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Merge branch 'master' of https://github.com/PX4/Firmware into archlinux

This commit is contained in:
Thomas Gubler 2013-03-14 10:58:05 +01:00
parent e0376fc375 6b947a67d0
commit 8e45ddc42b
64 changed files with 4685 additions and 1441 deletions
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164
Debug/ARMv7M Normal file
View File

@ -0,0 +1,164 @@
#
# Assorted ARMv7M macros
#
echo Loading ARMv7M GDB macros. Use 'help armv7m' for more information.\n
define armv7m
echo Use 'help armv7m' for more information.\n
end
document armv7m
. Various macros for working with the ARMv7M family of processors.
.
. vecstate
. Print information about the current exception handling state.
.
. Use 'help <macro>' for more specific help.
end
define vecstate
set $icsr = *(unsigned *)0xe000ed04
set $vect = $icsr & 0x1ff
set $pend = ($icsr & 0x1ff000) >> 12
set $shcsr = *(unsigned *)0xe000ed24
set $cfsr = *(unsigned *)0xe000ed28
set $mmfsr = $cfsr & 0xff
set $bfsr = ($cfsr >> 8) & 0xff
set $ufsr = ($cfsr >> 16) & 0xffff
set $hfsr = *(unsigned *)0xe000ed2c
set $bfar = *(unsigned *)0xe000ed38
set $mmfar = *(unsigned *)0xe000ed34
if $vect < 15
if $hfsr != 0
printf "HardFault:"
if $hfsr & (1<<1)
printf " due to vector table read fault\n"
end
if $hfsr & (1<<30)
printf " forced due to escalated or disabled configurable fault (see below)\n"
end
if $hfsr & (1<<31)
printf " due to an unexpected debug event\n"
end
end
if $mmfsr != 0
printf "MemManage:"
if $mmfsr & (1<<5)
printf " during lazy FP state save"
end
if $mmfsr & (1<<4)
printf " during exception entry"
end
if $mmfsr & (1<<3)
printf " during exception return"
end
if $mmfsr & (1<<0)
printf " during data access"
end
if $mmfsr & (1<<0)
printf " during instruction prefetch"
end
if $mmfsr & (1<<7)
printf " accessing 0x%08x", $mmfar
end
printf "\n"
end
if $bfsr != 0
printf "BusFault:"
if $bfsr & (1<<2)
printf " (imprecise)"
end
if $bfsr & (1<<1)
printf " (precise)"
end
if $bfsr & (1<<5)
printf " during lazy FP state save"
end
if $bfsr & (1<<4)
printf " during exception entry"
end
if $bfsr & (1<<3)
printf " during exception return"
end
if $bfsr & (1<<0)
printf " during instruction prefetch"
end
if $bfsr & (1<<7)
printf " accessing 0x%08x", $bfar
end
printf "\n"
end
if $ufsr != 0
printf "UsageFault"
if $ufsr & (1<<9)
printf " due to divide-by-zero"
end
if $ufsr & (1<<8)
printf " due to unaligned memory access"
end
if $ufsr & (1<<3)
printf " due to access to disabled/absent coprocessor"
end
if $ufsr & (1<<2)
printf " due to a bad EXC_RETURN value"
end
if $ufsr & (1<<1)
printf " due to bad T or IT bits in EPSR"
end
if $ufsr & (1<<0)
printf " due to executing an undefined instruction"
end
printf "\n"
end
else
if $vect >= 15
printf "Handling vector %u\n", $vect
end
end
if ((unsigned)$lr & 0xf0000000) == 0xf0000000
if ($lr & 1)
printf "exception frame is on MSP\n"
#set $frame_ptr = (unsigned *)$msp
set $frame_ptr = (unsigned *)$sp
else
printf "exception frame is on PSP, backtrace may not be possible\n"
#set $frame_ptr = (unsigned *)$psp
set $frame_ptr = (unsigned *)$sp
end
if $lr & 0x10
set $fault_sp = $frame_ptr + (8 * 4)
else
set $fault_sp = $frame_ptr + (26 * 4)
end
printf " r0: %08x r1: %08x r2: %08x r3: %08x\n", $frame_ptr[0], $frame_ptr[1], $frame_ptr[2], $frame_ptr[3]
printf " r4: %08x r5: %08x r6: %08x r7: %08x\n", $r4, $r5, $r6, $r7
printf " r8: %08x r9: %08x r10: %08x r11: %08x\n", $r8, $r9, $r10, $r11
printf " r12: %08x\n", $frame_ptr[4]
printf " sp: %08x lr: %08x pc: %08x PSR: %08x\n", $fault_sp, $frame_ptr[5], $frame_ptr[6], $frame_ptr[7]
# Swap to the context of the faulting code and try to print a backtrace
set $saved_sp = $sp
set $sp = $fault_sp
set $saved_lr = $lr
set $lr = $frame_ptr[5]
set $saved_pc = $pc
set $pc = $frame_ptr[6]
bt
set $sp = $saved_sp
set $lr = $saved_lr
set $pc = $saved_pc
else
printf "(not currently in exception handler)\n"
end
end
document vecstate
. vecstate
. Print information about the current exception handling state.
end

1
Debug/PX4
View File

@ -2,6 +2,7 @@
# Various PX4-specific macros
#
source Debug/NuttX
source Debug/ARMv7M
echo Loading PX4 GDB macros. Use 'help px4' for more information.\n

1
Firmware.sublime-project
View File

@ -7,6 +7,7 @@
[
"*.o",
"*.a",
"*.d",
".built",
".context",
".depend",

8
apps/commander/commander.c
View File

@ -1361,6 +1361,8 @@ int commander_thread_main(int argc, char *argv[])
param_get(param_find("SYS_FAILSAVE_LL"), &failsafe_lowlevel_timeout_ms);
param_t _param_sys_type = param_find("MAV_TYPE");
param_t _param_system_id = param_find("MAV_SYS_ID");
param_t _param_component_id = param_find("MAV_COMP_ID");
/* welcome user */
warnx("I am in command now!\n");
@ -1558,6 +1560,7 @@ int commander_thread_main(int argc, char *argv[])
/* parameters changed */
orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
/* update parameters */
if (!current_status.flag_system_armed) {
if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
@ -1573,6 +1576,11 @@ int commander_thread_main(int argc, char *argv[])
} else {
current_status.flag_external_manual_override_ok = true;
}
/* check and update system / component ID */
param_get(_param_system_id, &(current_status.system_id));
param_get(_param_component_id, &(current_status.component_id));
}
}

2
apps/controllib/fixedwing.cpp
View File

@ -322,7 +322,7 @@ void BlockMultiModeBacksideAutopilot::update()
_att.roll, _att.pitch, _att.yaw,
_att.rollspeed, _att.pitchspeed, _att.yawspeed
);
_actuators.control[CH_AIL] = - _backsideAutopilot.getAileron();
_actuators.control[CH_AIL] = _backsideAutopilot.getAileron();
_actuators.control[CH_ELV] = - _backsideAutopilot.getElevator();
_actuators.control[CH_RDR] = _backsideAutopilot.getRudder();
_actuators.control[CH_THR] = _backsideAutopilot.getThrottle();

2
apps/drivers/blinkm/blinkm.cpp
View File

@ -127,7 +127,7 @@ class BlinkM : public device::I2C
{
public:
BlinkM(int bus, int blinkm);
~BlinkM();
virtual ~BlinkM();
virtual int init();

2
apps/drivers/bma180/bma180.cpp
View File

@ -126,7 +126,7 @@ class BMA180 : public device::SPI
{
public:
BMA180(int bus, spi_dev_e device);
~BMA180();
virtual ~BMA180();
virtual int init();

4
apps/drivers/boards/px4io/px4io_internal.h
View File

@ -74,8 +74,8 @@
#define GPIO_ACC_OC_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN12)
#define GPIO_SERVO_OC_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN13)
#define GPIO_RELAY1_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN13)
#define GPIO_RELAY2_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12)
#define GPIO_RELAY1_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12)
#define GPIO_RELAY2_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN11)
/* Analog inputs ********************************************************************/

41
apps/drivers/device/i2c.cpp
View File

@ -120,7 +120,7 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
struct i2c_msg_s msgv[2];
unsigned msgs;
int ret;
unsigned tries = 0;
unsigned retry_count = 0;
do {
// debug("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
@ -154,16 +154,51 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
I2C_SETFREQUENCY(_dev, _frequency);
ret = I2C_TRANSFER(_dev, &msgv[0], msgs);
/* success */
if (ret == OK)
break;
// reset the I2C bus to unwedge on error
/* if we have already retried once, or we are going to give up, then reset the bus */
if ((retry_count >= 1) || (retry_count >= _retries))
up_i2creset(_dev);
} while (tries++ < _retries);
} while (retry_count++ < _retries);
return ret;
}
int
I2C::transfer(i2c_msg_s *msgv, unsigned msgs)
{
int ret;
unsigned retry_count = 0;
/* force the device address into the message vector */
for (unsigned i = 0; i < msgs; i++)
msgv[i].addr = _address;
do {
/*
* I2C architecture means there is an unavoidable race here
* if there are any devices on the bus with a different frequency
* preference. Really, this is pointless.
*/
I2C_SETFREQUENCY(_dev, _frequency);
ret = I2C_TRANSFER(_dev, msgv, msgs);
/* success */
if (ret == OK)
break;
/* if we have already retried once, or we are going to give up, then reset the bus */
if ((retry_count >= 1) || (retry_count >= _retries))
up_i2creset(_dev);
} while (retry_count++ < _retries);
return ret;
}
} // namespace device

10
apps/drivers/device/i2c.h
View File

@ -100,6 +100,16 @@ protected:
int transfer(const uint8_t *send, unsigned send_len,
uint8_t *recv, unsigned recv_len);
/**
* Perform a multi-part I2C transaction to the device.
*
* @param msgv An I2C message vector.
* @param msgs The number of entries in the message vector.
* @return OK if the transfer was successful, -errno
* otherwise.
*/
int transfer(i2c_msg_s *msgv, unsigned msgs);
/**
* Change the bus address.
*

16
apps/drivers/drv_hrt.h
View File

@ -91,6 +91,22 @@ __EXPORT extern hrt_abstime ts_to_abstime(struct timespec *ts);
*/
__EXPORT extern void abstime_to_ts(struct timespec *ts, hrt_abstime abstime);
/*
* Compute the delta between a timestamp taken in the past
* and now.
*
* This function is safe to use even if the timestamp is updated
* by an interrupt during execution.
*/
__EXPORT extern hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then);
/*
* Store the absolute time in an interrupt-safe fashion.
*
* This function ensures that the timestamp cannot be seen half-written by an interrupt handler.
*/
__EXPORT extern hrt_abstime hrt_store_absolute_time(volatile hrt_abstime *now);
/*
* Call callout(arg) after delay has elapsed.
*

15
apps/drivers/drv_pwm_output.h
View File

@ -77,9 +77,6 @@ typedef uint16_t servo_position_t;
* device.
*/
struct pwm_output_values {
/** desired servo update rate in Hz */
uint32_t update_rate;
/** desired pulse widths for each of the supported channels */
servo_position_t values[PWM_OUTPUT_MAX_CHANNELS];
};
@ -106,6 +103,18 @@ ORB_DECLARE(output_pwm);
/** set update rate in Hz */
#define PWM_SERVO_SET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2)
/** get the number of servos in *(unsigned *)arg */
#define PWM_SERVO_GET_COUNT _IOC(_PWM_SERVO_BASE, 3)
/** set debug level for servo IO */
#define PWM_SERVO_SET_DEBUG _IOC(_PWM_SERVO_BASE, 4)
/** enable in-air restart */
#define PWM_SERVO_INAIR_RESTART_ENABLE _IOC(_PWM_SERVO_BASE, 5)
/** disable in-air restart */
#define PWM_SERVO_INAIR_RESTART_DISABLE _IOC(_PWM_SERVO_BASE, 6)
/** set a single servo to a specific value */
#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo)

