mirror of https://github.com/ArduPilot/ardupilot
539 lines
16 KiB
C++
539 lines
16 KiB
C++
/*
|
|
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 <GCS_MAVLink/GCS.h>
|
|
#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;
|
|
|
|
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 **);
|
|
};
|
|
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && !defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
|
|
/*
|
|
this is needed for the code to wait for CAN startup
|
|
*/
|
|
#define _UAVCAN_IOCBASE (0x4000) // IOCTL base for module UAVCAN
|
|
#define _UAVCAN_IOC(_n) (_IOC(_UAVCAN_IOCBASE, _n))
|
|
|
|
#define UAVCAN_IOCG_NODEID_INPROGRESS _UAVCAN_IOC(1) // query if node identification is in progress
|
|
#endif
|
|
|
|
|
|
/*
|
|
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
|
|
}
|
|
|
|
/*
|
|
setup safety switch
|
|
*/
|
|
void AP_BoardConfig::px4_setup_safety()
|
|
{
|
|
px4_setup_safety_mask();
|
|
|
|
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 (px4.can_enable >= 1) {
|
|
// give time for other drivers to fully start before we start
|
|
// canbus. This prevents a race where a canbus mag comes up
|
|
// before the hmc5883
|
|
hal.scheduler->delay(500);
|
|
if (px4_start_driver(uavcan_main, "uavcan", "start")) {
|
|
hal.console->printf("UAVCAN: started\n");
|
|
// give some time for CAN bus initialisation
|
|
hal.scheduler->delay(2000);
|
|
} else {
|
|
hal.console->printf("UAVCAN: failed to start\n");
|
|
}
|
|
// give time for canbus drivers to register themselves
|
|
hal.scheduler->delay(2000);
|
|
}
|
|
if (px4.can_enable >= 2) {
|
|
if (px4_start_driver(uavcan_main, "uavcan", "start fw")) {
|
|
uint32_t start_wait_ms = AP_HAL::millis();
|
|
int fd = open("/dev/uavcan/esc", 0); // design flaw of uavcan driver, this should be /dev/uavcan/node one day
|
|
if (fd == -1) {
|
|
AP_HAL::panic("Configuration invalid - unable to open /dev/uavcan/esc");
|
|
}
|
|
|
|
// delay startup, UAVCAN still discovering nodes
|
|
while (ioctl(fd, UAVCAN_IOCG_NODEID_INPROGRESS,0) == OK &&
|
|
AP_HAL::millis() - start_wait_ms < 7000) {
|
|
hal.scheduler->delay(500);
|
|
}
|
|
hal.console->printf("UAVCAN: node discovery complete\n");
|
|
close(fd);
|
|
}
|
|
}
|
|
#endif // CONFIG_HAL_BOARD && !CONFIG_ARCH_BOARD_PX4FMU_V1
|
|
}
|
|
|
|
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(60);
|
|
}
|
|
|
|
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_PH2SLIM:
|
|
break;
|
|
default:
|
|
px4_sensor_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 {
|
|
px4_sensor_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");
|
|
px4_sensor_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 {
|
|
px4_sensor_error("no ADC found");
|
|
}
|
|
|
|
#ifndef CONFIG_ARCH_BOARD_PX4FMU_V4
|
|
px4_setup_px4io();
|
|
#endif
|
|
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
|
|
const char *fmu_mode = "mode_serial";
|
|
#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 {
|
|
px4_sensor_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 LSMREG_WHOAMI 0x0f
|
|
#define LSM_WHOAMI_LSM303D 0x49
|
|
|
|
/*
|
|
auto-detect board type
|
|
*/
|
|
void AP_BoardConfig::px4_autodetect(void)
|
|
{
|
|
if (px4.board_type != PX4_BOARD_AUTO) {
|
|
// 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_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_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_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 {
|
|
px4_sensor_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");
|
|
#endif
|
|
|
|
}
|
|
|
|
/*
|
|
fail startup of a required sensor
|
|
*/
|
|
void AP_BoardConfig::px4_sensor_error(const char *reason)
|
|
{
|
|
/*
|
|
to give the user the opportunity to connect to USB we keep
|
|
repeating the error. The mavlink delay callback is initialised
|
|
before this, so the user can change parameters (and in
|
|
particular BRD_TYPE if needed)
|
|
*/
|
|
while (true) {
|
|
printf("Sensor failure: %s\n", reason);
|
|
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_ERROR, "Check BRD_TYPE: %s", reason);
|
|
hal.scheduler->delay(3000);
|
|
}
|
|
}
|
|
|
|
/*
|
|
setup px4 peripherals and drivers
|
|
*/
|
|
void AP_BoardConfig::px4_setup()
|
|
{
|
|
px4_setup_peripherals();
|
|
px4_setup_pwm();
|
|
px4_setup_safety();
|
|
px4_setup_uart();
|
|
px4_setup_sbus();
|
|
px4_setup_drivers();
|
|
px4_setup_canbus();
|
|
}
|
|
|
|
#endif // HAL_BOARD_PX4
|