mirror of https://github.com/ArduPilot/ardupilot
264 lines
6.8 KiB
C++
264 lines
6.8 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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#include "Util.h"
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#include <chheap.h>
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#include "ToneAlarm.h"
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#include "RCOutput.h"
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#include "hwdef/common/stm32_util.h"
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#include "hwdef/common/flash.h"
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#include <AP_ROMFS/AP_ROMFS.h>
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#if HAL_WITH_IO_MCU
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <AP_IOMCU/AP_IOMCU.h>
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extern AP_IOMCU iomcu;
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#endif
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extern const AP_HAL::HAL& hal;
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using namespace ChibiOS;
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#if CH_CFG_USE_HEAP == TRUE
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/**
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how much free memory do we have in bytes.
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*/
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uint32_t Util::available_memory(void)
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{
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// from malloc.c in hwdef
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return mem_available();
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}
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/*
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Special Allocation Routines
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*/
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void* Util::malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type)
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{
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if (mem_type == AP_HAL::Util::MEM_DMA_SAFE) {
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return malloc_dma(size);
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} else if (mem_type == AP_HAL::Util::MEM_FAST) {
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return try_alloc_from_ccm_ram(size);
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} else {
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return calloc(1, size);
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}
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}
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void Util::free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type)
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{
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if (ptr != NULL) {
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chHeapFree(ptr);
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}
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}
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void* Util::try_alloc_from_ccm_ram(size_t size)
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{
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void *ret = malloc_ccm(size);
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if (ret == nullptr) {
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//we failed to allocate from CCM so we are going to try common SRAM
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ret = calloc(1, size);
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}
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return ret;
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}
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#endif // CH_CFG_USE_HEAP
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/*
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get safety switch state
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*/
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Util::safety_state Util::safety_switch_state(void)
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{
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#if HAL_USE_PWM == TRUE
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return ((RCOutput *)hal.rcout)->_safety_switch_state();
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#else
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return SAFETY_NONE;
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#endif
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}
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void Util::set_imu_temp(float current)
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{
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#if HAL_WITH_IO_MCU && HAL_HAVE_IMU_HEATER
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if (!heater.target || *heater.target == -1 || !AP_BoardConfig::io_enabled()) {
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return;
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}
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// average over temperatures to remove noise
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heater.count++;
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heater.sum += current;
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// update once a second
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uint32_t now = AP_HAL::millis();
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if (now - heater.last_update_ms < 1000) {
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return;
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}
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heater.last_update_ms = now;
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current = heater.sum / heater.count;
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heater.sum = 0;
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heater.count = 0;
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// experimentally tweaked for Pixhawk2
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const float kI = 0.3f;
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const float kP = 200.0f;
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float target = (float)(*heater.target);
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// limit to 65 degrees to prevent damage
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target = constrain_float(target, 0, 65);
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float err = target - current;
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heater.integrator += kI * err;
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heater.integrator = constrain_float(heater.integrator, 0, 70);
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float output = constrain_float(kP * err + heater.integrator, 0, 100);
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// hal.console->printf("integrator %.1f out=%.1f temp=%.2f err=%.2f\n", heater.integrator, output, current, err);
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iomcu.set_heater_duty_cycle(output);
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#endif // HAL_WITH_IO_MCU && HAL_HAVE_IMU_HEATER
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}
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void Util::set_imu_target_temp(int8_t *target)
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{
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#if HAL_WITH_IO_MCU && HAL_HAVE_IMU_HEATER
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heater.target = target;
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#endif
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}
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#ifdef HAL_PWM_ALARM
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static int state;
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ToneAlarm Util::_toneAlarm;
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bool Util::toneAlarm_init()
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{
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return _toneAlarm.init();
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}
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void Util::toneAlarm_set_tune(uint8_t tone)
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{
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_toneAlarm.set_tune(tone);
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}
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// (state 0) if init_tune() -> (state 1) complete=false
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// (state 1) if set_note -> (state 2) -> if play -> (state 3)
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// play returns true if tune has changed or tune is complete (repeating tunes never complete)
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// (state 3) -> (state 1)
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// (on every tick) if (complete) -> (state 0)
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void Util::_toneAlarm_timer_tick() {
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if(state == 0) {
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state = state + _toneAlarm.init_tune();
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} else if (state == 1) {
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state = state + _toneAlarm.set_note();
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}
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if (state == 2) {
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state = state + _toneAlarm.play();
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} else if (state == 3) {
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state = 1;
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}
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if (_toneAlarm.is_tune_comp()) {
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state = 0;
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}
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}
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#endif // HAL_PWM_ALARM
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/*
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set HW RTC in UTC microseconds
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*/
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void Util::set_hw_rtc(uint64_t time_utc_usec)
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{
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stm32_set_utc_usec(time_utc_usec);
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}
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/*
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get system clock in UTC microseconds
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*/
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uint64_t Util::get_hw_rtc() const
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{
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return stm32_get_utc_usec();
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}
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bool Util::flash_bootloader()
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{
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uint32_t fw_size;
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const char *fw_name = "bootloader.bin";
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const uint8_t *fw = AP_ROMFS::find_file(fw_name, fw_size);
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if (!fw) {
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hal.console->printf("failed to find %s\n", fw_name);
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return false;
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}
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const uint32_t addr = stm32_flash_getpageaddr(0);
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if (!memcmp(fw, (const void*)addr, fw_size)) {
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hal.console->printf("Bootloader up-to-date\n");
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return true;
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}
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hal.console->printf("Erasing\n");
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if (!stm32_flash_erasepage(0)) {
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hal.console->printf("Erase failed\n");
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return false;
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}
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hal.console->printf("Flashing %s @%08x\n", fw_name, (unsigned int)addr);
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const uint8_t max_attempts = 10;
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for (uint8_t i=0; i<max_attempts; i++) {
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void *context = hal.scheduler->disable_interrupts_save();
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const int32_t written = stm32_flash_write(addr, fw, fw_size);
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hal.scheduler->restore_interrupts(context);
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if (written == -1 || written < fw_size) {
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hal.console->printf("Flash failed! (attempt=%u/%u)\n",
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i+1,
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max_attempts);
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hal.scheduler->delay(1000);
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continue;
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}
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hal.console->printf("Flash OK\n");
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return true;
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}
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hal.console->printf("Flash failed after %u attempts\n", max_attempts);
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return false;
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}
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/*
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display system identifer - board type and serial number
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*/
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bool Util::get_system_id(char buf[40])
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{
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uint8_t serialid[12];
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char board_name[14];
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memcpy(serialid, (const void *)UDID_START, 12);
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strncpy(board_name, CHIBIOS_SHORT_BOARD_NAME, 13);
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board_name[13] = 0;
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// this format is chosen to match the human_readable_serial()
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// function in auth.c
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snprintf(buf, 40, "%s %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X",
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board_name,
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(unsigned)serialid[0], (unsigned)serialid[1], (unsigned)serialid[2], (unsigned)serialid[3],
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(unsigned)serialid[4], (unsigned)serialid[5], (unsigned)serialid[6], (unsigned)serialid[7],
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(unsigned)serialid[8], (unsigned)serialid[9], (unsigned)serialid[10],(unsigned)serialid[11]);
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return true;
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}
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