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Merged DSM fixes

This commit is contained in:
Lorenz Meier 2012-12-05 19:55:33 +01:00
parent 126e6ac207 fd771f67f2
commit 1ebb3b4ada
22 changed files with 784 additions and 123 deletions
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22
Debug/NuttX
View File

@ -168,17 +168,29 @@ define _showsemaphore
printf "\n"
end
#
# Print information about a task's stack usage
#
define showtaskstack
set $task = (struct _TCB *)$arg0
set $stack_free = 0
while ($stack_free < $task->adj_stack_size) && *(uint8_t *)($task->stack_alloc_ptr + $stack_free)
set $stack_free = $stack_free + 1
end
printf" stack 0x%08x-0x%08x (%d) %d free\n", $task->stack_alloc_ptr, $task->adj_stack_ptr, $task->adj_stack_size, $stack_free
end
#
# Print details of a task
#
define showtask
set $task = (struct _TCB *)$arg0
printf "%p %.2d ", $task, $task->pid
_showtaskstate $task
printf " %s\n", $task->name
set $stack_free = 0
while ($stack_free < $task->adj_stack_size) && *(uint8_t *)($task->stack_alloc_ptr + $stack_free)
set $stack_free = $stack_free + 1
end
printf" stack 0x%08x-0x%08x (%d) %d free\n", $task->stack_alloc_ptr, $task->adj_stack_ptr, $task->adj_stack_size, $stack_free
showtaskstack $task
if $task->task_state == TSTATE_WAIT_SEM
printf " waiting on %p ", $task->waitsem

42
apps/drivers/blinkm/Makefile Normal file
View File

@ -0,0 +1,42 @@
############################################################################
#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# BlinkM I2C LED driver
#
APPNAME = blinkm
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk

