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ardupilot/libraries/AP_IOMCU/AP_IOMCU.cpp

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/*
implement protocol for controlling an IO microcontroller
For bootstrapping this will initially implement the px4io protocol,
but will later move to an ArduPilot specific protocol
*/
#include "AP_IOMCU.h"
#if HAL_WITH_IO_MCU
#include <AP_Math/AP_Math.h>
#include <AP_Math/crc.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_ROMFS/AP_ROMFS.h>
#include <AP_Math/crc.h>
extern const AP_HAL::HAL &hal;
#define PKT_MAX_REGS 32
//#define IOMCU_DEBUG
struct PACKED IOPacket {
uint8_t count:6;
uint8_t code:2;
uint8_t crc;
uint8_t page;
uint8_t offset;
uint16_t regs[PKT_MAX_REGS];
// get packet size in bytes
uint8_t get_size(void) const {
return count*2 + 4;
}
};
/*
values for pkt.code
*/
enum iocode {
// read types
CODE_READ = 0,
CODE_WRITE = 1,
// reply codes
CODE_SUCCESS = 0,
CODE_CORRUPT = 1,
CODE_ERROR = 2
};
// IO pages
enum iopage {
PAGE_CONFIG = 0,
PAGE_STATUS = 1,
PAGE_ACTUATORS = 2,
PAGE_SERVOS = 3,
PAGE_RAW_RCIN = 4,
PAGE_RCIN = 5,
PAGE_RAW_ADC = 6,
PAGE_PWM_INFO = 7,
PAGE_SETUP = 50,
PAGE_DIRECT_PWM = 54,
PAGE_DISARMED_PWM = 108,
};
// pending IO events to send, used as an event mask
enum ioevents {
IOEVENT_INIT=1,
IOEVENT_SEND_PWM_OUT,
IOEVENT_SET_DISARMED_PWM,
IOEVENT_SET_FAILSAFE_PWM,
IOEVENT_FORCE_SAFETY_OFF,
IOEVENT_FORCE_SAFETY_ON,
IOEVENT_SET_ONESHOT_ON,
IOEVENT_SET_RATES,
IOEVENT_GET_RCIN,
IOEVENT_ENABLE_SBUS,
IOEVENT_SET_HEATER_TARGET,
IOEVENT_SET_DEFAULT_RATE,
IOEVENT_SET_SAFETY_MASK,
};
// setup page registers
#define PAGE_REG_SETUP_FEATURES 0
#define P_SETUP_FEATURES_SBUS1_OUT 1
#define P_SETUP_FEATURES_SBUS2_OUT 2
#define P_SETUP_FEATURES_PWM_RSSI 4
#define P_SETUP_FEATURES_ADC_RSSI 8
#define P_SETUP_FEATURES_ONESHOT 16
#define PAGE_REG_SETUP_ARMING 1
#define P_SETUP_ARMING_IO_ARM_OK (1<<0)
#define P_SETUP_ARMING_FMU_ARMED (1<<1)
#define P_SETUP_ARMING_RC_HANDLING_DISABLED (1<<6)
#define P_SETUP_ARMING_SAFETY_DISABLE_ON (1 << 11) // disable use of safety button for safety off->on
#define P_SETUP_ARMING_SAFETY_DISABLE_OFF (1 << 12) // disable use of safety button for safety on->off
#define PAGE_REG_SETUP_PWM_RATE_MASK 2
#define PAGE_REG_SETUP_DEFAULTRATE 3
#define PAGE_REG_SETUP_ALTRATE 4
#define PAGE_REG_SETUP_REBOOT_BL 10
#define PAGE_REG_SETUP_CRC 11
#define PAGE_REG_SETUP_SBUS_RATE 19
#define PAGE_REG_SETUP_IGNORE_SAFETY 20 /* bitmask of surfaces to ignore the safety status */
#define PAGE_REG_SETUP_HEATER_DUTY_CYCLE 21
// magic value for rebooting to bootloader
#define REBOOT_BL_MAGIC 14662