81
apps/drivers/drv_range_finder.h Normal file
View File

@ -0,0 +1,81 @@
/****************************************************************************
*
* Copyright (C) 2013 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 Rangefinder driver interface.
*/
#ifndef _DRV_RANGEFINDER_H
#define _DRV_RANGEFINDER_H
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_sensor.h"
#include "drv_orb_dev.h"
#define RANGE_FINDER_DEVICE_PATH "/dev/range_finder"
/**
* range finder report structure. Reads from the device must be in multiples of this
* structure.
*/
struct range_finder_report {
uint64_t timestamp;
float distance; /** in meters */
uint8_t valid; /** 1 == within sensor range, 0 = outside sensor range */
};
/*
* ObjDev tag for raw range finder data.
*/
ORB_DECLARE(sensor_range_finder);
/*
* ioctl() definitions
*
* Rangefinder drivers also implement the generic sensor driver
* interfaces from drv_sensor.h
*/
#define _RANGEFINDERIOCBASE (0x7900)
#define __RANGEFINDERIOC(_n) (_IOC(_RANGEFINDERIOCBASE, _n))
/** set the minimum effective distance of the device */
#define RANGEFINDERIOCSETMINIUMDISTANCE __RANGEFINDERIOC(1)
/** set the maximum effective distance of the device */
#define RANGEFINDERIOCSETMAXIUMDISTANCE __RANGEFINDERIOC(2)
#endif /* _DRV_RANGEFINDER_H */

7
apps/drivers/drv_rc_input.h
View File

@ -100,4 +100,11 @@ struct rc_input_values {
*/
ORB_DECLARE(input_rc);
#define _RC_INPUT_BASE 0x2b00
/** Fetch R/C input values into (rc_input_values *)arg */
#define RC_INPUT_GET _IOC(_RC_INPUT_BASE, 0)
#endif /* _DRV_RC_INPUT_H */

2
apps/drivers/gps/gps.cpp
View File

@ -86,7 +86,7 @@ class GPS : public device::CDev
{
public:
GPS(const char* uart_path);
~GPS();
virtual ~GPS();
virtual int init();

2
apps/drivers/hil/hil.cpp
View File

@ -91,7 +91,7 @@ public:
MODE_NONE
};
HIL();
~HIL();
virtual ~HIL();
virtual int ioctl(file *filp, int cmd, unsigned long arg);

4
apps/drivers/hmc5883/hmc5883.cpp
View File

@ -130,7 +130,7 @@ class HMC5883 : public device::I2C
{
public:
HMC5883(int bus);
~HMC5883();
virtual ~HMC5883();
virtual int init();
@ -465,7 +465,7 @@ HMC5883::probe()
read_reg(ADDR_ID_C, data[2]))
debug("read_reg fail");
_retries = 1;
_retries = 2;
if ((data[0] != ID_A_WHO_AM_I) ||
(data[1] != ID_B_WHO_AM_I) ||

2
apps/drivers/l3gd20/l3gd20.cpp
View File

@ -152,7 +152,7 @@ class L3GD20 : public device::SPI
{
public:
L3GD20(int bus, const char* path, spi_dev_e device);
~L3GD20();
virtual ~L3GD20();
virtual int init();

2
apps/drivers/led/led.cpp
View File

@ -53,7 +53,7 @@ class LED : device::CDev
{
public:
LED();
~LED();
virtual ~LED();
virtual int init();
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);

42
apps/drivers/mb12xx/Makefile Normal file
View File

@ -0,0 +1,42 @@
############################################################################
#
# Copyright (C) 2013 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.
#
############################################################################
#
# Makefile to build the Maxbotix Sonar driver.
#
APPNAME = mb12xx
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk

840
apps/drivers/mb12xx/mb12xx.cpp Normal file
View File

@ -0,0 +1,840 @@
/****************************************************************************
*
* Copyright (C) 2013 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 mb12xx.cpp
* @author Greg Hulands
*
* Driver for the Maxbotix sonar range finders connected via I2C.
*/
#include <nuttx/config.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <arch/board/board.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
/* Configuration Constants */
#define MB12XX_BUS PX4_I2C_BUS_EXPANSION
#define MB12XX_BASEADDR 0x70 /* 7-bit address. 8-bit address is 0xE0 */
/* MB12xx Registers addresses */
#define MB12XX_TAKE_RANGE_REG 0x51 /* Measure range Register */
#define MB12XX_SET_ADDRESS_1 0xAA /* Change address 1 Register */
#define MB12XX_SET_ADDRESS_2 0xA5 /* Change address 2 Register */
/* Device limits */
#define MB12XX_MIN_DISTANCE (0.20f)
#define MB12XX_MAX_DISTANCE (7.65f)
#define MB12XX_CONVERSION_INTERVAL 60000 /* 60ms */
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
class MB12XX : public device::I2C
{
public:
MB12XX(int bus = MB12XX_BUS, int address = MB12XX_BASEADDR);
virtual ~MB12XX();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
protected:
virtual int probe();
private:
float _min_distance;
float _max_distance;
work_s _work;
unsigned _num_reports;
volatile unsigned _next_report;
volatile unsigned _oldest_report;
range_finder_report *_reports;
bool _sensor_ok;
int _measure_ticks;
bool _collect_phase;
orb_advert_t _range_finder_topic;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
/**
* Test whether the device supported by the driver is present at a
* specific address.
*
* @param address The I2C bus address to probe.
* @return True if the device is present.
*/
int probe_address(uint8_t address);
/**
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Set the min and max distance thresholds if you want the end points of the sensors
* range to be brought in at all, otherwise it will use the defaults MB12XX_MIN_DISTANCE
* and MB12XX_MAX_DISTANCE
*/
void set_minimum_distance(float min);
void set_maximum_distance(float max);
float get_minimum_distance();
float get_maximum_distance();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void cycle();
int measure();
int collect();
/**
* Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
};
/* helper macro for handling report buffer indices */
#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int mb12xx_main(int argc, char *argv[]);
MB12XX::MB12XX(int bus, int address) :
I2C("MB12xx", RANGE_FINDER_DEVICE_PATH, bus, address, 100000),
_min_distance(MB12XX_MIN_DISTANCE),
_max_distance(MB12XX_MAX_DISTANCE),
_num_reports(0),
_next_report(0),
_oldest_report(0),
_reports(nullptr),
_sensor_ok(false),
_measure_ticks(0),
_collect_phase(false),
_range_finder_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "mb12xx_read")),
_comms_errors(perf_alloc(PC_COUNT, "mb12xx_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "mb12xx_buffer_overflows"))
{
// enable debug() calls
_debug_enabled = true;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
MB12XX::~MB12XX()
{
/* make sure we are truly inactive */
stop();
/* free any existing reports */
if (_reports != nullptr)
delete[] _reports;
}
int
MB12XX::init()
{
int ret = ERROR;
/* do I2C init (and probe) first */
if (I2C::init() != OK)
goto out;
/* allocate basic report buffers */
_num_reports = 2;
_reports = new struct range_finder_report[_num_reports];
if (_reports == nullptr)
goto out;
_oldest_report = _next_report = 0;
/* get a publish handle on the range finder topic */
memset(&_reports[0], 0, sizeof(_reports[0]));
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &_reports[0]);
if (_range_finder_topic < 0)
debug("failed to create sensor_range_finder object. Did you start uOrb?");
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
_sensor_ok = true;
out:
return ret;
}
int
MB12XX::probe()
{
return measure();
}
void
MB12XX::set_minimum_distance(float min)
{
_min_distance = min;
}
void
MB12XX::set_maximum_distance(float max)
{
_max_distance = max;
}
float
MB12XX::get_minimum_distance()
{
return _min_distance;
}
float
MB12XX::get_maximum_distance()
{
return _max_distance;
}
int
MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(MB12XX_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start)
start();
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(MB12XX_CONVERSION_INTERVAL))
return -EINVAL;
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start)
start();
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0)
return SENSOR_POLLRATE_MANUAL;
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* add one to account for the sentinel in the ring */
arg++;
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 2) || (arg > 100))
return -EINVAL;
/* allocate new buffer */
struct range_finder_report *buf = new struct range_finder_report[arg];
if (nullptr == buf)
return -ENOMEM;
/* reset the measurement state machine with the new buffer, free the old */
stop();
delete[] _reports;
_num_reports = arg;
_reports = buf;
start();
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _num_reports - 1;
case SENSORIOCRESET:
/* XXX implement this */
return -EINVAL;
case RANGEFINDERIOCSETMINIUMDISTANCE:
{
set_minimum_distance(*(float *)arg);
return 0;
}
break;
case RANGEFINDERIOCSETMAXIUMDISTANCE:
{
set_maximum_distance(*(float *)arg);
return 0;
}
break;
default:
/* give it to the superclass */
return I2C::ioctl(filp, cmd, arg);
}
}
ssize_t
MB12XX::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct range_finder_report);
int ret = 0;
/* buffer must be large enough */
if (count < 1)
return -ENOSPC;
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the workq thread while we are doing this;
* we are careful to avoid racing with them.
*/
while (count--) {
if (_oldest_report != _next_report) {
memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
ret += sizeof(_reports[0]);
INCREMENT(_oldest_report, _num_reports);
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement - run one conversion */
/* XXX really it'd be nice to lock against other readers here */
do {
_oldest_report = _next_report = 0;
/* trigger a measurement */
if (OK != measure()) {
ret = -EIO;
break;
}
/* wait for it to complete */
usleep(MB12XX_CONVERSION_INTERVAL);
/* run the collection phase */
if (OK != collect()) {
ret = -EIO;
break;
}
/* state machine will have generated a report, copy it out */
memcpy(buffer, _reports, sizeof(*_reports));
ret = sizeof(*_reports);
} while (0);
return ret;
}
int
MB12XX::measure()
{
int ret;
/*
* Send the command to begin a measurement.
*/
uint8_t cmd = MB12XX_TAKE_RANGE_REG;
ret = transfer(&cmd, 1, nullptr, 0);
if (OK != ret)
{
perf_count(_comms_errors);
log("i2c::transfer returned %d", ret);
return ret;
}
ret = OK;
return ret;
}
int
MB12XX::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[2] = {0, 0};
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 2);
if (ret < 0)
{
log("error reading from sensor: %d", ret);
return ret;
}
uint16_t distance = val[0] << 8 | val[1];
float si_units = (distance * 1.0f)/ 100.0f; /* cm to m */
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
_reports[_next_report].timestamp = hrt_absolute_time();
_reports[_next_report].distance = si_units;
_reports[_next_report].valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
/* publish it */
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &_reports[_next_report]);
/* post a report to the ring - note, not locked */
INCREMENT(_next_report, _num_reports);
/* if we are running up against the oldest report, toss it */
if (_next_report == _oldest_report) {
perf_count(_buffer_overflows);
INCREMENT(_oldest_report, _num_reports);
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
out:
perf_end(_sample_perf);
return ret;
return ret;
}
void
MB12XX::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_oldest_report = _next_report = 0;
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&MB12XX::cycle_trampoline, this, 1);
/* notify about state change */
struct subsystem_info_s info = {
true,
true,
true,
SUBSYSTEM_TYPE_RANGEFINDER};
static orb_advert_t pub = -1;
if (pub > 0) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
}
void
MB12XX::stop()
{
work_cancel(HPWORK, &_work);
}
void
MB12XX::cycle_trampoline(void *arg)
{
MB12XX *dev = (MB12XX *)arg;
dev->cycle();
}
void
MB12XX::cycle()
{
/* collection phase? */
if (_collect_phase) {
/* perform collection */
if (OK != collect()) {
log("collection error");
/* restart the measurement state machine */
start();
return;
}
/* next phase is measurement */
_collect_phase = false;
/*
* Is there a collect->measure gap?
*/
if (_measure_ticks > USEC2TICK(MB12XX_CONVERSION_INTERVAL)) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&MB12XX::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(MB12XX_CONVERSION_INTERVAL));
return;
}
}
/* measurement phase */
if (OK != measure())
log("measure error");
/* next phase is collection */
_collect_phase = true;
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&MB12XX::cycle_trampoline,
this,
USEC2TICK(MB12XX_CONVERSION_INTERVAL));
}
void
MB12XX::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
perf_print_counter(_buffer_overflows);
printf("poll interval: %u ticks\n", _measure_ticks);
printf("report queue: %u (%u/%u @ %p)\n",
_num_reports, _oldest_report, _next_report, _reports);
}
/**
* Local functions in support of the shell command.
*/
namespace mb12xx
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
const int ERROR = -1;
MB12XX *g_dev;
void start();
void stop();
void test();
void reset();
void info();
/**
* Start the driver.
*/
void
start()
{
int fd;
if (g_dev != nullptr)
errx(1, "already started");
/* create the driver */
g_dev = new MB12XX(MB12XX_BUS);
if (g_dev == nullptr)
goto fail;
if (OK != g_dev->init())
goto fail;
/* set the poll rate to default, starts automatic data collection */
fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY);
if (fd < 0)
goto fail;
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
goto fail;
exit(0);
fail:
if (g_dev != nullptr)
{
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
/**
* Stop the driver
*/
void stop()
{
if (g_dev != nullptr)
{
delete g_dev;
g_dev = nullptr;
}
else
{
errx(1, "driver not running");
}
exit(0);
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
void
test()
{
struct range_finder_report report;
ssize_t sz;
int ret;
int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'mb12xx start' if the driver is not running", RANGE_FINDER_DEVICE_PATH);
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
err(1, "immediate read failed");
warnx("single read");
warnx("measurement: %0.2f m", (double)report.distance);
warnx("time: %lld", report.timestamp);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
errx(1, "failed to set 2Hz poll rate");
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) {
struct pollfd fds;
/* wait for data to be ready */
fds.fd = fd;
fds.events = POLLIN;
ret = poll(&fds, 1, 2000);
if (ret != 1)
errx(1, "timed out waiting for sensor data");
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
err(1, "periodic read failed");
warnx("periodic read %u", i);
warnx("measurement: %0.3f", (double)report.distance);
warnx("time: %lld", report.timestamp);
}
errx(0, "PASS");
}
/**
* Reset the driver.
*/
void
reset()
{
int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "failed ");
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
err(1, "driver reset failed");
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
err(1, "driver poll restart failed");
exit(0);
}
/**
* Print a little info about the driver.
*/
void
info()
{
if (g_dev == nullptr)
errx(1, "driver not running");
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
}
} // namespace
int
mb12xx_main(int argc, char *argv[])
{
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start"))
mb12xx::start();
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop"))
mb12xx::stop();
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
mb12xx::test();
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset"))
mb12xx::reset();
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
mb12xx::info();
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}