465
apps/drivers/blinkm/blinkm.cpp Normal file
View File

@ -0,0 +1,465 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file blinkm.cpp
*
* Driver for the BlinkM LED controller connected via I2C.
*/
#include <nuttx/config.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdio.h>
#include <ctype.h>
#include <drivers/drv_blinkm.h>
#include <nuttx/wqueue.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
class BlinkM : public device::I2C
{
public:
BlinkM(int bus);
~BlinkM();
virtual int init();
virtual int probe();
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
static const char *script_names[];
private:
enum ScriptID {
USER = 0,
RGB,
WHITE_FLASH,
RED_FLASH,
GREEN_FLASH,
BLUE_FLASH,
CYAN_FLASH,
MAGENTA_FLASH,
YELLOW_FLASH,
BLACK,
HUE_CYCLE,
MOOD_LIGHT,
VIRTUAL_CANDLE,
WATER_REFLECTIONS,
OLD_NEON,
THE_SEASONS,
THUNDERSTORM,
STOP_LIGHT,
MORSE_CODE
};
work_s _work;
static const unsigned _monitor_interval = 250;
static void monitor_trampoline(void *arg);
void monitor();
int set_rgb(uint8_t r, uint8_t g, uint8_t b);
int fade_rgb(uint8_t r, uint8_t g, uint8_t b);
int fade_hsb(uint8_t h, uint8_t s, uint8_t b);
int fade_rgb_random(uint8_t r, uint8_t g, uint8_t b);
int fade_hsb_random(uint8_t h, uint8_t s, uint8_t b);
int set_fade_speed(uint8_t s);
int play_script(uint8_t script_id);
int play_script(const char *script_name);
int stop_script();
int write_script_line(uint8_t line, uint8_t ticks, uint8_t cmd, uint8_t arg1, uint8_t arg2, uint8_t arg3);
int read_script_line(uint8_t line, uint8_t &ticks, uint8_t cmd[4]);
int set_script(uint8_t length, uint8_t repeats);
int get_rgb(uint8_t &r, uint8_t &g, uint8_t &b);
int get_firmware_version(uint8_t version[2]);
};
/* for now, we only support one BlinkM */
namespace
{
BlinkM *g_blinkm;
}
/* list of script names, must match script ID numbers */
const char *BlinkM::script_names[] = {
"USER",
"RGB",
"WHITE_FLASH",
"RED_FLASH",
"GREEN_FLASH",
"BLUE_FLASH",
"CYAN_FLASH",
"MAGENTA_FLASH",
"YELLOW_FLASH",
"BLACK",
"HUE_CYCLE",
"MOOD_LIGHT",
"VIRTUAL_CANDLE",
"WATER_REFLECTIONS",
"OLD_NEON",
"THE_SEASONS",
"THUNDERSTORM",
"STOP_LIGHT",
"MORSE_CODE",
nullptr
};
extern "C" __EXPORT int blinkm_main(int argc, char *argv[]);
BlinkM::BlinkM(int bus) :
I2C("blinkm", BLINKM_DEVICE_PATH, bus, 0x09, 100000)
{
}
BlinkM::~BlinkM()
{
}
int
BlinkM::init()
{
int ret;
ret = I2C::init();
if (ret != OK) {
warnx("I2C init failed");
return ret;
}
/* set some sensible defaults */
set_fade_speed(25);
/* turn off by default */
play_script(BLACK);
/* start the system monitor as a low-priority workqueue entry */
work_queue(LPWORK, &_work, (worker_t)&BlinkM::monitor_trampoline, this, 1);
return OK;
}
int
BlinkM::probe()
{
uint8_t version[2];
int ret;
ret = get_firmware_version(version);
if (ret == OK)
log("found BlinkM firmware version %c%c", version[1], version[0]);
return ret;
}
int
BlinkM::ioctl(struct file *filp, int cmd, unsigned long arg)
{
int ret = ENOTTY;
switch (cmd) {
case BLINKM_PLAY_SCRIPT_NAMED:
if (arg == 0) {
ret = EINVAL;
break;
}
ret = play_script((const char *)arg);
break;
case BLINKM_PLAY_SCRIPT:
ret = play_script(arg);
break;
case BLINKM_SET_USER_SCRIPT: {
if (arg == 0) {
ret = EINVAL;
break;
}
unsigned lines = 0;
const uint8_t *script = (const uint8_t *)arg;
while ((lines < 50) && (script[1] != 0)) {
ret = write_script_line(lines, script[0], script[1], script[2], script[3], script[4]);
if (ret != OK)
break;
script += 5;
}
if (ret == OK)
ret = set_script(lines, 0);
break;
}
default:
break;
}
return ret;
}
void
BlinkM::monitor_trampoline(void *arg)
{
BlinkM *bm = (BlinkM *)arg;
bm->monitor();
}
void
BlinkM::monitor()
{
/* check system state, possibly update LED to suit */
/* re-queue ourselves to run again later */
