/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* AP_BoardConfig - px4 driver loading and setup
*/
#include <AP_HAL/AP_HAL.h>
#include "AP_BoardConfig.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_sbus.h>
#include <nuttx/arch.h>
#include <spawn.h>
extern const AP_HAL::HAL& hal;
/*
declare driver main entry points
*/
extern "C" {
int fmu_main(int, char **);
int px4io_main(int, char **);
int adc_main(int, char **);
int tone_alarm_main(int, char **);
};
/*
setup PWM pins
*/
void AP_BoardConfig::px4_setup_pwm()
{
#if CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_PX4_AEROFC_V1
/* configure the FMU driver for the right number of PWMs */
static const struct {
uint8_t mode_parm;
uint8_t mode_value;
uint8_t num_gpios;
} mode_table[] = {
/* table mapping BRD_PWM_COUNT to ioctl arguments */
{ 0, PWM_SERVO_MODE_NONE, 6 },
{ 2, PWM_SERVO_MODE_2PWM, 4 },
{ 4, PWM_SERVO_MODE_4PWM, 2 },
{ 6, PWM_SERVO_MODE_6PWM, 0 },
{ 7, PWM_SERVO_MODE_3PWM1CAP, 2 },
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
{ 8, PWM_SERVO_MODE_12PWM, 0 },
#endif
};
uint8_t mode_parm = (uint8_t)pwm_count.get();
uint8_t i;
for (i=0; i<ARRAY_SIZE(mode_table); i++) {
if (mode_table[i].mode_parm == mode_parm) {
break;
}
}
if (i == ARRAY_SIZE(mode_table)) {
hal.console->printf("RCOutput: invalid BRD_PWM_COUNT %u\n", mode_parm);
} else {
int fd = open("/dev/px4fmu", 0);
if (fd == -1) {
AP_HAL::panic("Unable to open /dev/px4fmu");
}
if (ioctl(fd, PWM_SERVO_SET_MODE, mode_table[i].mode_value) != 0) {
hal.console->printf("RCOutput: unable to setup AUX PWM with BRD_PWM_COUNT %u\n", mode_parm);
}
close(fd);
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
if (mode_table[i].num_gpios < 2) {
// reduce change of config mistake where relay and PWM interfere
AP_Param::set_default_by_name("RELAY_PIN", -1);
AP_Param::set_default_by_name("RELAY_PIN2", -1);
}
#endif
}
#endif
}
/*
setup safety switch
*/
void AP_BoardConfig::px4_setup_safety_mask()
{
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && HAL_HAVE_SAFETY_SWITCH
// setup channels to ignore the armed state
int px4io_fd = open("/dev/px4io", 0);
if (px4io_fd != -1) {
if (ioctl(px4io_fd, PWM_SERVO_IGNORE_SAFETY, (uint16_t)state.ignore_safety_channels) != 0) {
hal.console->printf("IGNORE_SAFETY failed\n");
}
}
int px4fmu_fd = open("/dev/px4fmu", 0);
if (px4fmu_fd != -1) {
uint16_t mask = state.ignore_safety_channels;
if (px4io_fd != -1) {
mask >>= 8;
}
if (ioctl(px4fmu_fd, PWM_SERVO_IGNORE_SAFETY, (uint16_t)mask) != 0) {
hal.console->printf("IGNORE_SAFETY failed\n");
}
close(px4fmu_fd);
}
if (px4io_fd != -1) {
close(px4io_fd);
}
#endif
}
extern "C" int waitpid(pid_t, int *, int);
/*
start one px4 driver
*/
bool AP_BoardConfig::px4_start_driver(main_fn_t main_function, const char *name, const char *arguments)
{
char *s = strdup(arguments);
char *args[10];
uint8_t nargs = 0;
char *saveptr = nullptr;
// parse into separate arguments
for (char *tok=strtok_r(s, " ", &saveptr); tok; tok=strtok_r(nullptr, " ", &saveptr)) {
args[nargs++] = tok;
if (nargs == ARRAY_SIZE(args)-1) {
break;
}
}
args[nargs++] = nullptr;
printf("Starting driver %s %s\n", name, arguments);
pid_t pid;
if (task_spawn(&pid, name, main_function, nullptr, nullptr,