2
apps/drivers/mpu6000/mpu6000.cpp
View File

@ -151,7 +151,7 @@ class MPU6000 : public device::SPI
{
public:
MPU6000(int bus, spi_dev_e device);
~MPU6000();
virtual ~MPU6000();
virtual int init();

70
apps/drivers/ms5611/ms5611.cpp
View File

@ -104,7 +104,7 @@ class MS5611 : public device::I2C
{
public:
MS5611(int bus);
~MS5611();
virtual ~MS5611();
virtual int init();
@ -144,6 +144,7 @@ private:
orb_advert_t _baro_topic;
perf_counter_t _sample_perf;
perf_counter_t _measure_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
@ -162,12 +163,12 @@ private:
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
void start_cycle();
/**
* Stop the automatic measurement state machine.
*/
void stop();
void stop_cycle();
/**
* Perform a poll cycle; collect from the previous measurement
@ -274,6 +275,7 @@ MS5611::MS5611(int bus) :
_msl_pressure(101325),
_baro_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read")),
_measure_perf(perf_alloc(PC_ELAPSED, "ms5611_measure")),
_comms_errors(perf_alloc(PC_COUNT, "ms5611_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "ms5611_buffer_overflows"))
{
@ -287,7 +289,7 @@ MS5611::MS5611(int bus) :
MS5611::~MS5611()
{
/* make sure we are truly inactive */
stop();
stop_cycle();
/* free any existing reports */
if (_reports != nullptr)
@ -331,7 +333,11 @@ MS5611::probe()
if ((OK == probe_address(MS5611_ADDRESS_1)) ||
(OK == probe_address(MS5611_ADDRESS_2))) {
_retries = 1;
/*
* Disable retries; we may enable them selectively in some cases,
* but the device gets confused if we retry some of the commands.
*/
_retries = 0;
return OK;
}
@ -436,7 +442,7 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
stop_cycle();
_measure_ticks = 0;
return OK;
@ -458,7 +464,7 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
/* if we need to start the poll state machine, do it */
if (want_start)
start();
start_cycle();
return OK;
}
@ -480,7 +486,7 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
/* if we need to start the poll state machine, do it */
if (want_start)
start();
start_cycle();
return OK;
}
@ -508,11 +514,11 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
return -ENOMEM;
/* reset the measurement state machine with the new buffer, free the old */
stop();
stop_cycle();
delete[] _reports;
_num_reports = arg;
_reports = buf;
start();
start_cycle();
return OK;
}
@ -545,7 +551,7 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
}
void
MS5611::start()
MS5611::start_cycle()
{
/* reset the report ring and state machine */
@ -558,7 +564,7 @@ MS5611::start()
}
void
MS5611::stop()
MS5611::stop_cycle()
{
work_cancel(HPWORK, &_work);
}
@ -574,15 +580,25 @@ MS5611::cycle_trampoline(void *arg)
void
MS5611::cycle()
{
int ret;
/* collection phase? */
if (_collect_phase) {
/* perform collection */
if (OK != collect()) {
log("collection error");
ret = collect();
if (ret != OK) {
if (ret == -6) {
/*
* The ms5611 seems to regularly fail to respond to
* its address; this happens often enough that we'd rather not
* spam the console with the message.
*/
} else {
log("collection error %d", ret);
}
/* reset the collection state machine and try again */
start();
start_cycle();
return;
}
@ -609,8 +625,13 @@ MS5611::cycle()
}
/* measurement phase */
if (OK != measure())
log("measure error");
ret = measure();
if (ret != OK) {
log("measure error %d", ret);
/* reset the collection state machine and try again */
start_cycle();
return;
}
/* next phase is collection */
_collect_phase = true;
@ -628,6 +649,8 @@ MS5611::measure()
{
int ret;
perf_begin(_measure_perf);
/*
* In phase zero, request temperature; in other phases, request pressure.
*/
@ -635,18 +658,25 @@ MS5611::measure()
/*
* Send the command to begin measuring.
*
* Disable retries on this command; we can't know whether failure
* means the device did or did not see the write.
*/
_retries = 0;
ret = transfer(&cmd_data, 1, nullptr, 0);
if (OK != ret)
perf_count(_comms_errors);
perf_end(_measure_perf);
return ret;
}
int
MS5611::collect()
{
int ret;
uint8_t cmd;
uint8_t data[3];
union {
@ -662,9 +692,11 @@ MS5611::collect()
/* this should be fairly close to the end of the conversion, so the best approximation of the time */
_reports[_next_report].timestamp = hrt_absolute_time();
if (OK != transfer(&cmd, 1, &data[0], 3)) {
ret = transfer(&cmd, 1, &data[0], 3);
if (ret != OK) {
perf_count(_comms_errors);
return -EIO;
perf_end(_sample_perf);
return ret;
}
/* fetch the raw value */

61
apps/drivers/px4fmu/fmu.cpp
View File

@ -64,12 +64,14 @@
#include <systemlib/err.h>
#include <systemlib/mixer/mixer.h>
#include <drivers/drv_mixer.h>
#include <drivers/drv_rc_input.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_outputs.h>
#include <systemlib/err.h>
#include <systemlib/ppm_decode.h>
class PX4FMU : public device::CDev
{
@ -80,9 +82,10 @@ public:
MODE_NONE
};
PX4FMU();
~PX4FMU();
virtual ~PX4FMU();
virtual int ioctl(file *filp, int cmd, unsigned long arg);
virtual ssize_t write(file *filp, const char *buffer, size_t len);
virtual int init();
@ -338,6 +341,13 @@ PX4FMU::task_main()
unsigned num_outputs = (_mode == MODE_2PWM) ? 2 : 4;
// rc input, published to ORB
struct rc_input_values rc_in;
orb_advert_t to_input_rc = 0;
memset(&rc_in, 0, sizeof(rc_in));
rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM;
log("starting");
/* loop until killed */
@ -363,8 +373,9 @@ PX4FMU::task_main()
_current_update_rate = _update_rate;
}
/* sleep waiting for data, but no more than a second */
int ret = ::poll(&fds[0], 2, 1000);
/* sleep waiting for data, stopping to check for PPM
* input at 100Hz */
int ret = ::poll(&fds[0], 2, 10);
/* this would be bad... */
if (ret < 0) {
@ -429,6 +440,26 @@ PX4FMU::task_main()
/* update PWM servo armed status if armed and not locked down */
up_pwm_servo_arm(aa.armed && !aa.lockdown);
}
// see if we have new PPM input data
if (ppm_last_valid_decode != rc_in.timestamp) {
// we have a new PPM frame. Publish it.
rc_in.channel_count = ppm_decoded_channels;
if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) {
rc_in.channel_count = RC_INPUT_MAX_CHANNELS;
}
for (uint8_t i=0; i<rc_in.channel_count; i++) {
rc_in.values[i] = ppm_buffer[i];
}
rc_in.timestamp = ppm_last_valid_decode;
/* lazily advertise on first publication */
if (to_input_rc == 0) {
to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_in);
} else {
orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in);
}
}
}
::close(_t_actuators);
@ -621,6 +652,30 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
return ret;
}
/*
this implements PWM output via a write() method, for compatibility
with px4io
*/
ssize_t
PX4FMU::write(file *filp, const char *buffer, size_t len)
{
unsigned count = len / 2;
uint16_t values[4];
if (count > 4) {
// we only have 4 PWM outputs on the FMU
count = 4;
}
// allow for misaligned values
memcpy(values, buffer, count*2);
for (uint8_t i=0; i<count; i++) {
up_pwm_servo_set(i, values[i]);
}
return count * 2;
}
void
PX4FMU::gpio_reset(void)
{

1642
apps/drivers/px4io/px4io.cpp
View File

File diff suppressed because it is too large Load Diff

2
apps/drivers/px4io/uploader.h
View File

@ -46,7 +46,7 @@ class PX4IO_Uploader
{
public:
PX4IO_Uploader();
~PX4IO_Uploader();
virtual ~PX4IO_Uploader();
int upload(const char *filenames[]);

30
apps/drivers/stm32/drv_hrt.c
View File

@ -645,6 +645,36 @@ abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
ts->tv_nsec = abstime * 1000;
}
/*
* Compare a time value with the current time.
*/
hrt_abstime
hrt_elapsed_time(const volatile hrt_abstime *then)
{
irqstate_t flags = irqsave();
hrt_abstime delta = hrt_absolute_time() - *then;
irqrestore(flags);
return delta;
}
/*
* Store the absolute time in an interrupt-safe fashion
*/
hrt_abstime
hrt_store_absolute_time(volatile hrt_abstime *now)
{
irqstate_t flags = irqsave();
hrt_abstime ts = hrt_absolute_time();
irqrestore(flags);
return ts;
}
/*
* Initalise the high-resolution timing module.
*/

4
apps/examples/kalman_demo/KalmanNav.cpp
View File

@ -247,8 +247,8 @@ void KalmanNav::update()
// output
if (newTimeStamp - _outTimeStamp > 10e6) { // 0.1 Hz
_outTimeStamp = newTimeStamp;
printf("nav: %4d Hz, miss #: %4d\n",
_navFrames / 10, _miss / 10);
//printf("nav: %4d Hz, miss #: %4d\n",
// _navFrames / 10, _miss / 10);
_navFrames = 0;
_miss = 0;
}

12
apps/mavlink/mavlink_log.h
View File

@ -63,7 +63,11 @@
* @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
* @param _text The text to log;
*/
#ifdef __cplusplus
#define mavlink_log_emergency(_fd, _text) ::ioctl(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, (unsigned long)_text);
#else
#define mavlink_log_emergency(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, (unsigned long)_text);
#endif
/**
* Send a mavlink critical message.
@ -71,7 +75,11 @@
* @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
* @param _text The text to log;
*/
#ifdef __cplusplus
#define mavlink_log_critical(_fd, _text) ::ioctl(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, (unsigned long)_text);
#else
#define mavlink_log_critical(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, (unsigned long)_text);
#endif
/**
* Send a mavlink info message.
@ -79,7 +87,11 @@
* @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0);
* @param _text The text to log;
*/
#ifdef __cplusplus
#define mavlink_log_info(_fd, _text) ::ioctl(_fd, MAVLINK_IOC_SEND_TEXT_INFO, (unsigned long)_text);
#else
#define mavlink_log_info(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_INFO, (unsigned long)_text);
#endif
struct mavlink_logmessage {
char text[51];

32
apps/mavlink/orb_listener.c
View File

@ -511,32 +511,16 @@ l_actuator_outputs(struct listener *l)
0);
} else {
/*
* Catch the case where no rudder is in use and throttle is not
* on output four
*/
float rudder, throttle;
if (act_outputs.noutputs < 4) {
rudder = 0.0f;
throttle = (act_outputs.output[2] - 900.0f) / 1200.0f;
} else {
rudder = (act_outputs.output[2] - 1500.0f) / 600.0f;
throttle = (act_outputs.output[3] - 900.0f) / 1200.0f;
}
mavlink_msg_hil_controls_send(chan,
hrt_absolute_time(),
(act_outputs.output[0] - 1500.0f) / 600.0f,
(act_outputs.output[1] - 1500.0f) / 600.0f,
rudder,
throttle,
(act_outputs.output[4] - 1500.0f) / 600.0f,
(act_outputs.output[5] - 1500.0f) / 600.0f,
(act_outputs.output[6] - 1500.0f) / 600.0f,
(act_outputs.output[7] - 1500.0f) / 600.0f,
(act_outputs.output[0] - 1500.0f) / 500.0f,
(act_outputs.output[1] - 1500.0f) / 500.0f,
(act_outputs.output[2] - 1500.0f) / 500.0f,
(act_outputs.output[3] - 1000.0f) / 1000.0f,
(act_outputs.output[4] - 1500.0f) / 500.0f,
(act_outputs.output[5] - 1500.0f) / 500.0f,
(act_outputs.output[6] - 1500.0f) / 500.0f,
(act_outputs.output[7] - 1500.0f) / 500.0f,
mavlink_mode,
0);
}