work_queue(LPWORK, &_work, (worker_t)&BlinkM::monitor_trampoline, this, _monitor_interval);
}
int
BlinkM::set_rgb(uint8_t r, uint8_t g, uint8_t b)
{
const uint8_t msg[4] = { 'n', r, g, b };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::fade_rgb(uint8_t r, uint8_t g, uint8_t b)
{
const uint8_t msg[4] = { 'c', r, g, b };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::fade_hsb(uint8_t h, uint8_t s, uint8_t b)
{
const uint8_t msg[4] = { 'h', h, s, b };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::fade_rgb_random(uint8_t r, uint8_t g, uint8_t b)
{
const uint8_t msg[4] = { 'C', r, g, b };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::fade_hsb_random(uint8_t h, uint8_t s, uint8_t b)
{
const uint8_t msg[4] = { 'H', h, s, b };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::set_fade_speed(uint8_t s)
{
const uint8_t msg[2] = { 'f', s };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::play_script(uint8_t script_id)
{
const uint8_t msg[4] = { 'p', script_id, 0, 0 };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::play_script(const char *script_name)
{
/* handle HTML colour encoding */
if (isxdigit(script_name[0]) && (strlen(script_name) == 6)) {
char code[3];
uint8_t r, g, b;
code[2] = '\0';
code[0] = script_name[1];
code[1] = script_name[2];
r = strtol(code, 0, 16);
code[0] = script_name[3];
code[1] = script_name[4];
g = strtol(code, 0, 16);
code[0] = script_name[5];
code[1] = script_name[6];
b = strtol(code, 0, 16);
stop_script();
return set_rgb(r, g, b);
}
for (unsigned i = 0; script_names[i] != nullptr; i++)
if (!strcasecmp(script_name, script_names[i]))
return play_script(i);
return -1;
}
int
BlinkM::stop_script()
{
const uint8_t msg[1] = { 'o' };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::write_script_line(uint8_t line, uint8_t ticks, uint8_t cmd, uint8_t arg1, uint8_t arg2, uint8_t arg3)
{
const uint8_t msg[8] = { 'W', 0, line, ticks, cmd, arg1, arg2, arg3 };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::read_script_line(uint8_t line, uint8_t &ticks, uint8_t cmd[4])
{
const uint8_t msg[3] = { 'R', 0, line };
uint8_t result[5];
int ret = transfer(msg, sizeof(msg), result, sizeof(result));
if (ret == OK) {
ticks = result[0];
cmd[0] = result[1];
cmd[1] = result[2];
cmd[2] = result[3];
cmd[3] = result[4];
}
return ret;
}
int
BlinkM::set_script(uint8_t len, uint8_t repeats)
{
const uint8_t msg[4] = { 'L', 0, len, repeats };
return transfer(msg, sizeof(msg), nullptr, 0);
}
int
BlinkM::get_rgb(uint8_t &r, uint8_t &g, uint8_t &b)
{
const uint8_t msg = 'g';
uint8_t result[3];
int ret = transfer(&msg, sizeof(msg), result, sizeof(result));
if (ret == OK) {
r = result[0];
g = result[1];
b = result[2];
}
return ret;
}
int
BlinkM::get_firmware_version(uint8_t version[2])
{
const uint8_t msg = 'Z';
return transfer(&msg, sizeof(msg), version, sizeof(version));
}
int
blinkm_main(int argc, char *argv[])
{
if (!strcmp(argv[1], "start")) {
if (g_blinkm != nullptr)
errx(1, "already started");
g_blinkm = new BlinkM(3);
if (g_blinkm == nullptr)
errx(1, "new failed");
if (OK != g_blinkm->init()) {
delete g_blinkm;
g_blinkm = nullptr;
errx(1, "init failed");
}
exit(0);
}
if (g_blinkm == nullptr)
errx(1, "not started");
if (!strcmp(argv[1], "list")) {
for (unsigned i = 0; BlinkM::script_names[i] != nullptr; i++)
fprintf(stderr, " %s\n", BlinkM::script_names[i]);
fprintf(stderr, " <html color number>\n");
exit(0);
}
/* things that require access to the device */
int fd = open(BLINKM_DEVICE_PATH, 0);
if (fd < 0)
err(1, "can't open BlinkM device");
if (ioctl(fd, BLINKM_PLAY_SCRIPT_NAMED, (unsigned long)argv[1]) == OK)
exit(0);
errx(1, "missing command, try 'start', 'list' or a script name");
}