#define PAGE_REG_SETUP_FORCE_SAFETY_OFF 12
#define PAGE_REG_SETUP_FORCE_SAFETY_ON 14
#define FORCE_SAFETY_MAGIC 22027
AP_IOMCU::AP_IOMCU(AP_HAL::UARTDriver &_uart) :
uart(_uart)
{}
/*
initialise library, starting thread
*/
void AP_IOMCU::init(void)
{
// uart runs at 1.5MBit
uart.begin(1500*1000, 256, 256);
uart.set_blocking_writes(false);
uart.set_unbuffered_writes(true);
// check IO firmware CRC
hal.scheduler->delay(2000);
AP_BoardConfig *boardconfig = AP_BoardConfig::get_instance();
if (!boardconfig || boardconfig->io_enabled() == 1) {
check_crc();
}
if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_IOMCU::thread_main, void), "IOMCU",
1024, AP_HAL::Scheduler::PRIORITY_BOOST, 1)) {
AP_HAL::panic("Unable to allocate IOMCU thread");
}
}
/*
handle event failure
*/
void AP_IOMCU::event_failed(uint8_t event)
{
// wait 0.5ms then retry
hal.scheduler->delay_microseconds(500);
trigger_event(event);
}
/*
main IO thread loop
*/
void AP_IOMCU::thread_main(void)
{
thread_ctx = chThdGetSelfX();
uart.begin(1500*1000, 256, 256);
uart.set_blocking_writes(false);
uart.set_unbuffered_writes(true);
trigger_event(IOEVENT_INIT);
while (true) {
eventmask_t mask = chEvtWaitAnyTimeout(~0, chTimeMS2I(10));
// check for pending IO events
if (mask & EVENT_MASK(IOEVENT_SEND_PWM_OUT)) {
send_servo_out();
}
if (mask & EVENT_MASK(IOEVENT_INIT)) {
// set IO_ARM_OK and FMU_ARMED
if (!modify_register(PAGE_SETUP, PAGE_REG_SETUP_ARMING, 0,
P_SETUP_ARMING_IO_ARM_OK |
P_SETUP_ARMING_FMU_ARMED |
P_SETUP_ARMING_RC_HANDLING_DISABLED)) {
event_failed(IOEVENT_INIT);
continue;
}
}
if (mask & EVENT_MASK(IOEVENT_FORCE_SAFETY_OFF)) {
if (!write_register(PAGE_SETUP, PAGE_REG_SETUP_FORCE_SAFETY_OFF, FORCE_SAFETY_MAGIC)) {
event_failed(IOEVENT_FORCE_SAFETY_OFF);
continue;
}
}
if (mask & EVENT_MASK(IOEVENT_FORCE_SAFETY_ON)) {
if (!write_register(PAGE_SETUP, PAGE_REG_SETUP_FORCE_SAFETY_ON, FORCE_SAFETY_MAGIC)) {
event_failed(IOEVENT_FORCE_SAFETY_ON);
continue;
}
}
if (mask & EVENT_MASK(IOEVENT_SET_RATES)) {
if (!write_register(PAGE_SETUP, PAGE_REG_SETUP_ALTRATE, rate.freq) ||
!write_register(PAGE_SETUP, PAGE_REG_SETUP_PWM_RATE_MASK, rate.chmask)) {
event_failed(IOEVENT_SET_RATES);
continue;
}
}
if (mask & EVENT_MASK(IOEVENT_ENABLE_SBUS)) {
if (!write_register(PAGE_SETUP, PAGE_REG_SETUP_SBUS_RATE, rate.sbus_rate_hz) ||
!modify_register(PAGE_SETUP, PAGE_REG_SETUP_FEATURES, 0,
P_SETUP_FEATURES_SBUS1_OUT)) {
event_failed(IOEVENT_ENABLE_SBUS);
continue;
}
}
if (mask & EVENT_MASK(IOEVENT_SET_HEATER_TARGET)) {
if (!write_register(PAGE_SETUP, PAGE_REG_SETUP_HEATER_DUTY_CYCLE, heater_duty_cycle)) {