2
apps/mavlink_onboard/mavlink.c
View File

@ -498,7 +498,7 @@ int mavlink_onboard_main(int argc, char *argv[])
mavlink_task = task_spawn("mavlink_onboard",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
6000 /* XXX probably excessive */,
2048,
mavlink_thread_main,
(const char**)argv);
exit(0);

4
apps/nshlib/Kconfig
View File

@ -55,6 +55,10 @@ config NSH_DISABLE_CP
bool "Disable cp"
default n
config NSH_DISABLE_CMP
bool "Disable cmp"
default n
config NSH_DISABLE_DD
bool "Disable dd"
default n

3
apps/nshlib/nsh.h
View File

@ -603,6 +603,9 @@ void nsh_usbtrace(void);
# ifndef CONFIG_NSH_DISABLE_CP
int cmd_cp(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
# endif
# ifndef CONFIG_NSH_DISABLE_CMP
int cmd_cmp(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
# endif
# ifndef CONFIG_NSH_DISABLE_DD
int cmd_dd(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
# endif

81
apps/nshlib/nsh_fscmds.c
View File

@ -1232,3 +1232,84 @@ int cmd_sh(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
}
#endif
#endif
#if CONFIG_NFILE_DESCRIPTORS > 0
#ifndef CONFIG_NSH_DISABLE_CMP
int cmd_cmp(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
{
char *path1 = NULL;
char *path2 = NULL;
int fd1 = -1, fd2 = -1;
int ret = ERROR;
unsigned total_read = 0;
/* Get the full path to the two files */
path1 = nsh_getfullpath(vtbl, argv[1]);
if (!path1)
{
goto errout;
}
path2 = nsh_getfullpath(vtbl, argv[2]);
if (!path2)
{
goto errout;
}
/* Open the files for reading */
fd1 = open(path1, O_RDONLY);
if (fd1 < 0)
{
nsh_output(vtbl, g_fmtcmdfailed, argv[0], "open", NSH_ERRNO);
goto errout;
}
fd2 = open(path2, O_RDONLY);
if (fd2 < 0)
{
nsh_output(vtbl, g_fmtcmdfailed, argv[0], "open", NSH_ERRNO);
goto errout;
}
for (;;)
{
char buf1[128];
char buf2[128];
int nbytesread1 = read(fd1, buf1, sizeof(buf1));
int nbytesread2 = read(fd2, buf2, sizeof(buf2));
if (nbytesread1 < 0)
{
nsh_output(vtbl, g_fmtcmdfailed, argv[0], "read", NSH_ERRNO);
goto errout;
}
if (nbytesread2 < 0)
{
nsh_output(vtbl, g_fmtcmdfailed, argv[0], "read", NSH_ERRNO);
goto errout;
}
total_read += nbytesread1>nbytesread2?nbytesread2:nbytesread1;
if (nbytesread1 != nbytesread2 || memcmp(buf1, buf2, nbytesread1) != 0)
{
nsh_output(vtbl, "files differ: byte %u\n", total_read);
goto errout;
}
if (nbytesread1 < sizeof(buf1)) break;
}
ret = OK;
errout:
if (fd1 != -1) close(fd1);
if (fd2 != -1) close(fd2);
return ret;
}
#endif
#endif

3
apps/nshlib/nsh_parse.c
View File

@ -175,6 +175,9 @@ static const struct cmdmap_s g_cmdmap[] =
# ifndef CONFIG_NSH_DISABLE_CP
{ "cp", cmd_cp, 3, 3, "<source-path> <dest-path>" },
# endif
# ifndef CONFIG_NSH_DISABLE_CMP
{ "cmp", cmd_cmp, 3, 3, "<path1> <path2>" },
# endif
#endif
#if defined (CONFIG_RTC) && !defined(CONFIG_DISABLE_CLOCK) && !defined(CONFIG_NSH_DISABLE_DATE)

12
apps/px4io/Makefile
View File

@ -39,11 +39,19 @@
# Note that we pull a couple of specific files from the systemlib, since
# we can't support it all.
#
CSRCS = $(wildcard *.c) \
CSRCS = adc.c \
controls.c \
dsm.c \
i2c.c \
px4io.c \
registers.c \
safety.c \
sbus.c \
../systemlib/hx_stream.c \
../systemlib/perf_counter.c \
../systemlib/up_cxxinitialize.c
CXXSRCS = $(wildcard *.cpp)
CXXSRCS = mixer.cpp
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common

2
apps/px4io/adc.c
View File

@ -154,7 +154,7 @@ adc_measure(unsigned channel)
while (!(rSR & ADC_SR_EOC)) {
/* never spin forever - this will give a bogus result though */
if ((hrt_absolute_time() - now) > 1000) {
if (hrt_elapsed_time(&now) > 1000) {
debug("adc timeout");
break;
}

329
apps/px4io/comms.c
View File

@ -1,329 +0,0 @@
/****************************************************************************
*
* 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 comms.c
*
* FMU communication for the PX4IO module.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdbool.h>
#include <fcntl.h>
#include <unistd.h>
#include <debug.h>
#include <stdlib.h>
#include <errno.h>
#include <string.h>
#include <poll.h>
#include <termios.h>
#include <nuttx/clock.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_output.h>
#include <systemlib/hx_stream.h>
#include <systemlib/perf_counter.h>
#define DEBUG
#include "px4io.h"
#define FMU_MIN_REPORT_INTERVAL 5000 /* 5ms */
#define FMU_MAX_REPORT_INTERVAL 100000 /* 100ms */
#define FMU_STATUS_INTERVAL 1000000 /* 100ms */
static int fmu_fd;
static hx_stream_t stream;
static struct px4io_report report;
static void comms_handle_frame(void *arg, const void *buffer, size_t length);
perf_counter_t comms_rx_errors;
static void
comms_init(void)
{
/* initialise the FMU interface */
fmu_fd = open("/dev/ttyS1", O_RDWR);
stream = hx_stream_init(fmu_fd, comms_handle_frame, NULL);
comms_rx_errors = perf_alloc(PC_COUNT, "rx_err");
hx_stream_set_counters(stream, 0, 0, comms_rx_errors);
/* default state in the report to FMU */
report.i2f_magic = I2F_MAGIC;
struct termios t;
/* 115200bps, no parity, one stop bit */
tcgetattr(fmu_fd, &t);
cfsetspeed(&t, 115200);
t.c_cflag &= ~(CSTOPB | PARENB);
tcsetattr(fmu_fd, TCSANOW, &t);
/* init the ADC */
adc_init();
}
void
comms_main(void)
{
comms_init();
struct pollfd fds;
fds.fd = fmu_fd;
fds.events = POLLIN;
debug("FMU: ready");
for (;;) {
/* wait for serial data, but no more than 10ms */
poll(&fds, 1, 10);
/*
* Pull bytes from FMU and feed them to the HX engine.
* Limit the number of bytes we actually process on any one iteration.
*/
if (fds.revents & POLLIN) {
char buf[32];
ssize_t count = read(fmu_fd, buf, sizeof(buf));
for (int i = 0; i < count; i++)
hx_stream_rx(stream, buf[i]);
}
/*
* Decide if it's time to send an update to the FMU.
*/
static hrt_abstime last_report_time;
hrt_abstime now, delta;
/* should we send a report to the FMU? */
now = hrt_absolute_time();
delta = now - last_report_time;
if ((delta > FMU_MIN_REPORT_INTERVAL) &&
(system_state.fmu_report_due || (delta > FMU_MAX_REPORT_INTERVAL))) {
system_state.fmu_report_due = false;
last_report_time = now;
/* populate the report */
for (unsigned i = 0; i < system_state.rc_channels; i++) {
report.rc_channel[i] = system_state.rc_channel_data[i];
}
report.channel_count = system_state.rc_channels;
report.armed = system_state.armed;
report.battery_mv = system_state.battery_mv;
report.adc_in = system_state.adc_in5;
report.overcurrent = system_state.overcurrent;
/* and send it */
hx_stream_send(stream, &report, sizeof(report));
}
/*
* Fetch ADC values, check overcurrent flags, etc.
*/
static hrt_abstime last_status_time;
if ((now - last_status_time) > FMU_STATUS_INTERVAL) {
/*
* Coefficients here derived by measurement of the 5-16V
* range on one unit:
*
* V counts
* 5 1001
* 6 1219
* 7 1436
* 8 1653
* 9 1870
* 10 2086
* 11 2303
* 12 2522
* 13 2738
* 14 2956
* 15 3172
* 16 3389
*
* slope = 0.0046067
* intercept = 0.3863
*
* Intercept corrected for best results @ 12V.
*/
unsigned counts = adc_measure(ADC_VBATT);
system_state.battery_mv = (4150 + (counts * 46)) / 10;
system_state.adc_in5 = adc_measure(ADC_IN5);
system_state.overcurrent =
(OVERCURRENT_SERVO ? (1 << 0) : 0) |
(OVERCURRENT_ACC ? (1 << 1) : 0);
last_status_time = now;
}
}
}
static void
comms_handle_config(const void *buffer, size_t length)
{
const struct px4io_config *cfg = (struct px4io_config *)buffer;
if (length != sizeof(*cfg))
return;
/* fetch the rc mappings */
for (unsigned i = 0; i < 4; i++) {
system_state.rc_map[i] = cfg->rc_map[i];
}
/* fetch the rc channel attributes */
for (unsigned i = 0; i < 4; i++) {
system_state.rc_min[i] = cfg->rc_min[i];
system_state.rc_trim[i] = cfg->rc_trim[i];
system_state.rc_max[i] = cfg->rc_max[i];
system_state.rc_rev[i] = cfg->rc_rev[i];
system_state.rc_dz[i] = cfg->rc_dz[i];
}
}
static void
comms_handle_command(const void *buffer, size_t length)
{
const struct px4io_command *cmd = (struct px4io_command *)buffer;
if (length != sizeof(*cmd))
return;
irqstate_t flags = irqsave();
/* fetch new PWM output values */
for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++)
system_state.fmu_channel_data[i] = cmd->output_control[i];
/* if the IO is armed and the FMU gets disarmed, the IO must also disarm */
if (system_state.arm_ok && !cmd->arm_ok)
system_state.armed = false;
system_state.arm_ok = cmd->arm_ok;
system_state.vector_flight_mode_ok = cmd->vector_flight_mode_ok;
system_state.manual_override_ok = cmd->manual_override_ok;
system_state.mixer_fmu_available = true;
system_state.fmu_data_received_time = hrt_absolute_time();
/* set PWM update rate if changed (after limiting) */
uint16_t new_servo_rate = cmd->servo_rate;
/* reject faster than 500 Hz updates */
if (new_servo_rate > 500) {
new_servo_rate = 500;
}
/* reject slower than 50 Hz updates */
if (new_servo_rate < 50) {
new_servo_rate = 50;
}
if (system_state.servo_rate != new_servo_rate) {
up_pwm_servo_set_rate(new_servo_rate);
system_state.servo_rate = new_servo_rate;
}
/*
* update servo values immediately.
* the updates are done in addition also
* in the mainloop, since this function will only
* update with a connected FMU.
*/
mixer_tick();
/* handle relay state changes here */
for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++) {
if (system_state.relays[i] != cmd->relay_state[i]) {
switch (i) {
case 0:
POWER_ACC1(cmd->relay_state[i]);
break;
case 1:
POWER_ACC2(cmd->relay_state[i]);
break;
case 2:
POWER_RELAY1(cmd->relay_state[i]);
break;
case 3:
POWER_RELAY2(cmd->relay_state[i]);
break;
}
}
system_state.relays[i] = cmd->relay_state[i];
}
irqrestore(flags);
}
static void
comms_handle_frame(void *arg, const void *buffer, size_t length)
{
const uint16_t *type = (const uint16_t *)buffer;
/* make sure it's what we are expecting */
if (length > 2) {
switch (*type) {
case F2I_MAGIC:
comms_handle_command(buffer, length);
break;
case F2I_CONFIG_MAGIC:
comms_handle_config(buffer, length);
break;
case F2I_MIXER_MAGIC:
mixer_handle_text(buffer, length);
break;
default:
break;
}
}
}