4
apps/drivers/device/i2c.cpp
View File

@ -115,7 +115,7 @@ I2C::probe()
}
int
I2C::transfer(uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
{
struct i2c_msg_s msgv[2];
unsigned msgs;
@ -130,7 +130,7 @@ I2C::transfer(uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len
if (send_len > 0) {
msgv[msgs].addr = _address;
msgv[msgs].flags = 0;
msgv[msgs].buffer = send;
msgv[msgs].buffer = const_cast<uint8_t *>(send);
msgv[msgs].length = send_len;
msgs++;
}

2
apps/drivers/device/i2c.h
View File

@ -97,7 +97,7 @@ protected:
* @return OK if the transfer was successful, -errno
* otherwise.
*/
int transfer(uint8_t *send, unsigned send_len,
int transfer(const uint8_t *send, unsigned send_len,
uint8_t *recv, unsigned recv_len);
/**

69
apps/drivers/drv_blinkm.h Normal file
View File

@ -0,0 +1,69 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file drv_blinkm.h
*
* BlinkM driver API
*
* This could probably become a more generalised API for multi-colour LED
* driver systems, or be merged with the generic LED driver.
*/
#pragma once
#include <stdint.h>
#include <sys/ioctl.h>
#define BLINKM_DEVICE_PATH "/dev/blinkm"
/*
* ioctl() definitions
*/
#define _BLINKMIOCBASE (0x2900)
#define _BLINKMIOC(_n) (_IOC(_BLINKMIOCBASE, _n))
/** play the named script in *(char *)arg, repeating forever */
#define BLINKM_PLAY_SCRIPT_NAMED _BLINKMIOC(1)
/** play the numbered script in (arg), repeating forever */
#define BLINKM_PLAY_SCRIPT _BLINKMIOC(2)
/**
* Set the user script; (arg) is a pointer to an array of script lines,
* where each line is an array of four bytes giving <duration>, <command>, arg[0-2]
*
* The script is terminated by a zero command.
*/
#define BLINKM_SET_USER_SCRIPT _BLINKMIOC(3)

42
apps/drivers/px4io/px4io.cpp
View File

@ -89,6 +89,8 @@ public:
virtual int ioctl(file *filp, int cmd, unsigned long arg);
bool dump_one;
private:
static const unsigned _max_actuators = PX4IO_OUTPUT_CHANNELS;
@ -179,6 +181,7 @@ PX4IO *g_dev;
PX4IO::PX4IO() :
CDev("px4io", "/dev/px4io"),
dump_one(false),
_serial_fd(-1),
_io_stream(nullptr),
_task(-1),
@ -494,6 +497,16 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received)
_send_needed = true;
/* if monitoring, dump the received info */
if (dump_one) {
dump_one = false;
printf("IO: %s armed ", rep->armed ? "" : "not");
for (unsigned i = 0; i < rep->channel_count; i++)
printf("%d: %d ", i, rep->rc_channel[i]);
printf("\n");
}
out:
unlock();
}
@ -681,6 +694,30 @@ test(void)
exit(0);
}
void
monitor(void)
{
unsigned cancels = 4;
printf("Hit <enter> three times to exit monitor mode\n");
for (;;) {
pollfd fds[1];
fds[0].fd = 0;
fds[0].events = POLLIN;
poll(fds, 1, 500);
if (fds[0].revents == POLLIN) {
int c;
read(0, &c, 1);
if (cancels-- == 0)
exit(0);
}
if (g_dev != nullptr)
g_dev->dump_one = true;
}
}
}
int
@ -756,8 +793,11 @@ px4io_main(int argc, char *argv[])
!strcmp(argv[1], "rx_sbus") ||
!strcmp(argv[1], "rx_ppm"))
errx(0, "receiver type is automatically detected, option '%s' is deprecated", argv[1]);
if (!strcmp(argv[1], "test"))
test();
if (!strcmp(argv[1], "monitor"))
monitor();
errx(1, "need a command, try 'start', 'test', 'rx_ppm', 'rx_dsm', 'rx_sbus' or 'update'");
errx(1, "need a command, try 'start', 'test', 'monitor' or 'update'");
}

2
apps/gps/mtk.c
View File

@ -128,7 +128,7 @@ int mtk_parse(uint8_t b, char *gps_rx_buffer)
mtk_gps->eph = packet->hdop;
mtk_gps->epv = 65535; //unknown in mtk custom mode
mtk_gps->vel = packet->ground_speed;
mtk_gps->cog = 65535; //unknown in mtk custom mode
mtk_gps->cog = (uint16_t)packet->heading; //mtk: degrees *1e2, mavlink/ubx: degrees *1e2
mtk_gps->satellites_visible = packet->satellites;
/* convert time and date information to unix timestamp */