event_failed(IOEVENT_SET_HEATER_TARGET);
continue;
}
}
if (mask & EVENT_MASK(IOEVENT_SET_DEFAULT_RATE)) {
if (!write_register(PAGE_SETUP, PAGE_REG_SETUP_DEFAULTRATE, rate.default_freq)) {
event_failed(IOEVENT_SET_DEFAULT_RATE);
continue;
}
}
if (mask & EVENT_MASK(IOEVENT_SET_ONESHOT_ON)) {
if (!modify_register(PAGE_SETUP, PAGE_REG_SETUP_FEATURES, 0, P_SETUP_FEATURES_ONESHOT)) {
event_failed(IOEVENT_SET_ONESHOT_ON);
continue;
}
}
if (mask & EVENT_MASK(IOEVENT_SET_SAFETY_MASK)) {
if (!write_register(PAGE_SETUP, PAGE_REG_SETUP_IGNORE_SAFETY, pwm_out.safety_mask)) {
event_failed(IOEVENT_SET_SAFETY_MASK);
continue;
}
}
// check for regular timed events
uint32_t now = AP_HAL::millis();
if (now - last_rc_read_ms > 20) {
// read RC input at 50Hz
read_rc_input();
last_rc_read_ms = AP_HAL::millis();
}
if (now - last_status_read_ms > 50) {
// read status at 20Hz
read_status();
last_status_read_ms = AP_HAL::millis();
}
if (now - last_servo_read_ms > 50) {
// read servo out at 20Hz
read_servo();
last_servo_read_ms = AP_HAL::millis();
}
#ifdef IOMCU_DEBUG
if (now - last_debug_ms > 1000) {
print_debug();
last_debug_ms = AP_HAL::millis();
}
#endif // IOMCU_DEBUG
if (now - last_safety_option_check_ms > 1000) {
update_safety_options();
last_safety_option_check_ms = now;
}
// update safety pwm
if (pwm_out.safety_pwm_set != pwm_out.safety_pwm_sent) {
uint8_t set = pwm_out.safety_pwm_set;
write_registers(PAGE_DISARMED_PWM, 0, IOMCU_MAX_CHANNELS, pwm_out.safety_pwm);
pwm_out.safety_pwm_sent = set;
}
}
}
/*
send servo output data
*/
void AP_IOMCU::send_servo_out()
{
if (pwm_out.num_channels > 0) {
uint8_t n = pwm_out.num_channels;
if (rate.sbus_rate_hz == 0) {
n = MIN(n, 8);
}
uint32_t now = AP_HAL::micros();
if (now - last_servo_out_us >= 2000) {
// don't send data at more than 500Hz
write_registers(PAGE_DIRECT_PWM, 0, n, pwm_out.pwm);
last_servo_out_us = now;
}
}
}
/*
read RC input
*/
void AP_IOMCU::read_rc_input()
{
// read a min of 9 channels and max of IOMCU_MAX_CHANNELS
uint8_t n = MIN(MAX(9, rc_input.count), IOMCU_MAX_CHANNELS);
read_registers(PAGE_RAW_RCIN, 0, 6+n, (uint16_t *)&rc_input);
if (rc_input.flags_rc_ok && !rc_input.flags_failsafe) {
rc_input.last_input_us = AP_HAL::micros();
}
}
/*
read status registers
*/
void AP_IOMCU::read_status()
{
uint16_t *r = (uint16_t *)&reg_status;
read_registers(PAGE_STATUS, 0, sizeof(reg_status)/2, r);
if (reg_status.flag_safety_off == 0) {
// if the IOMCU is indicating that safety is on, then force a
// re-check of the safety options. This copes with a IOMCU reset
last_safety_options = 0xFFFF;
// also check if the safety should be definately off.
