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ardupilot/libraries/AP_BoardConfig/px4_drivers.cpp

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/*
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>
#if HAL_WITH_UAVCAN
#include <AP_HAL_PX4/CAN.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
#endif
extern const AP_HAL::HAL& hal;
AP_BoardConfig::px4_board_type AP_BoardConfig::px4_configured_board;
/*
declare driver main entry points
*/
extern "C" {
#if HAL_WITH_UAVCAN
int uavcan_main(int, char **);
#endif
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()
{
/* 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)px4.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
}
}
/*
setup flow control on UARTs
*/
void AP_BoardConfig::px4_setup_uart()
{
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
hal.uartC->set_flow_control((AP_HAL::UARTDriver::flow_control)px4.ser1_rtscts.get());
if (hal.uartD != nullptr) {
hal.uartD->set_flow_control((AP_HAL::UARTDriver::flow_control)px4.ser2_rtscts.get());
}
#endif
}
/*
setup safety switch
*/
void AP_BoardConfig::px4_setup_safety_mask()
{
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
// 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)px4.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 = px4.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
}
/*
init safety state
*/
void AP_BoardConfig::px4_init_safety()
{
if (px4.safety_enable.get() == 0) {
hal.rcout->force_safety_off();
hal.rcout->force_safety_no_wait();
// wait until safety has been turned off
uint8_t count = 20;
while (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_ARMED && count--) {
hal.scheduler->delay(20);
}
}
}
/*
setup SBUS
*/
void AP_BoardConfig::px4_setup_sbus(void)
{
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
if (px4.sbus_out_rate.get() >= 1) {
static const struct {
uint8_t value;
uint16_t rate;
} rates[] = {
{ 1, 50 },
{ 2, 75 },
{ 3, 100 },
{ 4, 150 },
{ 5, 200 },
{ 6, 250 },
{ 7, 300 }
};
uint16_t rate = 300;
for (uint8_t i=0; i<ARRAY_SIZE(rates); i++) {
if (rates[i].value == px4.sbus_out_rate) {
rate = rates[i].rate;
}
}
if (!hal.rcout->enable_sbus_out(rate)) {
hal.console->printf("Failed to enable SBUS out\n");
}
}
#endif
}
/*
setup CANBUS drivers
*/
void AP_BoardConfig::px4_setup_canbus(void)
{
#if HAL_WITH_UAVCAN
if (_var_info_can._can_enable >= 1) {
if(hal.can_mgr == nullptr)
{
const_cast <AP_HAL::HAL&> (hal).can_mgr = new PX4::PX4CANManager;
}
if(hal.can_mgr != nullptr)
{
if(_var_info_can._uavcan_enable > 0)
{
_var_info_can._uavcan = new AP_UAVCAN;
if(_var_info_can._uavcan != nullptr)
{
AP_Param::load_object_from_eeprom(_var_info_can._uavcan, AP_UAVCAN::var_info);
hal.can_mgr->set_UAVCAN(_var_info_can._uavcan);
bool initret = hal.can_mgr->begin(_var_info_can._can_bitrate, _var_info_can._can_enable);
if (!initret) {
hal.console->printf("Failed to initialize can_mgr\n\r");
} else {
hal.console->printf("can_mgr initialized well\n\r");
// start UAVCAN working thread
hal.scheduler->create_uavcan_thread();
}
} else
{
_var_info_can._uavcan_enable.set(0);
hal.console->printf("AP_UAVCAN failed to allocate\n\r");
}
}
}
}
#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;
}
void AP_BoardConfig::px4_setup_drivers(void)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
/*
this works around an issue with some FMUv4 hardware (eg. copies
of the Pixracer) which have incorrect components leading to
sensor brownout on boot
*/
if (px4_start_driver(fmu_main, "fmu", "sensor_reset 20")) {
printf("FMUv4 sensor reset complete\n");
}
#endif
if (px4.board_type == PX4_BOARD_OLDDRIVERS) {
printf("Old drivers no longer supported\n");
px4.board_type = PX4_BOARD_AUTO;
}
// run board auto-detection
px4_autodetect();
if (px4.board_type == PX4_BOARD_PH2SLIM ||
px4.board_type == PX4_BOARD_PIXHAWK2) {
_imu_target_temperature.set_default(45);
if (_imu_target_temperature.get() < 0) {
// don't allow a value of -1 on the cube, or it could cook
// the IMU
_imu_target_temperature.set(45);
}
}
px4_configured_board = (enum px4_board_type)px4.board_type.get();
switch (px4_configured_board) {
case PX4_BOARD_PX4V1:
case PX4_BOARD_PIXHAWK:
case PX4_BOARD_PIXHAWK2:
case PX4_BOARD_PIXRACER:
case PX4_BOARD_PHMINI:
case PX4_BOARD_AUAV21:
case PX4_BOARD_PH2SLIM:
case PX4_BOARD_AEROFC:
break;
default:
sensor_config_error("Unknown board type");
break;
}
}
/*
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 (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");
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 (px4.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