2
apps/gps/nmea_helper.c
View File

@ -214,7 +214,7 @@ void *nmea_loop(void *args)
nmea_gps->eph = (uint16_t)(info->HDOP * 100); //TODO:test scaling
nmea_gps->epv = (uint16_t)(info->VDOP * 100); //TODO:test scaling
nmea_gps->vel = (uint16_t)(info->speed * 1000 / 36); //*1000/3600*100
nmea_gps->cog = 65535;
nmea_gps->cog = (uint16_t)info->direction*100; //nmea: degrees float, ubx/mavlink: degrees*1e2
nmea_gps->satellites_visible = (uint8_t)info->satinfo.inview;
int i = 0;

1
apps/px4/tests/test_bson.c
View File

@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions

1
apps/px4/tests/tests_param.c
View File

@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions

14
apps/px4io/comms.c
View File

@ -100,8 +100,8 @@ comms_main(void)
debug("FMU: ready");
for (;;) {
/* wait for serial data, but no more than 100ms */
poll(&fds, 1, 100);
/* wait for serial data, but no more than 10ms */
poll(&fds, 1, 10);
/*
* Pull bytes from FMU and feed them to the HX engine.
@ -130,15 +130,9 @@ comms_main(void)
last_report_time = now;
/* populate the report */
for (int i = 0; i < system_state.rc_channels; i++)
for (unsigned i = 0; i < system_state.rc_channels; i++)
report.rc_channel[i] = system_state.rc_channel_data[i];
if (system_state.sbus_input_ok || system_state.dsm_input_ok || system_state.ppm_input_ok) {
report.channel_count = system_state.rc_channels;
} else {
report.channel_count = 0;
}
report.channel_count = system_state.rc_channels;
report.armed = system_state.armed;
/* and send it */

76
apps/px4io/controls.c
View File

@ -55,6 +55,7 @@
#include <drivers/drv_hrt.h>
#include <systemlib/hx_stream.h>
#include <systemlib/perf_counter.h>
#include <systemlib/ppm_decode.h>
#define DEBUG
#include "px4io.h"
@ -63,15 +64,18 @@
#define RC_CHANNEL_HIGH_THRESH 1600
#define RC_CHANNEL_LOW_THRESH 1400
static void ppm_input(void);
void
controls_main(void)
{
struct pollfd fds[2];
/* DSM input */
fds[0].fd = dsm_init("/dev/ttyS0");
fds[0].events = POLLIN;
/* S.bus input */
fds[1].fd = sbus_init("/dev/ttyS2");
fds[1].events = POLLIN;
@ -79,10 +83,32 @@ controls_main(void)
/* run this loop at ~100Hz */
poll(fds, 2, 10);
/*
* Gather R/C control inputs from supported sources.
*
* Note that if you're silly enough to connect more than
* one control input source, they're going to fight each
* other. Don't do that.
*/
bool locked = false;
if (fds[0].revents & POLLIN)
dsm_input();
locked |= dsm_input();
if (fds[1].revents & POLLIN)
sbus_input();
locked |= sbus_input();
/*
* If we don't have lock from one of the serial receivers,
* look for PPM. It shares an input with S.bus, so there's
* a possibility it will mis-parse an S.bus frame.
*
* XXX each S.bus frame will cause a PPM decoder interrupt
* storm (lots of edges). It might be sensible to actually
* disable the PPM decoder completely if we have an alternate
* receiver lock.
*/
if (!locked)
ppm_input();
/* force manual input override */
if (system_state.rc_channel_data[4] > RC_CHANNEL_HIGH_THRESH) {
@ -92,16 +118,48 @@ controls_main(void)
system_state.mixer_use_fmu = true;
}
/* detect rc loss event */
if (hrt_absolute_time() - system_state.rc_channels_timestamp > RC_FAILSAFE_TIMEOUT) {
/*
* If we haven't seen any new control data in 200ms, assume we
* have lost input and tell FMU.
*/
if ((hrt_absolute_time() - system_state.rc_channels_timestamp) > 200000) {
/* set the number of channels to zero - no inputs */
system_state.rc_channels = 0;
system_state.rc_lost = true;
/* trigger an immediate report to the FMU */
system_state.fmu_report_due = true;
}
/* XXX detect fmu loss event */
/* XXX handle failsave events - RC loss and FMU loss - here */
/* do PWM output updates */
mixer_tick();
}
}
static void
ppm_input(void)
{
/*
* Look for new PPM input.
*/
if (ppm_last_valid_decode != 0) {
/* avoid racing with PPM updates */
irqstate_t state = irqsave();
/* PPM data exists, copy it */
system_state.rc_channels = ppm_decoded_channels;
for (unsigned i = 0; i < ppm_decoded_channels; i++)
system_state.rc_channel_data[i] = ppm_buffer[i];
/* copy the timestamp and clear it */
system_state.rc_channels_timestamp = ppm_last_valid_decode;
ppm_last_valid_decode = 0;
irqrestore(state);
/* trigger an immediate report to the FMU */
system_state.fmu_report_due = true;
}
}