AP_BoardConfig *boardconfig = AP_BoardConfig::get_instance();
if (!boardconfig) {
return;
}
uint16_t options = boardconfig->get_safety_button_options();
if (safety_forced_off && (options & AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON) == 0) {
// the safety has been forced off, and the user has asked
// that the button can never be used, so there should be
// no way for the safety to be on except a IOMCU
// reboot. Force safety off again
force_safety_off();
}
}
}
/*
read servo output values
*/
void AP_IOMCU::read_servo()
{
if (pwm_out.num_channels > 0) {
read_registers(PAGE_SERVOS, 0, pwm_out.num_channels, pwm_in.pwm);
}
}
/*
discard any pending input
*/
void AP_IOMCU::discard_input(void)
{
uint32_t n = uart.available();
while (n--) {
uart.read();
}
}
/*
read count 16 bit registers
*/
bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint16_t *regs)
{
IOPacket pkt;
discard_input();
memset(&pkt.regs[0], 0, count*2);
pkt.code = CODE_READ;
pkt.count = count;
pkt.page = page;
pkt.offset = offset;
pkt.crc = 0;
/*
the protocol is a bit strange, as it unnecessarily sends the
same size packet that it expects to receive. This means reading
a large number of registers wastes a lot of serial bandwidth
*/
pkt.crc = crc_crc8((const uint8_t *)&pkt, pkt.get_size());
if (uart.write((uint8_t *)&pkt, pkt.get_size()) != pkt.get_size()) {
return false;
}
// wait for the expected number of reply bytes or timeout
if (!uart.wait_timeout(count*2+4, 10)) {
return false;
}
uint8_t *b = (uint8_t *)&pkt;
uint8_t n = uart.available();
for (uint8_t i=0; i<n; i++) {
if (i < sizeof(pkt)) {
b[i] = uart.read();
}
}
uint8_t got_crc = pkt.crc;
pkt.crc = 0;
uint8_t expected_crc = crc_crc8((const uint8_t *)&pkt, pkt.get_size());
if (got_crc != expected_crc) {
hal.console->printf("bad crc %02x should be %02x n=%u %u/%u/%u\n",
got_crc, expected_crc,
n, page, offset, count);
return false;
}
if (pkt.code != CODE_SUCCESS) {
hal.console->printf("bad code %02x read %u/%u/%u\n", pkt.code, page, offset, count);
return false;
}
if (pkt.count < count) {
hal.console->printf("bad count %u read %u/%u/%u n=%u\n", pkt.count, page, offset, count, n);
return false;
}
memcpy(regs, pkt.regs, count*2);
return true;
}
/*
write count 16 bit registers
*/
bool AP_IOMCU::write_registers(uint8_t page, uint8_t offset, uint8_t count, const uint16_t *regs)
{
IOPacket pkt;
discard_input();
memset(&pkt.regs[0], 0, count*2);
pkt.code = CODE_WRITE;
pkt.count = count;
pkt.page = page;
pkt.offset = offset;
pkt.crc = 0;
memcpy(pkt.regs, regs, 2*count);
pkt.crc = crc_crc8((const uint8_t *)&pkt, pkt.get_size());
if (uart.write((uint8_t *)&pkt, pkt.get_size()) != pkt.get_size()) {
return false;
}
// wait for the expected number of reply bytes or timeout
if (!uart.wait_timeout(4, 10)) {
//hal.console->printf("no reply for %u/%u/%u\n", page, offset, count);
return false;
}
uint8_t *b = (uint8_t *)&pkt;
uint8_t n = uart.available();
for (uint8_t i=0; i<n; i++) {
if (i < sizeof(pkt)) {
b[i] = uart.read();
}
}
if (pkt.code != CODE_SUCCESS) {
hal.console->printf("bad code %02x write %u/%u/%u %02x/%02x n=%u\n",
pkt.code, page, offset, count,
