mirror of https://github.com/ArduPilot/ardupilot
523 lines
15 KiB
C++
523 lines
15 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AP_BoardConfig - px4 driver loading and setup
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*/
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#include <AP_HAL/AP_HAL.h>
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#include "AP_BoardConfig.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <drivers/drv_pwm_output.h>
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#include <drivers/drv_sbus.h>
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#include <nuttx/arch.h>
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#include <spawn.h>
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#if HAL_WITH_UAVCAN
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#include <AP_HAL_PX4/CAN.h>
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#include <AP_UAVCAN/AP_UAVCAN.h>
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#endif
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extern const AP_HAL::HAL& hal;
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AP_BoardConfig::px4_board_type AP_BoardConfig::px4_configured_board;
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/*
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declare driver main entry points
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*/
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extern "C" {
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#if HAL_WITH_UAVCAN
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int uavcan_main(int, char **);
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#endif
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int fmu_main(int, char **);
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int px4io_main(int, char **);
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int adc_main(int, char **);
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int tone_alarm_main(int, char **);
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};
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/*
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setup PWM pins
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*/
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void AP_BoardConfig::px4_setup_pwm()
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{
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/* configure the FMU driver for the right number of PWMs */
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static const struct {
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uint8_t mode_parm;
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uint8_t mode_value;
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uint8_t num_gpios;
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} mode_table[] = {
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/* table mapping BRD_PWM_COUNT to ioctl arguments */
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{ 0, PWM_SERVO_MODE_NONE, 6 },
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{ 2, PWM_SERVO_MODE_2PWM, 4 },
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{ 4, PWM_SERVO_MODE_4PWM, 2 },
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{ 6, PWM_SERVO_MODE_6PWM, 0 },
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{ 7, PWM_SERVO_MODE_3PWM1CAP, 2 },
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#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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{ 8, PWM_SERVO_MODE_12PWM, 0 },
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#endif
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};
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uint8_t mode_parm = (uint8_t)px4.pwm_count.get();
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uint8_t i;
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for (i=0; i<ARRAY_SIZE(mode_table); i++) {
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if (mode_table[i].mode_parm == mode_parm) {
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break;
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}
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}
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if (i == ARRAY_SIZE(mode_table)) {
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hal.console->printf("RCOutput: invalid BRD_PWM_COUNT %u\n", mode_parm);
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} else {
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int fd = open("/dev/px4fmu", 0);
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if (fd == -1) {
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AP_HAL::panic("Unable to open /dev/px4fmu");
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}
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if (ioctl(fd, PWM_SERVO_SET_MODE, mode_table[i].mode_value) != 0) {
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hal.console->printf("RCOutput: unable to setup AUX PWM with BRD_PWM_COUNT %u\n", mode_parm);
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}
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close(fd);
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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if (mode_table[i].num_gpios < 2) {
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// reduce change of config mistake where relay and PWM interfere
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AP_Param::set_default_by_name("RELAY_PIN", -1);
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AP_Param::set_default_by_name("RELAY_PIN2", -1);
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}
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#endif
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}
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}
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/*
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setup flow control on UARTs
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*/
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void AP_BoardConfig::px4_setup_uart()
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{
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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hal.uartC->set_flow_control((AP_HAL::UARTDriver::flow_control)px4.ser1_rtscts.get());
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if (hal.uartD != nullptr) {
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hal.uartD->set_flow_control((AP_HAL::UARTDriver::flow_control)px4.ser2_rtscts.get());
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}
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#endif
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}
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/*
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setup safety switch
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*/
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void AP_BoardConfig::px4_setup_safety_mask()
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{
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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// setup channels to ignore the armed state
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int px4io_fd = open("/dev/px4io", 0);
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if (px4io_fd != -1) {
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if (ioctl(px4io_fd, PWM_SERVO_IGNORE_SAFETY, (uint16_t)px4.ignore_safety_channels) != 0) {
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hal.console->printf("IGNORE_SAFETY failed\n");
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}
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}
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int px4fmu_fd = open("/dev/px4fmu", 0);
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if (px4fmu_fd != -1) {
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uint16_t mask = px4.ignore_safety_channels;
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if (px4io_fd != -1) {
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mask >>= 8;
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}
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if (ioctl(px4fmu_fd, PWM_SERVO_IGNORE_SAFETY, (uint16_t)mask) != 0) {
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hal.console->printf("IGNORE_SAFETY failed\n");
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}
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close(px4fmu_fd);
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}
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if (px4io_fd != -1) {
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close(px4io_fd);
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}
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#endif
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}
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/*
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init safety state
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*/
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void AP_BoardConfig::px4_init_safety()
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{
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if (px4.safety_enable.get() == 0) {
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hal.rcout->force_safety_off();
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hal.rcout->force_safety_no_wait();
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// wait until safety has been turned off
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uint8_t count = 20;
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while (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_ARMED && count--) {
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hal.scheduler->delay(20);
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}
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}
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}
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/*
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setup SBUS
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*/
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void AP_BoardConfig::px4_setup_sbus(void)
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{
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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if (px4.sbus_out_rate.get() >= 1) {
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static const struct {
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uint8_t value;
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uint16_t rate;
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} rates[] = {
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{ 1, 50 },