70
apps/px4io/dsm.c
View File

@ -104,7 +104,7 @@ dsm_init(const char *device)
return dsm_fd;
}
void
bool
dsm_input(void)
{
ssize_t ret;
@ -141,7 +141,7 @@ dsm_input(void)
/* if the read failed for any reason, just give up here */
if (ret < 1)
return;
goto out;
last_rx_time = now;
/*
@ -153,7 +153,7 @@ dsm_input(void)
* If we don't have a full frame, return
*/
if (partial_frame_count < DSM_FRAME_SIZE)
return;
goto out;
/*
* Great, it looks like we might have a frame. Go ahead and
@ -161,6 +161,12 @@ dsm_input(void)
*/
dsm_decode(now);
partial_frame_count = 0;
out:
/*
* If we have seen a frame in the last 200ms, we consider ourselves 'locked'
*/
return (now - last_frame_time) < 200000;
}
static bool
@ -275,10 +281,13 @@ dsm_decode(hrt_abstime frame_time)
*/
if (((frame_time - last_frame_time) > 1000000) && (channel_shift != 0))
dsm_guess_format(true);
/* we have received something we think is a frame */
last_frame_time = frame_time;
/* if we don't know the frame format, update the guessing state machine */
if (channel_shift == 0) {
dsm_guess_format(false);
system_state.dsm_input_ok = false;
return;
}
@ -293,10 +302,6 @@ dsm_decode(hrt_abstime frame_time)
* seven channels are being transmitted.
*/
const unsigned dsm_chancount = (DSM_FRAME_CHANNELS < PX4IO_INPUT_CHANNELS) ? DSM_FRAME_CHANNELS : PX4IO_INPUT_CHANNELS;
uint16_t dsm_channels[dsm_chancount];
for (unsigned i = 0; i < DSM_FRAME_CHANNELS; i++) {
uint8_t *dp = &frame[2 + (2 * i)];
@ -311,31 +316,40 @@ dsm_decode(hrt_abstime frame_time)
continue;
/* update the decoded channel count */
if (channel > ppm_decoded_channels)
ppm_decoded_channels = channel;
if (channel >= system_state.rc_channels)
system_state.rc_channels = channel + 1;
/* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
if (channel_shift == 11)
value /= 2;
value += 998;
/* stuff the decoded channel into the PPM input buffer */
dsm_channels[channel] = 988 + value;
}
/* DSM input is valid */
system_state.dsm_input_ok = true;
/* check if no S.BUS data is available */
if (!system_state.sbus_input_ok) {
for (unsigned i = 0; i < dsm_chancount; i++) {
system_state.rc_channel_data[i] = dsm_channels[i];
/*
* Store the decoded channel into the R/C input buffer, taking into
* account the different ideas about channel assignement that we have.
*
* Specifically, the first four channels in rc_channel_data are roll, pitch, thrust, yaw,
* but the first four channels from the DSM receiver are thrust, roll, pitch, yaw.
*/
switch (channel) {
case 0:
channel = 2;
break;
case 1:
channel = 0;
break;
case 2:
channel = 1;
default:
break;
}
/* and note that we have received data from the R/C controller */
/* XXX failsafe will cause problems here - need a strategy for detecting it */
system_state.rc_channels_timestamp = frame_time;
system_state.rc_channels = dsm_chancount;
system_state.fmu_report_due = true;
system_state.rc_channel_data[channel] = value;
}
/* and note that we have received data from the R/C controller */
/* XXX failsafe will cause problems here - need a strategy for detecting it */
system_state.rc_channels_timestamp = frame_time;
/* trigger an immediate report to the FMU */
system_state.fmu_report_due = true;
}