args, nullptr) != 0) {
free(s);
printf("Failed to spawn %s\n", name);
return false;
}
// wait for task to exit and gather status
int status = -1;
if (waitpid(pid, &status, 0) != pid) {
printf("waitpid failed for %s\n", name);
free(s);
return false;
}
free(s);
return (status >> 8) == 0;
}
/*
play a tune
*/
void AP_BoardConfig::px4_tone_alarm(const char *tone_string)
{
px4_start_driver(tone_alarm_main, "tone_alarm", tone_string);
}
/*
setup px4io, possibly updating firmware
*/
void AP_BoardConfig::px4_setup_px4io(void)
{
if (px4_start_driver(px4io_main, "px4io", "start norc")) {
printf("px4io started OK\n");
} else {
// might be in bootloader mode if user held down safety switch
// at power on
printf("Loading /etc/px4io/px4io.bin\n");
px4_tone_alarm("MBABGP");
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
// we need to close uartC to prevent conflict between bootloader and
// uartC reada
hal.uartC->end();
#endif
if (px4_start_driver(px4io_main, "px4io", "update /etc/px4io/px4io.bin")) {
printf("upgraded PX4IO firmware OK\n");
px4_tone_alarm("MSPAA");
} else {
printf("Failed to upgrade PX4IO firmware\n");
px4_tone_alarm("MNGGG");
}
hal.scheduler->delay(1000);
if (px4_start_driver(px4io_main, "px4io", "start norc")) {
printf("px4io started OK\n");
} else {
sensor_config_error("px4io start failed");
}
}
/*
see if we need to update px4io firmware
*/
if (px4_start_driver(px4io_main, "px4io", "checkcrc /etc/px4io/px4io.bin")) {
printf("PX4IO CRC OK\n");
} else {
printf("PX4IO CRC failure\n");
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
// we need to close uartC to prevent conflict between bootloader and
// uartC reada
hal.uartC->end();
#endif
px4_tone_alarm("MBABGP");
if (px4_start_driver(px4io_main, "px4io", "safety_on")) {
printf("PX4IO disarm OK\n");
} else {
printf("PX4IO disarm failed\n");
}
hal.scheduler->delay(1000);
if (px4_start_driver(px4io_main, "px4io", "forceupdate 14662 /etc/px4io/px4io.bin")) {
hal.scheduler->delay(1000);
if (px4_start_driver(px4io_main, "px4io", "start norc")) {
printf("px4io restart OK\n");
px4_tone_alarm("MSPAA");
} else {
px4_tone_alarm("MNGGG");
sensor_config_error("PX4IO restart failed");
}
} else {
printf("PX4IO update failed\n");
px4_tone_alarm("MNGGG");
}
}
}
/*
setup required peripherals like adc, rcinput and rcoutput
*/
void AP_BoardConfig::px4_setup_peripherals(void)
{
// always start adc
if (px4_start_driver(adc_main, "adc", "start")) {
hal.analogin->init();
printf("ADC started OK\n");
} else {
sensor_config_error("no ADC found");
}
#if HAL_PX4_HAVE_PX4IO
if (state.io_enable.get() != 0) {
px4_setup_px4io();
}
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
const char *fmu_mode = "mode_serial";
#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
const char *fmu_mode = "mode_rcin";
#else
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
const char *fmu_mode = "mode_pwm";
#else
const char *fmu_mode = "mode_pwm4";
#endif
#endif
if (px4_start_driver(fmu_main, "fmu", fmu_mode)) {
printf("fmu %s started OK\n", fmu_mode);
} else {
sensor_config_error("fmu start failed");
}
hal.gpio->init();
hal.rcin->init();
hal.rcout->init();
}
#endif // HAL_BOARD_PX4