pkt.page, pkt.offset, n);
return false;
}
uint8_t got_crc = pkt.crc;
pkt.crc = 0;
uint8_t expected_crc = crc_crc8((const uint8_t *)&pkt, pkt.get_size());
if (got_crc != expected_crc) {
hal.console->printf("bad crc %02x should be %02x\n", got_crc, expected_crc);
return false;
}
return true;
}
// modify a single register
bool AP_IOMCU::modify_register(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits)
{
uint16_t v = 0;
if (!read_registers(page, offset, 1, &v)) {
return false;
}
uint16_t v2 = (v & ~clearbits) | setbits;
if (v2 == v) {
return true;
}
return write_registers(page, offset, 1, &v2);
}
void AP_IOMCU::write_channel(uint8_t chan, uint16_t pwm)
{
if (chan >= IOMCU_MAX_CHANNELS) {
return;
}
if (chan >= pwm_out.num_channels) {
pwm_out.num_channels = chan+1;
}
pwm_out.pwm[chan] = pwm;
if (!corked) {
push();
}
}
void AP_IOMCU::print_debug(void)
{
#ifdef IOMCU_DEBUG
const uint16_t *r = (const uint16_t *)&reg_status;
for (uint8_t i=0; i<sizeof(reg_status)/2; i++) {
hal.console->printf("%04x ", r[i]);
}
hal.console->printf("\n");
#endif // IOMCU_DEBUG
}
// trigger an ioevent
void AP_IOMCU::trigger_event(uint8_t event)
{
if (thread_ctx != nullptr) {
chEvtSignal(thread_ctx, EVENT_MASK(event));
}
}
// get state of safety switch
AP_HAL::Util::safety_state AP_IOMCU::get_safety_switch_state(void) const
{
return reg_status.flag_safety_off?AP_HAL::Util::SAFETY_ARMED:AP_HAL::Util::SAFETY_DISARMED;
}
// force safety on
bool AP_IOMCU::force_safety_on(void)
{
trigger_event(IOEVENT_FORCE_SAFETY_ON);
safety_forced_off = false;
return true;
}
// force safety off
void AP_IOMCU::force_safety_off(void)
{
trigger_event(IOEVENT_FORCE_SAFETY_OFF);
safety_forced_off = true;
}
// read from one channel
uint16_t AP_IOMCU::read_channel(uint8_t chan)
{
return pwm_in.pwm[chan];
}
// cork output
void AP_IOMCU::cork(void)
{
corked = true;
}
// push output
void AP_IOMCU::push(void)
{
trigger_event(IOEVENT_SEND_PWM_OUT);
corked = false;
}
// set output frequency
void AP_IOMCU::set_freq(uint16_t chmask, uint16_t freq)
{
const uint8_t masks[] = { 0x03,0x0C,0xF0 };
// ensure mask is legal for the timer layout
for (uint8_t i=0; i<ARRAY_SIZE(masks); i++) {
if (chmask & masks[i]) {
chmask |= masks[i];
}
}
rate.freq = freq;
rate.chmask |= chmask;
trigger_event(IOEVENT_SET_RATES);
}
// get output frequency
uint16_t AP_IOMCU::get_freq(uint16_t chan)
{
if ((1U<<chan) & rate.chmask) {
return rate.freq;
}
return rate.default_freq;
}
// enable SBUS out
bool AP_IOMCU::enable_sbus_out(uint16_t rate_hz)
{
rate.sbus_rate_hz = rate_hz;
trigger_event(IOEVENT_ENABLE_SBUS);
return true;
}
/*
check for new RC input
*/
bool AP_IOMCU::check_rcinput(uint32_t &last_frame_us, uint8_t &num_channels, uint16_t *channels, uint8_t max_chan)
{
if (last_frame_us != rc_input.last_input_us) {
num_channels = MIN(MIN(rc_input.count, IOMCU_MAX_CHANNELS), max_chan);
memcpy(channels, rc_input.pwm, num_channels*2);
last_frame_us = rc_input.last_input_us;
return true;
}
return false;
}
// set IMU heater target
void AP_IOMCU::set_heater_duty_cycle(uint8_t duty_cycle)
{
heater_duty_cycle = duty_cycle;
trigger_event(IOEVENT_SET_HEATER_TARGET);
}