41
apps/px4io/mixer.c
View File

@ -50,8 +50,6 @@
#include <drivers/drv_pwm_output.h>
#include <systemlib/ppm_decode.h>
#include "px4io.h"
/*
@ -59,10 +57,6 @@
*/
static unsigned fmu_input_drops;
#define FMU_INPUT_DROP_LIMIT 20
/*
* Collect RC input data from the controller source(s).
*/
static void mixer_get_rc_input(void);
/*
* Update a mixer based on the current control signals.
@ -88,12 +82,6 @@ mixer_tick(void)
int i;
bool should_arm;
/*
* Start by looking for R/C control inputs.
* This updates system_state with any control inputs received.
*/
mixer_get_rc_input();
/*
* Decide which set of inputs we're using.
*/
@ -122,8 +110,10 @@ mixer_tick(void)
} else {
/* we have no control input */
/* XXX builtin failsafe would activate here */
control_count = 0;
}
/*
* Tickle each mixer, if we have control data.
*/
@ -167,30 +157,3 @@ mixer_update(int mixer, uint16_t *inputs, int input_count)
mixers[mixer].current_value = 0;
}
}
static void
mixer_get_rc_input(void)
{
/* if we haven't seen any new data in 200ms, assume we have lost input and tell FMU */
if ((hrt_absolute_time() - ppm_last_valid_decode) > 200000) {
/* input was ok and timed out, mark as update */
if (system_state.ppm_input_ok) {
system_state.ppm_input_ok = false;
system_state.fmu_report_due = true;
}
return;
}
/* mark PPM as valid */
system_state.ppm_input_ok = true;
/* check if no DSM and S.BUS data is available */
if (!system_state.sbus_input_ok && !system_state.dsm_input_ok) {
/* otherwise, copy channel data */
system_state.rc_channels = ppm_decoded_channels;
for (unsigned i = 0; i < ppm_decoded_channels; i++)
system_state.rc_channel_data[i] = ppm_buffer[i];
system_state.fmu_report_due = true;
}
}

1
apps/px4io/px4io.c
View File

@ -44,6 +44,7 @@
#include <debug.h>
#include <stdlib.h>
#include <errno.h>
#include <string.h>
#include <nuttx/clock.h>

14
apps/px4io/px4io.h
View File

@ -69,17 +69,13 @@
struct sys_state_s
{
bool armed; /* IO armed */
bool arm_ok; /* FMU says OK to arm */
bool ppm_input_ok; /* valid PPM input data */
bool dsm_input_ok; /* valid Spektrum DSM data */
bool sbus_input_ok; /* valid Futaba S.Bus data */
bool armed; /* IO armed */
bool arm_ok; /* FMU says OK to arm */
/**
* Data from the remote control input(s)
*/
int rc_channels;
unsigned rc_channels;
uint16_t rc_channel_data[PX4IO_INPUT_CHANNELS];
uint64_t rc_channels_timestamp;
@ -184,9 +180,9 @@ extern void comms_main(void) __attribute__((noreturn));
*/
extern void controls_main(void);
extern int dsm_init(const char *device);
extern void dsm_input(void);
extern bool dsm_input(void);
extern int sbus_init(const char *device);
extern void sbus_input(void);
extern bool sbus_input(void);
/*
* Assertion codes

