/* implement protocol for controlling an IO microcontroller For bootstrapping this will initially implement the px4io protocol, but will later move to an ArduPilot specific protocol */ #include #if HAL_WITH_IO_MCU #include "ch.h" #include "iofirmware/ioprotocol.h" #include class AP_IOMCU { public: AP_IOMCU(AP_HAL::UARTDriver &uart); void init(void); // write to one channel void write_channel(uint8_t chan, uint16_t pwm); // read from one channel uint16_t read_channel(uint8_t chan); // cork output void cork(void); // push output void push(void); // set output frequency void set_freq(uint16_t chmask, uint16_t freq); // get output frequency uint16_t get_freq(uint16_t chan); // get state of safety switch AP_HAL::Util::safety_state get_safety_switch_state(void) const; // force safety on bool force_safety_on(void); // force safety off void force_safety_off(void); // set PWM of channels when safety is on void set_safety_pwm(uint16_t chmask, uint16_t period_us); // set mask of channels that ignore safety state void set_safety_mask(uint16_t chmask); // set PWM of channels when in FMU failsafe void set_failsafe_pwm(uint16_t chmask, uint16_t period_us); /* enable sbus output */ bool enable_sbus_out(uint16_t rate_hz); /* check for new RC input */ bool check_rcinput(uint32_t &last_frame_us, uint8_t &num_channels, uint16_t *channels, uint8_t max_channels); // Do DSM receiver binding void bind_dsm(uint8_t mode); // 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 */ float get_vservo(void) const { return reg_status.vservo * 0.001; } /* get rssi voltage */ float get_vrssi(void) const { return reg_status.vrssi * 0.001; } // set target for IMU heater void set_heater_duty_cycle(uint8_t duty_cycle); // set default output rate void set_default_rate(uint16_t rate_hz); // set to oneshot mode void set_oneshot_mode(void); // set to brushed mode void set_brushed_mode(void); // check if IO is healthy bool healthy(void); // shutdown IO protocol (for reboot) void shutdown(); // setup for FMU failsafe mixing bool setup_mixing(RCMapper *rcmap, int8_t override_chan, float mixing_gain, uint16_t manual_rc_mask); // channel group masks const uint8_t ch_masks[3] = { 0x03,0x0C,0xF0 }; static AP_IOMCU *get_singleton(void) { return singleton; } private: AP_HAL::UARTDriver &uart; void thread_main(void); // read count 16 bit registers bool read_registers(uint8_t page, uint8_t offset, uint8_t count, uint16_t *regs); // write count 16 bit registers bool write_registers(uint8_t page, uint8_t offset, uint8_t count, const uint16_t *regs); // write a single register bool write_register(uint8_t page, uint8_t offset, uint16_t v) { return write_registers(page, offset, 1, &v); } // modify a single register bool modify_register(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits); // trigger an ioevent void trigger_event(uint8_t event); // IOMCU thread thread_t *thread_ctx; eventmask_t initial_event_mask; // time when we last read various pages uint32_t last_status_read_ms; uint32_t last_rc_read_ms; uint32_t last_servo_read_ms; uint32_t last_safety_option_check_ms; // last value of safety options uint16_t last_safety_options = 0xFFFF; // have we forced the safety off? bool safety_forced_off; // was safety off on last status? bool last_safety_off; void send_servo_out(void); void read_rc_input(void); void read_servo(void); void read_status(void); void discard_input(void); void event_failed(uint32_t event_mask); void update_safety_options(void); void send_rc_protocols(void); // CONFIG page struct page_config config; // PAGE_STATUS values struct page_reg_status reg_status; uint32_t last_log_ms; // PAGE_RAW_RCIN values struct page_rc_input rc_input; uint32_t rc_last_input_ms; // MIXER values struct page_mixing mixing; // output pwm values struct { uint8_t num_channels; uint16_t pwm[IOMCU_MAX_CHANNELS]; uint8_t safety_pwm_set; uint8_t safety_pwm_sent; uint16_t safety_pwm[IOMCU_MAX_CHANNELS]; uint16_t safety_mask; uint16_t failsafe_pwm[IOMCU_MAX_CHANNELS]; uint8_t failsafe_pwm_set; uint8_t failsafe_pwm_sent; } pwm_out; // read back pwm values struct { uint16_t pwm[IOMCU_MAX_CHANNELS]; } pwm_in; // output rates struct { uint16_t freq; uint16_t chmask; uint16_t default_freq = 50; uint16_t sbus_rate_hz; bool oneshot_enabled; bool brushed_enabled; } rate; // IMU heater duty cycle uint8_t heater_duty_cycle; uint32_t last_servo_out_us; bool corked; bool do_shutdown; bool done_shutdown; bool crc_is_ok; bool detected_io_reset; bool initialised; bool is_chibios_backend; uint32_t protocol_fail_count; uint32_t protocol_count; uint32_t total_errors; uint32_t num_delayed; uint32_t last_iocmu_timestamp_ms; uint32_t read_status_errors; uint32_t read_status_ok; uint32_t last_rc_protocols; // firmware upload const char *fw_name = "io_firmware.bin"; const uint8_t *fw; uint32_t fw_size; size_t write_wait(const uint8_t *pkt, uint8_t len); bool upload_fw(void); bool recv_byte_with_timeout(uint8_t *c, uint32_t timeout_ms); bool recv_bytes(uint8_t *p, uint32_t count); void drain(void); bool send(uint8_t c); bool send(const uint8_t *p, uint32_t count); bool get_sync(uint32_t timeout = 40); bool sync(); bool get_info(uint8_t param, uint32_t &val); bool erase(); bool program(uint32_t fw_size); bool verify_rev2(uint32_t fw_size); bool verify_rev3(uint32_t fw_size_local); bool reboot(); bool check_crc(void); void handle_repeated_failures(); void check_iomcu_reset(); static AP_IOMCU *singleton; enum { PROTO_NOP = 0x00, PROTO_OK = 0x10, PROTO_FAILED = 0x11, PROTO_INSYNC = 0x12, PROTO_INVALID = 0x13, PROTO_BAD_SILICON_REV = 0x14, PROTO_EOC = 0x20, PROTO_GET_SYNC = 0x21, PROTO_GET_DEVICE = 0x22, PROTO_CHIP_ERASE = 0x23, PROTO_CHIP_VERIFY = 0x24, PROTO_PROG_MULTI = 0x27, PROTO_READ_MULTI = 0x28, PROTO_GET_CRC = 0x29, PROTO_GET_OTP = 0x2a, PROTO_GET_SN = 0x2b, PROTO_GET_CHIP = 0x2c, PROTO_SET_DELAY = 0x2d, PROTO_GET_CHIP_DES = 0x2e, PROTO_REBOOT = 0x30, INFO_BL_REV = 1, /**< bootloader protocol revision */ BL_REV = 5, /**< supported bootloader protocol */ INFO_BOARD_ID = 2, /**< board type */ INFO_BOARD_REV = 3, /**< board revision */ INFO_FLASH_SIZE = 4, /**< max firmware size in bytes */ PROG_MULTI_MAX = 248, /**< protocol max is 255, must be multiple of 4 */ }; }; namespace AP { AP_IOMCU *iomcu(void); }; #endif // HAL_WITH_IO_MCU