// set default output rate
void AP_IOMCU::set_default_rate(uint16_t rate_hz)
{
if (rate.default_freq != rate_hz) {
rate.default_freq = rate_hz;
trigger_event(IOEVENT_SET_DEFAULT_RATE);
}
}
// setup for oneshot mode
void AP_IOMCU::set_oneshot_mode(void)
{
trigger_event(IOEVENT_SET_ONESHOT_ON);
}
// handling of BRD_SAFETYOPTION parameter
void AP_IOMCU::update_safety_options(void)
{
AP_BoardConfig *boardconfig = AP_BoardConfig::get_instance();
if (!boardconfig) {
return;
}
uint16_t desired_options = 0;
uint16_t options = boardconfig->get_safety_button_options();
if (!(options & AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF)) {
desired_options |= P_SETUP_ARMING_SAFETY_DISABLE_OFF;
}
if (!(options & AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON)) {
desired_options |= P_SETUP_ARMING_SAFETY_DISABLE_ON;
}
if (!(options & AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED) && hal.util->get_soft_armed()) {
desired_options |= (P_SETUP_ARMING_SAFETY_DISABLE_ON | P_SETUP_ARMING_SAFETY_DISABLE_OFF);
}
if (last_safety_options != desired_options) {
uint16_t mask = (P_SETUP_ARMING_SAFETY_DISABLE_ON | P_SETUP_ARMING_SAFETY_DISABLE_OFF);
uint32_t bits_to_set = desired_options & mask;
uint32_t bits_to_clear = (~desired_options) & mask;
if (modify_register(PAGE_SETUP, PAGE_REG_SETUP_ARMING, bits_to_clear, bits_to_set)) {
last_safety_options = desired_options;
}
}
}
/*
check ROMFS firmware against CRC on IOMCU, and if incorrect then upload new firmware
*/
bool AP_IOMCU::check_crc(void)
{
// flash size minus 4k bootloader
const uint32_t flash_size = 0x10000 - 0x1000;
fw = AP_ROMFS::find_decompress(fw_name, fw_size);
if (!fw) {
hal.console->printf("failed to find %s\n", fw_name);
return false;
}
uint32_t crc = crc_crc32(0, fw, fw_size);
// pad CRC to max size
for (uint32_t i=0; i<flash_size-fw_size; i++) {
uint8_t b = 0xff;
crc = crc_crc32(crc, &b, 1);
}
uint32_t io_crc = 0;
if (read_registers(PAGE_SETUP, PAGE_REG_SETUP_CRC, 2, (uint16_t *)&io_crc) &&
io_crc == crc) {
hal.console->printf("IOMCU: CRC ok\n");
crc_is_ok = true;
free(fw);
fw = nullptr;
return true;
}
const uint16_t magic = REBOOT_BL_MAGIC;
write_registers(PAGE_SETUP, PAGE_REG_SETUP_REBOOT_BL, 1, &magic);
if (!upload_fw()) {
free(fw);
fw = nullptr;
AP_BoardConfig::sensor_config_error("Failed to update IO firmware");
}
free(fw);
fw = nullptr;
return false;
}
/*
set the pwm to use when safety is on
*/
void AP_IOMCU::set_safety_pwm(uint16_t chmask, uint16_t period_us)
{
bool changed = false;
for (uint8_t i=0; i<IOMCU_MAX_CHANNELS; i++) {
if (chmask & (1U<<i)) {
if (pwm_out.safety_pwm[i] != period_us) {
pwm_out.safety_pwm[i] = period_us;
changed = true;
}
}
}
if (changed) {
pwm_out.safety_pwm_set++;
}
}
// set mask of channels that ignore safety state
void AP_IOMCU::set_safety_mask(uint16_t chmask)
{
if (pwm_out.safety_mask != chmask) {
pwm_out.safety_mask = chmask;
trigger_event(IOEVENT_SET_SAFETY_MASK);
}
}
/*
check that IO is healthy. This should be used in arming checks
*/
bool AP_IOMCU::healthy(void)
{
// for now just check CRC
return crc_is_ok;
}
#endif // HAL_WITH_IO_MCU
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