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{ 2, 75 },
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{ 3, 100 },
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{ 4, 150 },
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{ 5, 200 },
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{ 6, 250 },
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{ 7, 300 }
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};
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uint16_t rate = 300;
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for (uint8_t i=0; i<ARRAY_SIZE(rates); i++) {
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if (rates[i].value == px4.sbus_out_rate) {
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rate = rates[i].rate;
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}
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}
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if (!hal.rcout->enable_sbus_out(rate)) {
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hal.console->printf("Failed to enable SBUS out\n");
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}
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}
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#endif
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}
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/*
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setup CANBUS drivers
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*/
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void AP_BoardConfig::px4_setup_canbus(void)
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{
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#if HAL_WITH_UAVCAN
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if (_var_info_can._can_enable >= 1) {
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if(hal.can_mgr == nullptr)
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{
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const_cast <AP_HAL::HAL&> (hal).can_mgr = new PX4::PX4CANManager;
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}
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if(hal.can_mgr != nullptr)
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{
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if(_var_info_can._uavcan_enable > 0)
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{
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_var_info_can._uavcan = new AP_UAVCAN;
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if(_var_info_can._uavcan != nullptr)
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{
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AP_Param::load_object_from_eeprom(_var_info_can._uavcan, AP_UAVCAN::var_info);
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hal.can_mgr->set_UAVCAN(_var_info_can._uavcan);
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bool initret = hal.can_mgr->begin(_var_info_can._can_bitrate, _var_info_can._can_enable);
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if (!initret) {
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hal.console->printf("Failed to initialize can_mgr\n\r");
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} else {
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hal.console->printf("can_mgr initialized well\n\r");
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// start UAVCAN working thread
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hal.scheduler->create_uavcan_thread();
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}
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} else
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{
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_var_info_can._uavcan_enable.set(0);
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hal.console->printf("AP_UAVCAN failed to allocate\n\r");
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}
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}
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}
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}
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#endif
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}
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extern "C" int waitpid(pid_t, int *, int);
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/*
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start one px4 driver
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*/
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bool AP_BoardConfig::px4_start_driver(main_fn_t main_function, const char *name, const char *arguments)
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{
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char *s = strdup(arguments);
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char *args[10];
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uint8_t nargs = 0;
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char *saveptr = nullptr;
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// parse into separate arguments
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for (char *tok=strtok_r(s, " ", &saveptr); tok; tok=strtok_r(nullptr, " ", &saveptr)) {
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args[nargs++] = tok;
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if (nargs == ARRAY_SIZE(args)-1) {
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break;
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}
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}
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args[nargs++] = nullptr;
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printf("Starting driver %s %s\n", name, arguments);
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pid_t pid;
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if (task_spawn(&pid, name, main_function, nullptr, nullptr,
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args, nullptr) != 0) {
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free(s);
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printf("Failed to spawn %s\n", name);
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return false;
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}
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// wait for task to exit and gather status
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int status = -1;
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if (waitpid(pid, &status, 0) != pid) {
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printf("waitpid failed for %s\n", name);
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free(s);
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return false;
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}
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free(s);
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return (status >> 8) == 0;
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}
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void AP_BoardConfig::px4_setup_drivers(void)
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{
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#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
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/*
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this works around an issue with some FMUv4 hardware (eg. copies
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of the Pixracer) which have incorrect components leading to
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sensor brownout on boot
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*/
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if (px4_start_driver(fmu_main, "fmu", "sensor_reset 20")) {
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printf("FMUv4 sensor reset complete\n");
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}
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#endif
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if (px4.board_type == PX4_BOARD_OLDDRIVERS) {
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printf("Old drivers no longer supported\n");
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px4.board_type = PX4_BOARD_AUTO;
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}
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// run board auto-detection
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px4_autodetect();
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if (px4.board_type == PX4_BOARD_PH2SLIM ||
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px4.board_type == PX4_BOARD_PIXHAWK2) {
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_imu_target_temperature.set_default(60);
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}
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px4_configured_board = (enum px4_board_type)px4.board_type.get();
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switch (px4_configured_board) {
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case PX4_BOARD_PX4V1:
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case PX4_BOARD_PIXHAWK:
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case PX4_BOARD_PIXHAWK2:
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case PX4_BOARD_PIXRACER:
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case PX4_BOARD_PHMINI:
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case PX4_BOARD_AUAV21:
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case PX4_BOARD_PH2SLIM:
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case PX4_BOARD_AEROFC:
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break;
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default:
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sensor_config_error("Unknown board type");
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break;
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}
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}
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/*
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play a tune
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*/
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void AP_BoardConfig::px4_tone_alarm(const char *tone_string)
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{
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px4_start_driver(tone_alarm_main, "tone_alarm", tone_string);
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}
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/*
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setup px4io, possibly updating firmware
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*/
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void AP_BoardConfig::px4_setup_px4io(void)