312
apps/px4io/controls.c
View File

@ -37,51 +37,54 @@
* R/C inputs and servo outputs.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdbool.h>
#include <fcntl.h>
#include <unistd.h>
#include <debug.h>
#include <stdlib.h>
#include <errno.h>
#include <termios.h>
#include <string.h>
#include <poll.h>
#include <nuttx/clock.h>
#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"
#define RC_FAILSAFE_TIMEOUT 2000000 /**< two seconds failsafe timeout */
#define RC_CHANNEL_HIGH_THRESH 1700
#define RC_CHANNEL_LOW_THRESH 1300
#define RC_CHANNEL_HIGH_THRESH 5000
#define RC_CHANNEL_LOW_THRESH -5000
static void ppm_input(void);
static bool ppm_input(uint16_t *values, uint16_t *num_values);
static perf_counter_t c_gather_dsm;
static perf_counter_t c_gather_sbus;
static perf_counter_t c_gather_ppm;
void
controls_main(void)
controls_init(void)
{
struct pollfd fds[2];
/* DSM input */
fds[0].fd = dsm_init("/dev/ttyS0");
fds[0].events = POLLIN;
dsm_init("/dev/ttyS0");
/* S.bus input */
fds[1].fd = sbus_init("/dev/ttyS2");
fds[1].events = POLLIN;
sbus_init("/dev/ttyS2");
for (;;) {
/* run this loop at ~100Hz */
poll(fds, 2, 10);
/* default to a 1:1 input map, all enabled */
for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = 0;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_MIN] = 1000;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_CENTER] = 1500;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_MAX] = 2000;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_DEADZONE] = 30;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_ASSIGNMENT] = i;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
}
c_gather_dsm = perf_alloc(PC_ELAPSED, "c_gather_dsm");
c_gather_sbus = perf_alloc(PC_ELAPSED, "c_gather_sbus");
c_gather_ppm = perf_alloc(PC_ELAPSED, "c_gather_ppm");
}
void
controls_tick() {
/*
* Gather R/C control inputs from supported sources.
@ -90,95 +93,236 @@ controls_main(void)
* one control input source, they're going to fight each
* other. Don't do that.
*/
bool locked = false;
perf_begin(c_gather_dsm);
bool dsm_updated = dsm_input(r_raw_rc_values, &r_raw_rc_count);
if (dsm_updated)
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM;
perf_end(c_gather_dsm);
perf_begin(c_gather_sbus);
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count);
if (sbus_updated)
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
perf_end(c_gather_sbus);
/*
* Store RC channel count to detect switch to RC loss sooner
* than just by timeout
*/
unsigned rc_channels = system_state.rc_channels;
if (fds[0].revents & POLLIN)
locked |= dsm_input();
if (fds[1].revents & POLLIN)
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.
* disable the PPM decoder completely if we have S.bus signal.
*/
if (!locked)
ppm_input();
perf_begin(c_gather_ppm);
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
if (ppm_updated)
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
perf_end(c_gather_ppm);
/* check for manual override status */
if (system_state.rc_channel_data[4] > RC_CHANNEL_HIGH_THRESH) {
/* force manual input override */
system_state.mixer_manual_override = true;
ASSERT(r_raw_rc_count <= MAX_CONTROL_CHANNELS);
/*
* In some cases we may have received a frame, but input has still
* been lost.
*/
bool rc_input_lost = false;
/*
* If we received a new frame from any of the RC sources, process it.
*/
if (dsm_updated || sbus_updated || ppm_updated) {
/* update RC-received timestamp */
system_state.rc_channels_timestamp = hrt_absolute_time();
/* record a bitmask of channels assigned */
unsigned assigned_channels = 0;
/* map raw inputs to mapped inputs */
/* XXX mapping should be atomic relative to protocol */
for (unsigned i = 0; i < r_raw_rc_count; i++) {
/* map the input channel */
uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE];
if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
uint16_t raw = r_raw_rc_values[i];
int16_t scaled;
/*
* 1) Constrain to min/max values, as later processing depends on bounds.
*/
if (raw < conf[PX4IO_P_RC_CONFIG_MIN])
raw = conf[PX4IO_P_RC_CONFIG_MIN];
if (raw > conf[PX4IO_P_RC_CONFIG_MAX])
raw = conf[PX4IO_P_RC_CONFIG_MAX];
/*
* 2) Scale around the mid point differently for lower and upper range.
*
* This is necessary as they don't share the same endpoints and slope.
*
* First normalize to 0..1 range with correct sign (below or above center),
* then scale to 20000 range (if center is an actual center, -10000..10000,
* if parameters only support half range, scale to 10000 range, e.g. if
* center == min 0..10000, if center == max -10000..0).
*
* As the min and max bounds were enforced in step 1), division by zero
* cannot occur, as for the case of center == min or center == max the if
* statement is mutually exclusive with the arithmetic NaN case.
*
* DO NOT REMOVE OR ALTER STEP 1!
*/
if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
} else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
} else {
/* override not engaged, use FMU */
system_state.mixer_manual_override = false;
/* in the configured dead zone, output zero */
scaled = 0;
}
/* invert channel if requested */
if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE)
scaled = -scaled;
/* and update the scaled/mapped version */
unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
ASSERT(mapped < MAX_CONTROL_CHANNELS);
r_rc_values[mapped] = SIGNED_TO_REG(scaled);
assigned_channels |= (1 << mapped);
}
}
/* set un-assigned controls to zero */
for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) {
if (!(assigned_channels & (1 << i)))
r_rc_values[i] = 0;
}
/*
* If we got an update with zero channels, treat it as
* a loss of input.
*
* This might happen if a protocol-based receiver returns an update
* that contains no channels that we have mapped.
*/
if (assigned_channels == 0) {
rc_input_lost = true;
} else {
/* set RC OK flag and clear RC lost alarm */
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK;
r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_RC_LOST;
}
/*
* Export the valid channel bitmap
*/
r_rc_valid = assigned_channels;
}
/*
* If we haven't seen any new control data in 200ms, assume we
* have lost input and tell FMU.
* have lost input.
*/
if ((hrt_absolute_time() - system_state.rc_channels_timestamp) > 200000) {
if (hrt_elapsed_time(&system_state.rc_channels_timestamp) > 200000) {
rc_input_lost = true;
if (system_state.rc_channels > 0) {
/*
* If the RC signal status (lost / present) has
* just changed, request an update immediately.
*/
system_state.fmu_report_due = true;
}
/* set the number of channels to zero - no inputs */
system_state.rc_channels = 0;
/* clear the input-kind flags here */
r_status_flags &= ~(
PX4IO_P_STATUS_FLAGS_RC_PPM |
PX4IO_P_STATUS_FLAGS_RC_DSM |
PX4IO_P_STATUS_FLAGS_RC_SBUS);
}
/*
* PWM output updates are performed in addition on each comm update.
* the updates here are required to ensure operation if FMU is not started
* or stopped responding.
* Handle losing RC input
*/
if (rc_input_lost) {
/* Clear the RC input status flag, clear manual override flag */
r_status_flags &= ~(
PX4IO_P_STATUS_FLAGS_OVERRIDE |
PX4IO_P_STATUS_FLAGS_RC_OK);
/* Set the RC_LOST alarm */
r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST;
/* Mark the arrays as empty */
r_raw_rc_count = 0;
r_rc_valid = 0;
}
/*
* Check for manual override.
*
* The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we
* must have R/C input.
* Override is enabled if either the hardcoded channel / value combination
* is selected, or the AP has requested it.
*/
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) {
bool override = false;
/*
* Check mapped channel 5 (can be any remote channel,
* depends on RC_MAP_OVER parameter);
* If the value is 'high' then the pilot has
* requested override.
*
*/
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(r_rc_values[4]) > RC_CHANNEL_HIGH_THRESH))
override = true;
if (override) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
/* mix new RC input control values to servos */
if (dsm_updated || sbus_updated || ppm_updated)
mixer_tick();
} else {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
}
}
}
static void
ppm_input(void)
static bool
ppm_input(uint16_t *values, uint16_t *num_values)
{
/*
* Look for new PPM input.
*/
if (ppm_last_valid_decode != 0) {
bool result = false;
/* avoid racing with PPM updates */
irqstate_t state = irqsave();
/*
* If we have received a new PPM frame within the last 200ms, accept it
* and then invalidate it.
*/
if (hrt_elapsed_time(&ppm_last_valid_decode) < 200000) {
/* PPM data exists, copy it */
system_state.rc_channels = ppm_decoded_channels;
*num_values = ppm_decoded_channels;
if (*num_values > MAX_CONTROL_CHANNELS)
*num_values = MAX_CONTROL_CHANNELS;
for (unsigned i = 0; i < ppm_decoded_channels; i++) {
system_state.rc_channel_data[i] = ppm_buffer[i];
}
for (unsigned i = 0; i < *num_values; i++)
values[i] = ppm_buffer[i];
/* copy the timestamp and clear it */
system_state.rc_channels_timestamp = ppm_last_valid_decode;
/* clear validity */
ppm_last_valid_decode = 0;
/* good if we got any channels */
result = (*num_values > 0);
}
irqrestore(state);
/* trigger an immediate report to the FMU */
system_state.fmu_report_due = true;
}
return result;
}

50
apps/px4io/dsm.c
View File

@ -43,17 +43,13 @@
#include <fcntl.h>
#include <unistd.h>
#include <string.h>
#include <termios.h>
#include <systemlib/ppm_decode.h>
#include <drivers/drv_hrt.h>
#define DEBUG
#include "px4io.h"
#include "protocol.h"
#define DSM_FRAME_SIZE 16
#define DSM_FRAME_CHANNELS 7
@ -72,13 +68,13 @@ unsigned dsm_frame_drops;
static bool dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value);
static void dsm_guess_format(bool reset);
static void dsm_decode(hrt_abstime now);
static bool dsm_decode(hrt_abstime now, uint16_t *values, uint16_t *num_values);
int
dsm_init(const char *device)
{
if (dsm_fd < 0)
dsm_fd = open(device, O_RDONLY);
dsm_fd = open(device, O_RDONLY | O_NONBLOCK);
if (dsm_fd >= 0) {
struct termios t;
@ -106,7 +102,7 @@ dsm_init(const char *device)
}
bool
dsm_input(void)
dsm_input(uint16_t *values, uint16_t *num_values)
{
ssize_t ret;
hrt_abstime now;
@ -143,7 +139,7 @@ dsm_input(void)
/* if the read failed for any reason, just give up here */
if (ret < 1)
goto out;
return false;
last_rx_time = now;
@ -156,20 +152,14 @@ dsm_input(void)
* If we don't have a full frame, return
*/
if (partial_frame_count < DSM_FRAME_SIZE)
goto out;
return false;
/*
* Great, it looks like we might have a frame. Go ahead and
* decode it.
*/
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;
return dsm_decode(now, values, num_values);
}
static bool
@ -259,23 +249,23 @@ dsm_guess_format(bool reset)
if ((votes11 == 1) && (votes10 == 0)) {
channel_shift = 11;
debug("DSM: detected 11-bit format");
debug("DSM: 11-bit format");
return;
}
if ((votes10 == 1) && (votes11 == 0)) {
channel_shift = 10;
debug("DSM: detected 10-bit format");
debug("DSM: 10-bit format");
return;
}
/* call ourselves to reset our state ... we have to try again */
debug("DSM: format detector failed, 10: 0x%08x %d 11: 0x%08x %d", cs10, votes10, cs11, votes11);
debug("DSM: format detect fail, 10: 0x%08x %d 11: 0x%08x %d", cs10, votes10, cs11, votes11);
dsm_guess_format(true);
}
static void
dsm_decode(hrt_abstime frame_time)
static bool
dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
{
/*
@ -296,7 +286,7 @@ dsm_decode(hrt_abstime frame_time)
/* if we don't know the frame format, update the guessing state machine */
if (channel_shift == 0) {
dsm_guess_format(false);
return;
return false;
}
/*
@ -324,8 +314,8 @@ dsm_decode(hrt_abstime frame_time)
continue;
/* update the decoded channel count */
if (channel >= system_state.rc_channels)
system_state.rc_channels = channel + 1;
if (channel >= *num_values)
*num_values = channel + 1;
/* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
if (channel_shift == 11)
@ -356,13 +346,11 @@ dsm_decode(hrt_abstime frame_time)
break;
}
system_state.rc_channel_data[channel] = value;
values[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;
/*
* XXX Note that we may be in failsafe here; we need to work out how to detect that.
*/
return true;
}

