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163 Commits

Author SHA1 Message Date
Andy Piper 9db5d0bf9b AP_IOMCU: reduce latency for oneshot 
correctly update outmode modes when requested
get ARM CPUID and display in startup banner
ensure correct rc input timing on 1Khz iofirmware
 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 bb730e8e24 AP_IOMCU: inverted locking model 2 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
Hayden 11dd9e8095 AP_IOMCU: Add #pragma once 
Added #pragma once to AP_IOMCU as this caused compile issues when adding bindings to the LUA scripting
 2023-05-24 12:39:47 +10:00
Andrew Tridgell a25ffa266f 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
 2023-05-23 12:11:04 +10:00
Peter Barker f1be6df93e AP_IOMCU: honour AP_RCPROTOCOL_X_ENABLED 2023-05-02 10:19:50 +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 d921c427b1 AP_IOCMU: improved the safety button reset test code 
this allows testing of either watchdog or hard-fault reset
 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
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