const char *fmu_mode = "mode_pwm4";
#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();
}
/*
check a SPI device for a register value
*/
bool AP_BoardConfig::spi_check_register(const char *devname, uint8_t regnum, uint8_t value, uint8_t read_flag)
{
auto dev = hal.spi->get_device(devname);
if (!dev) {
printf("%s: no device\n", devname);
return false;
}
dev->set_read_flag(read_flag);
uint8_t v;
if (!dev->read_registers(regnum, &v, 1)) {
printf("%s: reg %02x read fail\n", devname, (unsigned)regnum);
return false;
}
printf("%s: reg %02x %02x %02x\n", devname, (unsigned)regnum, (unsigned)value, (unsigned)v);
return v == value;
}
#define MPUREG_WHOAMI 0x75
#define MPU_WHOAMI_MPU60X0 0x68
#define MPU_WHOAMI_MPU9250 0x71
#define MPU_WHOAMI_ICM20608 0xaf
#define MPU_WHOAMI_ICM20602 0x12
#define LSMREG_WHOAMI 0x0f
#define LSM_WHOAMI_LSM303D 0x49
/*
validation of the board type
*/
void AP_BoardConfig::validate_board_type(void)
{
/* some boards can be damaged by the user setting the wrong board
type. The key one is the cube which has a heater which can
cook the IMUs if the user uses an old paramater file. We
override the board type for that specific case
*/
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
if (px4.board_type == PX4_BOARD_PIXHAWK &&
(spi_check_register(HAL_INS_MPU60x0_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
spi_check_register(HAL_INS_MPU9250_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU9250) ||
spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
spi_check_register(HAL_INS_LSM9DS0_EXT_A_NAME, LSMREG_WHOAMI, LSM_WHOAMI_LSM303D)) {
// Pixhawk2 has LSM303D and MPUxxxx on external bus. If we
// detect those, then force PIXHAWK2, even if the user has
// configured for PIXHAWK1
#if !defined(CONFIG_ARCH_BOARD_PX4FMU_V3)
// force user to load the right firmware
sensor_config_error("Pixhawk2 requires FMUv3 firmware");
#endif
px4.board_type.set(PX4_BOARD_PIXHAWK2);
hal.console->printf("Forced PIXHAWK2\n");
}
#endif
}
/*
auto-detect board type
*/
void AP_BoardConfig::px4_autodetect(void)
{
if (px4.board_type != PX4_BOARD_AUTO) {
validate_board_type();
// user has chosen a board type
return;
}
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
// only one choice
px4.board_type.set(PX4_BOARD_PX4V1);
hal.console->printf("Detected PX4v1\n");
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
if ((spi_check_register(HAL_INS_MPU60x0_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
spi_check_register(HAL_INS_MPU9250_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU9250) ||
spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
spi_check_register(HAL_INS_LSM9DS0_EXT_A_NAME, LSMREG_WHOAMI, LSM_WHOAMI_LSM303D)) {
// Pixhawk2 has LSM303D and MPUxxxx on external bus
px4.board_type.set(PX4_BOARD_PIXHAWK2);
hal.console->printf("Detected PIXHAWK2\n");
} else if ((spi_check_register(HAL_INS_ICM20608_AM_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
spi_check_register(HAL_INS_ICM20608_AM_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
spi_check_register(HAL_INS_MPU9250_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU9250)) {
// PHMINI has an ICM20608 and MPU9250 on sensor bus
px4.board_type.set(PX4_BOARD_PHMINI);
hal.console->printf("Detected PixhawkMini\n");
} else if (spi_check_register(HAL_INS_LSM9DS0_A_NAME, LSMREG_WHOAMI, LSM_WHOAMI_LSM303D) &&
(spi_check_register(HAL_INS_MPU60x0_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
spi_check_register(HAL_INS_ICM20608_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
spi_check_register(HAL_INS_ICM20608_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20602) ||
spi_check_register(HAL_INS_MPU9250_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU9250))) {
// classic or upgraded Pixhawk1
px4.board_type.set(PX4_BOARD_PIXHAWK);
hal.console->printf("Detected Pixhawk\n");
} else {
sensor_config_error("Unable to detect board type");
}
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
// only one choice
px4.board_type.set_and_notify(PX4_BOARD_PIXRACER);
hal.console->printf("Detected Pixracer\n");
#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
px4.board_type.set_and_notify(PX4_BOARD_AEROFC);
hal.console->printf("Detected Aero FC\n");
#endif
}
/*
setup px4 peripherals and drivers
*/
void AP_BoardConfig::px4_setup()
{
px4_setup_peripherals();
px4_setup_pwm();
px4_setup_safety_mask();
px4_setup_uart();
px4_setup_sbus();
px4_setup_drivers();
px4_setup_canbus();
}
#endif // HAL_BOARD_PX4
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