: added shutdown method 
this cleans up the reboot process
 2018-10-30 13:00:48 +11:00
Andrew Tridgell
f600ebd758 AP_IOMCU: added SBUS output support 2018-10-30 13:00:48 +11:00
Andrew Tridgell
af4340d1d1 HAL_ChibiOS: enable analog input on IOMCU 2018-10-30 13:00:48 +11:00
Andrew Tridgell
b45b8ff703 AP_IOMCU: added analog input to iofirmware 2018-10-30 13:00:48 +11:00
Andrew Tridgell
6ec87528db AP_IOMCU: fixed RCIN failsafe 2018-10-17 15:11:28 +11:00
Andrew Tridgell
92d8ef0e76 AP_IOMCU: run the rcin timer tick in main loop 
we no longer run a separate RCIN thread
 2018-10-17 15:11:28 +11:00
Andrew Tridgell
3641dcee44 AP_IOMCU: only build iofirmware for ChibiOS 2018-09-19 12:14:15 +10:00
Andrew Tridgell
17112c8988 waf: allow build with "./waf iofirmware" 2018-09-19 12:14:15 +10:00
Andrew Tridgell
848dd87d58 AP_IOMCU: fixed code style issues 2018-09-19 12:14:15 +10:00
Andrew Tridgell
ba87856deb AP_IOMCU: fixed build warning 2018-09-19 12:14:15 +10:00
Siddharth Purohit
605e0de03c AP_IOMCU: conform to new time conversion API 2018-09-19 12:14:15 +10:00
Siddharth Purohit
bc601c1ff6 AP_IOMCU: add Boardconfig to list of required libraries 2018-09-19 12:14:15 +10:00
Andrew Tridgell
f0b27c9b92 AP_IOMCU: support brushed output 2018-09-19 12:14:15 +10:00
Andrew Tridgell
cfb10fbb2f AP_IOMCU: fixed oneshot support in IO firmware 2018-09-19 12:14:15 +10:00
Andrew Tridgell
2c7e27374f AP_IOMCU: use ioevents for oneshot in iofirmware 2018-09-19 12:14:15 +10:00
Andrew Tridgell
ecfe06b9e4 AP_IOMCU: implement safety LED and switch in iofirmware 2018-09-19 12:14:15 +10:00
Andrew Tridgell
037a455784 AP_IOMCU: moved protocol structures to a common header 2018-09-19 12:14:15 +10:00
Andrew Tridgell
89bfd7e850 AP_IOMCU: added blue LED support on PH1 2018-09-19 12:14:15 +10:00
Siddharth Purohit
19c002baaf AP_IOMCU: add support for iofirmware update 2018-09-19 12:14:15 +10:00
Siddharth Purohit
fe3dda74bd AP_IOMCU: remove optimize override from iofirmware 2018-09-19 12:14:15 +10:00
Siddharth Purohit
4608e90913 IOMCU: add application for ioboard firmware 2018-09-19 12:14:15 +10:00
Andrew Tridgell
f22d5f0d40 AP_IOMCU: implement failsafe PWM 2018-09-13 08:15:02 +10:00
Andrew Tridgell
135e37e1f4 AP_IOMCU: cope with IOMCU reset in flight 
this copes with IOMCU reset when we have safety forced off
 2018-09-04 15:24:12 +10:00
Lucas De Marchi
668c941717 Global: use new version of ARRAY_SIZE 2018-08-04 15:31:55 +10:00