340
apps/px4io/i2c.c Normal file
View File

@ -0,0 +1,340 @@
/****************************************************************************
*
* 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 i2c.c
*
* I2C communication for the PX4IO module.
*/
#include <stdint.h>
#include <nuttx/arch.h>
#include <arch/board/board.h>
#include <stm32_i2c.h>
#include <stm32_dma.h>
//#define DEBUG
#include "px4io.h"
/*
* I2C register definitions.
*/
#define I2C_BASE STM32_I2C1_BASE
#define REG(_reg) (*(volatile uint32_t *)(I2C_BASE + _reg))
#define rCR1 REG(STM32_I2C_CR1_OFFSET)
#define rCR2 REG(STM32_I2C_CR2_OFFSET)
#define rOAR1 REG(STM32_I2C_OAR1_OFFSET)
#define rOAR2 REG(STM32_I2C_OAR2_OFFSET)
#define rDR REG(STM32_I2C_DR_OFFSET)
#define rSR1 REG(STM32_I2C_SR1_OFFSET)
#define rSR2 REG(STM32_I2C_SR2_OFFSET)
#define rCCR REG(STM32_I2C_CCR_OFFSET)
#define rTRISE REG(STM32_I2C_TRISE_OFFSET)
static int i2c_interrupt(int irq, void *context);
static void i2c_rx_setup(void);
static void i2c_tx_setup(void);
static void i2c_rx_complete(void);
static void i2c_tx_complete(void);
static DMA_HANDLE rx_dma;
static DMA_HANDLE tx_dma;
static uint8_t rx_buf[68];
static unsigned rx_len;
static const uint8_t junk_buf[] = { 0xff, 0xff, 0xff, 0xff };
static const uint8_t *tx_buf = junk_buf;
static unsigned tx_len = sizeof(junk_buf);
unsigned tx_count;
static uint8_t selected_page;
static uint8_t selected_offset;
enum {
DIR_NONE = 0,
DIR_TX = 1,
DIR_RX = 2
} direction;
void
i2c_init(void)
{
debug("i2c init");
/* allocate DMA handles and initialise DMA */
rx_dma = stm32_dmachannel(DMACHAN_I2C1_RX);
i2c_rx_setup();
tx_dma = stm32_dmachannel(DMACHAN_I2C1_TX);
i2c_tx_setup();
/* enable the i2c block clock and reset it */
modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_I2C1EN);
modifyreg32(STM32_RCC_APB1RSTR, 0, RCC_APB1RSTR_I2C1RST);
modifyreg32(STM32_RCC_APB1RSTR, RCC_APB1RSTR_I2C1RST, 0);
/* configure the i2c GPIOs */
stm32_configgpio(GPIO_I2C1_SCL);
stm32_configgpio(GPIO_I2C1_SDA);
/* soft-reset the block */
rCR1 |= I2C_CR1_SWRST;
rCR1 = 0;
/* set for DMA operation */
rCR2 |= I2C_CR2_ITEVFEN |I2C_CR2_ITERREN | I2C_CR2_DMAEN;
/* set the frequency value in CR2 */
rCR2 &= ~I2C_CR2_FREQ_MASK;
rCR2 |= STM32_PCLK1_FREQUENCY / 1000000;
/* set divisor and risetime for fast mode */
uint16_t result = STM32_PCLK1_FREQUENCY / (400000 * 25);
if (result < 1)
result = 1;
result = 3;
rCCR &= ~I2C_CCR_CCR_MASK;
rCCR |= I2C_CCR_DUTY | I2C_CCR_FS | result;
rTRISE = (uint16_t)((((STM32_PCLK1_FREQUENCY / 1000000) * 300) / 1000) + 1);
/* set our device address */
rOAR1 = 0x1a << 1;
/* enable event interrupts */
irq_attach(STM32_IRQ_I2C1EV, i2c_interrupt);
irq_attach(STM32_IRQ_I2C1ER, i2c_interrupt);
up_enable_irq(STM32_IRQ_I2C1EV);
up_enable_irq(STM32_IRQ_I2C1ER);
/* and enable the I2C port */
rCR1 |= I2C_CR1_ACK | I2C_CR1_PE;
#ifdef DEBUG
i2c_dump();
#endif
}
/*
reset the I2C bus
used to recover from lockups
*/
void i2c_reset(void)
{
rCR1 |= I2C_CR1_SWRST;
rCR1 = 0;
/* set for DMA operation */
rCR2 |= I2C_CR2_ITEVFEN |I2C_CR2_ITERREN | I2C_CR2_DMAEN;
/* set the frequency value in CR2 */
rCR2 &= ~I2C_CR2_FREQ_MASK;
rCR2 |= STM32_PCLK1_FREQUENCY / 1000000;
/* set divisor and risetime for fast mode */
uint16_t result = STM32_PCLK1_FREQUENCY / (400000 * 25);
if (result < 1)
result = 1;
result = 3;
rCCR &= ~I2C_CCR_CCR_MASK;
rCCR |= I2C_CCR_DUTY | I2C_CCR_FS | result;
rTRISE = (uint16_t)((((STM32_PCLK1_FREQUENCY / 1000000) * 300) / 1000) + 1);
/* set our device address */
rOAR1 = 0x1a << 1;
/* and enable the I2C port */
rCR1 |= I2C_CR1_ACK | I2C_CR1_PE;
}
static int
i2c_interrupt(int irq, FAR void *context)
{
uint16_t sr1 = rSR1;
if (sr1 & (I2C_SR1_STOPF | I2C_SR1_AF | I2C_SR1_ADDR)) {
if (sr1 & I2C_SR1_STOPF) {
/* write to CR1 to clear STOPF */
(void)rSR1; /* as recommended, re-read SR1 */
rCR1 |= I2C_CR1_PE;
}
/* DMA never stops, so we should do that now */
switch (direction) {
case DIR_TX:
i2c_tx_complete();
break;
case DIR_RX:
i2c_rx_complete();
break;
default:
/* not currently transferring - must be a new txn */
break;
}
direction = DIR_NONE;
}
if (sr1 & I2C_SR1_ADDR) {
/* clear ADDR to ack our selection and get direction */
(void)rSR1; /* as recommended, re-read SR1 */
uint16_t sr2 = rSR2;
if (sr2 & I2C_SR2_TRA) {
/* we are the transmitter */
direction = DIR_TX;
} else {
/* we are the receiver */
direction = DIR_RX;
}
}
/* clear any errors that might need it (this handles AF as well */
if (sr1 & I2C_SR1_ERRORMASK)
rSR1 = 0;
return 0;
}
static void
i2c_rx_setup(void)
{
/*
* Note that we configure DMA in circular mode; this means that a too-long
* transfer will overwrite the buffer, but that avoids us having to deal with
* bailing out of a transaction while the master is still babbling at us.
*/
rx_len = 0;
stm32_dmasetup(rx_dma, (uintptr_t)&rDR, (uintptr_t)&rx_buf[0], sizeof(rx_buf),
DMA_CCR_CIRC |
DMA_CCR_MINC |
DMA_CCR_PSIZE_32BITS |
DMA_CCR_MSIZE_8BITS |
DMA_CCR_PRIMED);
stm32_dmastart(rx_dma, NULL, NULL, false);
}
static void
i2c_rx_complete(void)
{
rx_len = sizeof(rx_buf) - stm32_dmaresidual(rx_dma);
stm32_dmastop(rx_dma);
if (rx_len >= 2) {
selected_page = rx_buf[0];
selected_offset = rx_buf[1];
/* work out how many registers are being written */
unsigned count = (rx_len - 2) / 2;
if (count > 0) {
registers_set(selected_page, selected_offset, (const uint16_t *)&rx_buf[2], count);
} else {
/* no registers written, must be an address cycle */
uint16_t *regs;
unsigned reg_count;
/* work out which registers are being addressed */
int ret = registers_get(selected_page, selected_offset, &regs, &reg_count);
if (ret == 0) {
tx_buf = (uint8_t *)regs;
tx_len = reg_count * 2;
} else {
tx_buf = junk_buf;
tx_len = sizeof(junk_buf);
}
/* disable interrupts while reconfiguring DMA for the selected registers */
irqstate_t flags = irqsave();
stm32_dmastop(tx_dma);
i2c_tx_setup();
irqrestore(flags);
}
}
/* prepare for the next transaction */
i2c_rx_setup();
}
static void
i2c_tx_setup(void)
{
/*
* Note that we configure DMA in circular mode; this means that a too-long
* transfer will copy the buffer more than once, but that avoids us having
* to deal with bailing out of a transaction while the master is still
* babbling at us.
*/
stm32_dmasetup(tx_dma, (uintptr_t)&rDR, (uintptr_t)&tx_buf[0], tx_len,
DMA_CCR_DIR |
DMA_CCR_CIRC |
DMA_CCR_MINC |
DMA_CCR_PSIZE_8BITS |
DMA_CCR_MSIZE_8BITS |
DMA_CCR_PRIMED);
stm32_dmastart(tx_dma, NULL, NULL, false);
}
static void
i2c_tx_complete(void)
{
tx_count = tx_len - stm32_dmaresidual(tx_dma);
stm32_dmastop(tx_dma);
/* for debug purposes, save the length of the last transmit as seen by the DMA */
/* leave tx_buf/tx_len alone, so that a retry will see the same data */
/* prepare for the next transaction */
i2c_tx_setup();
}
void
i2c_dump(void)
{
debug("CR1 0x%08x CR2 0x%08x", rCR1, rCR2);
debug("OAR1 0x%08x OAR2 0x%08x", rOAR1, rOAR2);
debug("CCR 0x%08x TRISE 0x%08x", rCCR, rTRISE);
debug("SR1 0x%08x SR2 0x%08x", rSR1, rSR2);
}