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{
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if (px4_start_driver(px4io_main, "px4io", "start norc")) {
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printf("px4io started OK\n");
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} else {
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// might be in bootloader mode if user held down safety switch
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// at power on
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printf("Loading /etc/px4io/px4io.bin\n");
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px4_tone_alarm("MBABGP");
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if (px4_start_driver(px4io_main, "px4io", "update /etc/px4io/px4io.bin")) {
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printf("upgraded PX4IO firmware OK\n");
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px4_tone_alarm("MSPAA");
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} else {
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printf("Failed to upgrade PX4IO firmware\n");
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px4_tone_alarm("MNGGG");
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}
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hal.scheduler->delay(1000);
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if (px4_start_driver(px4io_main, "px4io", "start norc")) {
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printf("px4io started OK\n");
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} else {
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sensor_config_error("px4io start failed");
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}
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}
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/*
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see if we need to update px4io firmware
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*/
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if (px4_start_driver(px4io_main, "px4io", "checkcrc /etc/px4io/px4io.bin")) {
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printf("PX4IO CRC OK\n");
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} else {
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printf("PX4IO CRC failure\n");
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px4_tone_alarm("MBABGP");
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if (px4_start_driver(px4io_main, "px4io", "safety_on")) {
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printf("PX4IO disarm OK\n");
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} else {
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printf("PX4IO disarm failed\n");
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}
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hal.scheduler->delay(1000);
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if (px4_start_driver(px4io_main, "px4io", "forceupdate 14662 /etc/px4io/px4io.bin")) {
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hal.scheduler->delay(1000);
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if (px4_start_driver(px4io_main, "px4io", "start norc")) {
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printf("px4io restart OK\n");
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px4_tone_alarm("MSPAA");
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} else {
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px4_tone_alarm("MNGGG");
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sensor_config_error("PX4IO restart failed");
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}
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} else {
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printf("PX4IO update failed\n");
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px4_tone_alarm("MNGGG");
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}
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}
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}
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/*
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setup required peripherals like adc, rcinput and rcoutput
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*/
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void AP_BoardConfig::px4_setup_peripherals(void)
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{
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// always start adc
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if (px4_start_driver(adc_main, "adc", "start")) {
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hal.analogin->init();
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printf("ADC started OK\n");
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} else {
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sensor_config_error("no ADC found");
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}
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#if HAL_PX4_HAVE_PX4IO
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if (px4.io_enable.get() != 0) {
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px4_setup_px4io();
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}
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#endif
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#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
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const char *fmu_mode = "mode_serial";
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#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
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const char *fmu_mode = "mode_rcin";
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#else
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const char *fmu_mode = "mode_pwm4";
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#endif
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if (px4_start_driver(fmu_main, "fmu", fmu_mode)) {
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printf("fmu %s started OK\n", fmu_mode);
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} else {
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sensor_config_error("fmu start failed");
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}
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hal.gpio->init();
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hal.rcin->init();
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hal.rcout->init();
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}
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/*
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check a SPI device for a register value
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*/
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bool AP_BoardConfig::spi_check_register(const char *devname, uint8_t regnum, uint8_t value, uint8_t read_flag)
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{
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auto dev = hal.spi->get_device(devname);
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if (!dev) {
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printf("%s: no device\n", devname);
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return false;
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}
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dev->set_read_flag(read_flag);
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uint8_t v;
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if (!dev->read_registers(regnum, &v, 1)) {
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printf("%s: reg %02x read fail\n", devname, (unsigned)regnum);
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return false;
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}
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printf("%s: reg %02x %02x %02x\n", devname, (unsigned)regnum, (unsigned)value, (unsigned)v);
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return v == value;
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}
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#define MPUREG_WHOAMI 0x75
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#define MPU_WHOAMI_MPU60X0 0x68
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#define MPU_WHOAMI_MPU9250 0x71
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#define MPU_WHOAMI_ICM20608 0xaf
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#define MPU_WHOAMI_ICM20602 0x12
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#define LSMREG_WHOAMI 0x0f
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#define LSM_WHOAMI_LSM303D 0x49
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/*
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auto-detect board type
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*/
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void AP_BoardConfig::px4_autodetect(void)
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{
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if (px4.board_type != PX4_BOARD_AUTO) {
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// user has chosen a board type
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return;
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}
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#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
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// only one choice
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px4.board_type.set(PX4_BOARD_PX4V1);
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hal.console->printf("Detected PX4v1\n");
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#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
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if ((spi_check_register(HAL_INS_MPU60x0_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
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spi_check_register(HAL_INS_MPU9250_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU9250) ||
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spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
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spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
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spi_check_register(HAL_INS_LSM9DS0_EXT_A_NAME, LSMREG_WHOAMI, LSM_WHOAMI_LSM303D)) {
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// Pixhawk2 has LSM303D and MPUxxxx on external bus
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px4.board_type.set(PX4_BOARD_PIXHAWK2);
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hal.console->printf("Detected PIXHAWK2\n");
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} 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
|