31
apps/px4io/sbus.c
View File

@ -58,6 +58,7 @@
static int sbus_fd = -1;
static hrt_abstime last_rx_time;
static hrt_abstime last_frame_time;
static uint8_t frame[SBUS_FRAME_SIZE];
@ -94,7 +95,7 @@ sbus_init(const char *device)
return sbus_fd;
}
void
bool
sbus_input(void)
{
ssize_t ret;
@ -131,7 +132,7 @@ sbus_input(void)
/* if the read failed for any reason, just give up here */
if (ret < 1)
return;
goto out;
last_rx_time = now;
/*
@ -143,7 +144,7 @@ sbus_input(void)
* If we don't have a full frame, return
*/
if (partial_frame_count < SBUS_FRAME_SIZE)
return;
goto out;
/*
* Great, it looks like we might have a frame. Go ahead and
@ -151,6 +152,12 @@ sbus_input(void)
*/
sbus_decode(now);
partial_frame_count = 0;
out:
/*
* If we have seen a frame in the last 200ms, we consider ourselves 'locked'
*/
return (now - last_frame_time) < 200000;
}
/*
@ -195,17 +202,19 @@ sbus_decode(hrt_abstime frame_time)
/* check frame boundary markers to avoid out-of-sync cases */
if ((frame[0] != 0x0f) || (frame[24] != 0x00)) {
sbus_frame_drops++;
system_state.sbus_input_ok = false;
return;
}
/* if the failsafe bit is set, we consider that a loss of RX signal */
/* if the failsafe bit is set, we consider the frame invalid */
if (frame[23] & (1 << 4)) {
system_state.sbus_input_ok = false;
return;
}
unsigned chancount = (PX4IO_INPUT_CHANNELS > 16) ? 16 : PX4IO_INPUT_CHANNELS;
/* we have received something we think is a frame */
last_frame_time = frame_time;
unsigned chancount = (PX4IO_INPUT_CHANNELS > SBUS_INPUT_CHANNELS) ?
SBUS_INPUT_CHANNELS : PX4IO_INPUT_CHANNELS;
/* use the decoder matrix to extract channel data */
for (unsigned channel = 0; channel < chancount; channel++) {
@ -228,14 +237,16 @@ sbus_decode(hrt_abstime frame_time)
}
if (PX4IO_INPUT_CHANNELS >= 18) {
/* decode two switch channels */
chancount = 18;
/* XXX decode the two switch channels */
}
/* note the number of channels decoded */
system_state.rc_channels = chancount;
system_state.sbus_input_ok = true;
system_state.fmu_report_due = true;
/* and note that we have received data from the R/C controller */
system_state.rc_channels_timestamp = frame_time;
/* trigger an immediate report to the FMU */
system_state.fmu_report_due = true;
}

1
apps/systemcmds/bl_update/bl_update.c
View File

@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions

1
apps/systemcmds/boardinfo/boardinfo.c
View File

@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions

5
apps/systemcmds/perf/perf.c
View File

@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 Lorenz Meier. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -13,7 +12,7 @@
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*

1
nuttx/configs/px4fmu/nsh/appconfig
View File

@ -97,6 +97,7 @@ CONFIGURED_APPS += drivers/l3gd20
CONFIGURED_APPS += drivers/px4io
CONFIGURED_APPS += drivers/stm32
CONFIGURED_APPS += drivers/led
CONFIGURED_APPS += drivers/blinkm
CONFIGURED_APPS += drivers/stm32/tone_alarm
CONFIGURED_APPS += drivers/px4fmu
CONFIGURED_APPS += drivers/hil