235
apps/px4io/mixer.cpp
View File

@ -38,22 +38,14 @@
*/
#include <nuttx/config.h>
#include <nuttx/arch.h>
#include <syslog.h>
#include <sys/types.h>
#include <stdbool.h>
#include <string.h>
#include <assert.h>
#include <errno.h>
#include <unistd.h>
#include <fcntl.h>
#include <sched.h>
#include <debug.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/device.h>
#include <systemlib/mixer/mixer.h>
@ -75,13 +67,16 @@ extern "C" {
#define OVERRIDE 4
/* current servo arm/disarm state */
bool mixer_servos_armed = false;
static bool mixer_servos_armed = false;
/* selected control values and count for mixing */
static uint16_t *control_values;
static int control_count;
static uint16_t rc_channel_data[PX4IO_INPUT_CHANNELS];
enum mixer_source {
MIX_NONE,
MIX_FMU,
MIX_OVERRIDE,
MIX_FAILSAFE
};
static mixer_source source;
static int mixer_callback(uintptr_t handle,
uint8_t control_group,
@ -93,87 +88,64 @@ static MixerGroup mixer_group(mixer_callback, 0);
void
mixer_tick(void)
{
bool should_arm;
/* check that we are receiving fresh data from the FMU */
if ((hrt_absolute_time() - system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) {
/* too many frames without FMU input, time to go to failsafe */
system_state.mixer_manual_override = true;
system_state.mixer_fmu_available = false;
if (hrt_elapsed_time(&system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) {
/* too long without FMU input, time to go to failsafe */
if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) {
lowsyslog("AP RX timeout");
}
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM);
r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST;
/* XXX this is questionable - vehicle may not make sense for direct control */
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
} else {
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST;
}
source = MIX_FAILSAFE;
/*
* Decide which set of inputs we're using.
* Decide which set of controls we're using.
*/
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ||
!(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
/* this is for planes, where manual override makes sense */
if (system_state.manual_override_ok) {
/* if everything is ok */
if (!system_state.mixer_manual_override && system_state.mixer_fmu_available) {
/* we have recent control data from the FMU */
control_count = PX4IO_CONTROL_CHANNELS;
control_values = &system_state.fmu_channel_data[0];
/* don't actually mix anything - we already have raw PWM values or
not a valid mixer. */
source = MIX_NONE;
} else if (system_state.rc_channels > 0) {
/* when override is on or the fmu is not available, but RC is present */
control_count = system_state.rc_channels;
sched_lock();
/* remap roll, pitch, yaw and throttle from RC specific to internal ordering */
rc_channel_data[ROLL] = system_state.rc_channel_data[system_state.rc_map[ROLL] - 1];
rc_channel_data[PITCH] = system_state.rc_channel_data[system_state.rc_map[PITCH] - 1];
rc_channel_data[YAW] = system_state.rc_channel_data[system_state.rc_map[YAW] - 1];
rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE] - 1];
//rc_channel_data[OVERRIDE] = system_state.rc_channel_data[system_state.rc_map[OVERRIDE] - 1];
/* get the remaining channels, no remapping needed */
for (unsigned i = 4; i < system_state.rc_channels; i++) {
rc_channel_data[i] = system_state.rc_channel_data[i];
}
/* scale the control inputs */
rc_channel_data[THROTTLE] = ((float)(rc_channel_data[THROTTLE] - system_state.rc_min[THROTTLE]) /
(float)(system_state.rc_max[THROTTLE] - system_state.rc_min[THROTTLE])) * 1000.0f + 1000;
if (rc_channel_data[THROTTLE] > 2000) {
rc_channel_data[THROTTLE] = 2000;
}
if (rc_channel_data[THROTTLE] < 1000) {
rc_channel_data[THROTTLE] = 1000;
}
// lowsyslog("Tmin: %d Ttrim: %d Tmax: %d T: %d \n",
// (int)(system_state.rc_min[THROTTLE]), (int)(system_state.rc_trim[THROTTLE]),
// (int)(system_state.rc_max[THROTTLE]), (int)(rc_channel_data[THROTTLE]));
control_values = &rc_channel_data[0];
sched_unlock();
} else {
/* we have no control input (no FMU, no RC) */
// XXX builtin failsafe would activate here
control_count = 0;
if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
/* mix from FMU controls */
source = MIX_FMU;
}
//lowsyslog("R: %d P: %d Y: %d T: %d \n", control_values[0], control_values[1], control_values[2], control_values[3]);
/* this is for multicopters, etc. where manual override does not make sense */
} else {
/* if the fmu is available whe are good */
if (system_state.mixer_fmu_available) {
control_count = PX4IO_CONTROL_CHANNELS;
control_values = &system_state.fmu_channel_data[0];
/* we better shut everything off */
} else {
control_count = 0;
if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
/* if allowed, mix from RC inputs directly */
source = MIX_OVERRIDE;
}
}
/*
* Run the mixers if we have any control data at all.
* Run the mixers.
*/
if (control_count > 0) {
if (source == MIX_FAILSAFE) {
/* copy failsafe values to the servo outputs */
for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
r_page_servos[i] = r_page_servo_failsafe[i];
} else if (source != MIX_NONE) {
float outputs[IO_SERVO_COUNT];
unsigned mixed;
@ -181,31 +153,33 @@ mixer_tick(void)
mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT);
/* scale to PWM and update the servo outputs as required */
for (unsigned i = 0; i < IO_SERVO_COUNT; i++) {
if (i < mixed) {
for (unsigned i = 0; i < mixed; i++) {
/* save actuator values for FMU readback */
r_page_actuators[i] = FLOAT_TO_REG(outputs[i]);
/* scale to servo output */
system_state.servos[i] = (outputs[i] * 500.0f) + 1500;
r_page_servos[i] = (outputs[i] * 500.0f) + 1500;
} else {
/* set to zero to inhibit PWM pulse output */
system_state.servos[i] = 0;
}
/*
* If we are armed, update the servo output.
*/
if (system_state.armed && system_state.arm_ok) {
up_pwm_servo_set(i, system_state.servos[i]);
}
}
for (unsigned i = mixed; i < IO_SERVO_COUNT; i++)
r_page_servos[i] = 0;
}
/*
* Decide whether the servos should be armed right now.
* A sufficient reason is armed state and either FMU or RC control inputs
*
* We must be armed, and we must have a PWM source; either raw from
* FMU or from the mixer.
*
* XXX correct behaviour for failsafe may require an additional case
* here.
*/
should_arm = system_state.armed && system_state.arm_ok && (control_count > 0);
bool should_arm = (
/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
/* there is valid input */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) &&
/* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK));
if (should_arm && !mixer_servos_armed) {
/* need to arm, but not armed */
@ -217,6 +191,12 @@ mixer_tick(void)
up_pwm_servo_arm(false);
mixer_servos_armed = false;
}
if (mixer_servos_armed) {
/* update the servo outputs. */
for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
up_pwm_servo_set(i, r_page_servos[i]);
}
}
static int
@ -225,30 +205,54 @@ mixer_callback(uintptr_t handle,
uint8_t control_index,
float &control)
{
/* if the control index refers to an input that's not valid, we can't return it */
if (control_index >= control_count)
if (control_group != 0)
return -1;
/* scale from current PWM units (1000-2000) to mixer input values */
if (system_state.manual_override_ok && system_state.mixer_manual_override && control_index == 3) {
control = ((float)control_values[control_index] - 1000.0f) / 1000.0f;
} else {
control = ((float)control_values[control_index] - 1500.0f) / 500.0f;
switch (source) {
case MIX_FMU:
if (control_index < PX4IO_CONTROL_CHANNELS) {
control = REG_TO_FLOAT(r_page_controls[control_index]);
break;
}
return -1;
case MIX_OVERRIDE:
if (r_page_rc_input[PX4IO_P_RC_VALID] & (1 << control_index)) {
control = REG_TO_FLOAT(r_page_rc_input[PX4IO_P_RC_BASE + control_index]);
break;
}
return -1;
case MIX_FAILSAFE:
case MIX_NONE:
/* XXX we could allow for configuration of per-output failsafe values */
return -1;
}
return 0;
}
static char mixer_text[256];
/*
* XXX error handling here should be more aggressive; currently it is
* possible to get STATUS_FLAGS_MIXER_OK set even though the mixer has
* not loaded faithfully.
*/
static char mixer_text[256]; /* large enough for one mixer */
static unsigned mixer_text_length = 0;
void
mixer_handle_text(const void *buffer, size_t length)
{
/* do not allow a mixer change while fully armed */
if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
return;
}
px4io_mixdata *msg = (px4io_mixdata *)buffer;
debug("mixer text %u", length);
isr_debug(2, "mix txt %u", length);
if (length < sizeof(px4io_mixdata))
return;
@ -257,23 +261,30 @@ mixer_handle_text(const void *buffer, size_t length)
switch (msg->action) {
case F2I_MIXER_ACTION_RESET:
debug("reset");
isr_debug(2, "reset");
/* FIRST mark the mixer as invalid */
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
/* THEN actually delete it */
mixer_group.reset();
mixer_text_length = 0;
/* FALLTHROUGH */
case F2I_MIXER_ACTION_APPEND:
debug("append %d", length);
isr_debug(2, "append %d", length);
/* check for overflow - this is really fatal */
if ((mixer_text_length + text_length + 1) > sizeof(mixer_text))
/* XXX could add just what will fit & try to parse, then repeat... */
if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
return;
}
/* append mixer text and nul-terminate */
memcpy(&mixer_text[mixer_text_length], msg->text, text_length);
mixer_text_length += text_length;
mixer_text[mixer_text_length] = '\0';
debug("buflen %u", mixer_text_length);
isr_debug(2, "buflen %u", mixer_text_length);
/* process the text buffer, adding new mixers as their descriptions can be parsed */
unsigned resid = mixer_text_length;
@ -281,7 +292,11 @@ mixer_handle_text(const void *buffer, size_t length)
/* if anything was parsed */
if (resid != mixer_text_length) {
debug("used %u", mixer_text_length - resid);
/* ideally, this should test resid == 0 ? */
r_status_flags |= PX4IO_P_STATUS_FLAGS_MIXER_OK;
isr_debug(2, "used %u", mixer_text_length - resid);
/* copy any leftover text to the base of the buffer for re-use */
if (resid > 0)

187
apps/px4io/protocol.h
View File

@ -31,67 +31,152 @@
*
****************************************************************************/
/**
* @file PX4FMU <-> PX4IO messaging protocol.
*
* This initial version of the protocol is very simple; each side transmits a
* complete update with each frame. This avoids the sending of many small
* messages and the corresponding complexity involved.
*/
#pragma once
/**
* @file protocol.h
*
* PX4IO I2C interface protocol.
*
* Communication is performed via writes to and reads from 16-bit virtual
* registers organised into pages of 255 registers each.
*
* The first two bytes of each write select a page and offset address
* respectively. Subsequent reads and writes increment the offset within
* the page.
*
* Most pages are readable or writable but not both.
*
* Note that some pages may permit offset values greater than 255, which
* can only be achieved by long writes. The offset does not wrap.
*
* Writes to unimplemented registers are ignored. Reads from unimplemented
* registers return undefined values.
*
* As convention, values that would be floating point in other parts of
* the PX4 system are expressed as signed integer values scaled by 10000,
* e.g. control values range from -10000..10000. Use the REG_TO_SIGNED and
* SIGNED_TO_REG macros to convert between register representation and
* the signed version, and REG_TO_FLOAT/FLOAT_TO_REG to convert to float.
*
* Note that the implementation of readable pages prefers registers within
* readable pages to be densely packed. Page numbers do not need to be
* packed.
*/
#define PX4IO_CONTROL_CHANNELS 8
#define PX4IO_INPUT_CHANNELS 12
#define PX4IO_RELAY_CHANNELS 4
#pragma pack(push, 1)
/* Per C, this is safe for all 2's complement systems */
#define REG_TO_SIGNED(_reg) ((int16_t)(_reg))
#define SIGNED_TO_REG(_signed) ((uint16_t)(_signed))
/**
* Periodic command from FMU to IO.
*/
struct px4io_command {
uint16_t f2i_magic;
#define F2I_MAGIC 0x636d
#define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f)
#define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f))
uint16_t servo_rate;
uint16_t output_control[PX4IO_CONTROL_CHANNELS]; /**< PWM output rate in Hz */
bool relay_state[PX4IO_RELAY_CHANNELS]; /**< relay states as requested by FMU */
bool arm_ok; /**< FMU allows full arming */
bool vector_flight_mode_ok; /**< FMU aquired a valid position lock, ready for pos control */
bool manual_override_ok; /**< if true, IO performs a direct manual override */
};
/* static configuration page */
#define PX4IO_PAGE_CONFIG 0
#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers TBD */
#define PX4IO_P_CONFIG_SOFTWARE_VERSION 1 /* magic numbers TBD */
#define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */
#define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */
#define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */
#define PX4IO_P_CONFIG_ACTUATOR_COUNT 5 /* hardcoded max actuator output count */
#define PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */
#define PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */
#define PX4IO_P_CONFIG_RELAY_COUNT 8 /* harcoded # of relay outputs */
/**
* Periodic report from IO to FMU
*/
struct px4io_report {
uint16_t i2f_magic;
#define I2F_MAGIC 0x7570
/* dynamic status page */
#define PX4IO_PAGE_STATUS 1
#define PX4IO_P_STATUS_FREEMEM 0
#define PX4IO_P_STATUS_CPULOAD 1
uint16_t rc_channel[PX4IO_INPUT_CHANNELS];
bool armed;
uint8_t channel_count;
#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */
#define PX4IO_P_STATUS_FLAGS_ARMED (1 << 0) /* arm-ok and locally armed */
#define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */
#define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */
#define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 3) /* PPM input is valid */
#define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 4) /* DSM input is valid */
#define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 5) /* SBUS input is valid */
#define PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 6) /* controls from FMU are valid */
#define PX4IO_P_STATUS_FLAGS_RAW_PWM (1 << 7) /* raw PWM from FMU is bypassing the mixer */
#define PX4IO_P_STATUS_FLAGS_MIXER_OK (1 << 8) /* mixer is OK */
#define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 9) /* the arming state between IO and FMU is in sync */
#define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */
uint16_t battery_mv;
uint16_t adc_in;
uint8_t overcurrent;
};
#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */
#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* VBatt is very close to regulator dropout */
#define PX4IO_P_STATUS_ALARMS_TEMPERATURE (1 << 1) /* board temperature is high */
#define PX4IO_P_STATUS_ALARMS_SERVO_CURRENT (1 << 2) /* servo current limit was exceeded */
#define PX4IO_P_STATUS_ALARMS_ACC_CURRENT (1 << 3) /* accessory current limit was exceeded */
#define PX4IO_P_STATUS_ALARMS_FMU_LOST (1 << 4) /* timed out waiting for controls from FMU */
#define PX4IO_P_STATUS_ALARMS_RC_LOST (1 << 5) /* timed out waiting for RC input */
/**
* As-needed config message from FMU to IO
*/
struct px4io_config {
uint16_t f2i_config_magic;
#define F2I_CONFIG_MAGIC 0x6366
#define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */
#define PX4IO_P_STATUS_IBATT 5 /* battery current in cA */
uint8_t rc_map[4]; /**< channel ordering of roll, pitch, yaw, throttle */
uint16_t rc_min[4]; /**< min value for each channel */
uint16_t rc_trim[4]; /**< trim value for each channel */
uint16_t rc_max[4]; /**< max value for each channel */
int8_t rc_rev[4]; /**< rev value for each channel */
uint16_t rc_dz[4]; /**< dz value for each channel */
};
/* array of post-mix actuator outputs, -10000..10000 */
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/* array of PWM servo output values, microseconds */
#define PX4IO_PAGE_SERVOS 3 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/* array of raw RC input values, microseconds */
#define PX4IO_PAGE_RAW_RC_INPUT 4
#define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */
#define PX4IO_P_RAW_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT channels from here */
/* array of scaled RC input values, -10000..10000 */
#define PX4IO_PAGE_RC_INPUT 5
#define PX4IO_P_RC_VALID 0 /* bitmask of valid controls */
#define PX4IO_P_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT controls from here */
/* array of raw ADC values */
#define PX4IO_PAGE_RAW_ADC_INPUT 6 /* 0..CONFIG_ADC_INPUT_COUNT-1 */
/* setup page */
#define PX4IO_PAGE_SETUP 100
#define PX4IO_P_SETUP_FEATURES 0
#define PX4IO_P_SETUP_ARMING 1 /* arming controls */
#define PX4IO_P_SETUP_ARMING_ARM_OK (1 << 0) /* OK to arm */
#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */
#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK (1 << 3) /* OK to perform position / vector control (= position lock) */
#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
#define PX4IO_P_SETUP_PWM_LOWRATE 3 /* 'low' PWM frame output rate in Hz */
#define PX4IO_P_SETUP_PWM_HIGHRATE 4 /* 'high' PWM frame output rate in Hz */
#define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */
#define PX4IO_P_SETUP_VBATT_SCALE 6 /* battery voltage correction factor (float) */
#define PX4IO_P_SETUP_IBATT_SCALE 7 /* battery current scaling factor (float) */
#define PX4IO_P_SETUP_IBATT_BIAS 8 /* battery current bias value */
#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */
/* autopilot control values, -10000..10000 */
#define PX4IO_PAGE_CONTROLS 101 /* 0..CONFIG_CONTROL_COUNT */
/* raw text load to the mixer parser - ignores offset */
#define PX4IO_PAGE_MIXERLOAD 102
/* R/C channel config */
#define PX4IO_PAGE_RC_CONFIG 103 /* R/C input configuration */
#define PX4IO_P_RC_CONFIG_MIN 0 /* lowest input value */
#define PX4IO_P_RC_CONFIG_CENTER 1 /* center input value */
#define PX4IO_P_RC_CONFIG_MAX 2 /* highest input value */
#define PX4IO_P_RC_CONFIG_DEADZONE 3 /* band around center that is ignored */
#define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /* mapped input value */
#define PX4IO_P_RC_CONFIG_OPTIONS 5 /* channel options bitmask */
#define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0)
#define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1)
#define PX4IO_P_RC_CONFIG_STRIDE 6 /* spacing between channel config data */
/* PWM output - overrides mixer */
#define PX4IO_PAGE_DIRECT_PWM 104 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/* PWM failsafe values - zero disables the output */
#define PX4IO_PAGE_FAILSAFE_PWM 105 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/**
* As-needed mixer data upload.
@ -99,6 +184,7 @@ struct px4io_config {
* This message adds text to the mixer text buffer; the text
* buffer is drained as the definitions are consumed.
*/
#pragma pack(push, 1)
struct px4io_mixdata {
uint16_t f2i_mixer_magic;
#define F2I_MIXER_MAGIC 0x6d74
@ -109,8 +195,5 @@ struct px4io_mixdata {
char text[0]; /* actual text size may vary */
};
/* maximum size is limited by the HX frame size */
#define F2I_MIXER_MAX_TEXT (HX_STREAM_MAX_FRAME - sizeof(struct px4io_mixdata))
#pragma pack(pop)

162
apps/px4io/px4io.c
View File

@ -37,20 +37,23 @@
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdio.h> // required for task_create
#include <stdbool.h>
#include <fcntl.h>
#include <unistd.h>
#include <debug.h>
#include <stdlib.h>
#include <errno.h>
#include <string.h>
#include <nuttx/clock.h>
#include <poll.h>
#include <signal.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_hrt.h>
#include <systemlib/perf_counter.h>
#include <stm32_uart.h>
#define DEBUG
#include "px4io.h"
__EXPORT int user_start(int argc, char *argv[]);
@ -59,19 +62,79 @@ extern void up_cxxinitialize(void);
struct sys_state_s system_state;
int user_start(int argc, char *argv[])
static struct hrt_call serial_dma_call;
/* store i2c reset count XXX this should be a register, together with other error counters */
volatile uint32_t i2c_loop_resets = 0;
/*
* a set of debug buffers to allow us to send debug information from ISRs
*/
static volatile uint32_t msg_counter;
static volatile uint32_t last_msg_counter;
static volatile uint8_t msg_next_out, msg_next_in;
/*
* WARNING: too large buffers here consume the memory required
* for mixer handling. Do not allocate more than 80 bytes for
* output.
*/
#define NUM_MSG 2
static char msg[NUM_MSG][40];
/*
* add a debug message to be printed on the console
*/
void
isr_debug(uint8_t level, const char *fmt, ...)
{
if (level > r_page_setup[PX4IO_P_SETUP_SET_DEBUG]) {
return;
}
va_list ap;
va_start(ap, fmt);
vsnprintf(msg[msg_next_in], sizeof(msg[0]), fmt, ap);
va_end(ap);
msg_next_in = (msg_next_in+1) % NUM_MSG;
msg_counter++;
}
/*
* show all pending debug messages
*/
static void
show_debug_messages(void)
{
if (msg_counter != last_msg_counter) {
uint32_t n = msg_counter - last_msg_counter;
if (n > NUM_MSG) n = NUM_MSG;
last_msg_counter = msg_counter;
while (n--) {
debug("%s", msg[msg_next_out]);
msg_next_out = (msg_next_out+1) % NUM_MSG;
}
}
}
int
user_start(int argc, char *argv[])
{
/* run C++ ctors before we go any further */
up_cxxinitialize();
/* reset all to zero */
memset(&system_state, 0, sizeof(system_state));
/* default to 50 Hz PWM outputs */
system_state.servo_rate = 50;
/* configure the high-resolution time/callout interface */
hrt_init();
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
/* print some startup info */
lowsyslog("\nPX4IO: starting\n");
@ -89,17 +152,80 @@ int user_start(int argc, char *argv[])
/* configure the first 8 PWM outputs (i.e. all of them) */
up_pwm_servo_init(0xff);
/* start the flight control signal handler */
task_create("FCon",
SCHED_PRIORITY_DEFAULT,
1024,
(main_t)controls_main,
NULL);
/* initialise the control inputs */
controls_init();
/* start the i2c handler */
i2c_init();
/* add a performance counter for mixing */
perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix");
/* add a performance counter for controls */
perf_counter_t controls_perf = perf_alloc(PC_ELAPSED, "controls");
/* and one for measuring the loop rate */
perf_counter_t loop_perf = perf_alloc(PC_INTERVAL, "loop");
struct mallinfo minfo = mallinfo();
lowsyslog("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
lowsyslog("MEM: free %u, largest %u\n", minfo.mxordblk, minfo.fordblks);
/* we're done here, go run the communications loop */
comms_main();
#if 0
/* not enough memory, lock down */
if (minfo.mxordblk < 500) {
lowsyslog("ERR: not enough MEM");
bool phase = false;
if (phase) {
LED_AMBER(true);
LED_BLUE(false);
} else {
LED_AMBER(false);
LED_BLUE(true);
}
phase = !phase;
usleep(300000);
}
#endif
/*
* Run everything in a tight loop.
*/
uint64_t last_debug_time = 0;
for (;;) {
/* track the rate at which the loop is running */
perf_count(loop_perf);
/* kick the mixer */
perf_begin(mixer_perf);
mixer_tick();
perf_end(mixer_perf);
/* kick the control inputs */
perf_begin(controls_perf);
controls_tick();
perf_end(controls_perf);
/* check for debug activity */
show_debug_messages();
/* post debug state at ~1Hz */
if (hrt_absolute_time() - last_debug_time > (1000 * 1000)) {
struct mallinfo minfo = mallinfo();
isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x r=%u m=%u",
(unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG],
(unsigned)r_status_flags,
(unsigned)r_setup_arming,
(unsigned)r_setup_features,
(unsigned)i2c_loop_resets,
(unsigned)minfo.mxordblk);
last_debug_time = hrt_absolute_time();
}
}
}

190
apps/px4io/px4io.h
View File

@ -63,130 +63,59 @@
# define debug(fmt, args...) do {} while(0)
#endif
/*
* Registers.
*/
extern uint16_t r_page_status[]; /* PX4IO_PAGE_STATUS */
extern uint16_t r_page_actuators[]; /* PX4IO_PAGE_ACTUATORS */
extern uint16_t r_page_servos[]; /* PX4IO_PAGE_SERVOS */
extern uint16_t r_page_raw_rc_input[]; /* PX4IO_PAGE_RAW_RC_INPUT */
extern uint16_t r_page_rc_input[]; /* PX4IO_PAGE_RC_INPUT */
extern uint16_t r_page_adc[]; /* PX4IO_PAGE_RAW_ADC_INPUT */
extern volatile uint16_t r_page_setup[]; /* PX4IO_PAGE_SETUP */
extern volatile uint16_t r_page_controls[]; /* PX4IO_PAGE_CONTROLS */
extern uint16_t r_page_rc_input_config[]; /* PX4IO_PAGE_RC_INPUT_CONFIG */
extern uint16_t r_page_servo_failsafe[]; /* PX4IO_PAGE_FAILSAFE_PWM */
/*
* Register aliases.
*
* Handy aliases for registers that are widely used.
*/
#define r_status_flags r_page_status[PX4IO_P_STATUS_FLAGS]
#define r_status_alarms r_page_status[PX4IO_P_STATUS_ALARMS]
#define r_raw_rc_count r_page_raw_rc_input[PX4IO_P_RAW_RC_COUNT]
#define r_raw_rc_values (&r_page_raw_rc_input[PX4IO_P_RAW_RC_BASE])
#define r_rc_valid r_page_rc_input[PX4IO_P_RC_VALID]
#define r_rc_values (&r_page_rc_input[PX4IO_P_RAW_RC_BASE])
#define r_setup_features r_page_setup[PX4IO_P_SETUP_FEATURES]
#define r_setup_arming r_page_setup[PX4IO_P_SETUP_ARMING]
#define r_setup_pwm_rates r_page_setup[PX4IO_P_SETUP_PWM_RATES]
#define r_setup_pwm_lowrate r_page_setup[PX4IO_P_SETUP_PWM_LOWRATE]
#define r_setup_pwm_highrate r_page_setup[PX4IO_P_SETUP_PWM_HIGHRATE]
#define r_setup_relays r_page_setup[PX4IO_P_SETUP_RELAYS]
#define r_control_values (&r_page_controls[0])
/*
* System state structure.
*/
struct sys_state_s {
bool armed; /* IO armed */
bool arm_ok; /* FMU says OK to arm */
uint16_t servo_rate; /* output rate of servos in Hz */
/**
* Remote control input(s) channel mappings
*/
uint8_t rc_map[4];
/**
* Remote control channel attributes
*/
uint16_t rc_min[4];
uint16_t rc_trim[4];
uint16_t rc_max[4];
int16_t rc_rev[4];
uint16_t rc_dz[4];
/**
* Data from the remote control input(s)
*/
unsigned rc_channels;
uint16_t rc_channel_data[PX4IO_INPUT_CHANNELS];
uint64_t rc_channels_timestamp;
/**
* Control signals from FMU.
*/
uint16_t fmu_channel_data[PX4IO_CONTROL_CHANNELS];
/**
* Mixed servo outputs
*/
uint16_t servos[IO_SERVO_COUNT];
/**
* Relay controls
*/
bool relays[PX4IO_RELAY_CHANNELS];
/**
* If true, we are using the FMU controls, else RC input if available.
*/
bool mixer_manual_override;
/**
* If true, FMU input is available.
*/
bool mixer_fmu_available;
/**
* If true, state that should be reported to FMU has been updated.
*/
bool fmu_report_due;
volatile uint64_t rc_channels_timestamp;
/**
* Last FMU receive time, in microseconds since system boot
*/
uint64_t fmu_data_received_time;
/**
* Current serial interface mode, per the serial_rx_mode parameter
* in the config packet.
*/
uint8_t serial_rx_mode;
/**
* If true, the RC signal has been lost for more than a timeout interval
*/
bool rc_lost;
/**
* If true, the connection to FMU has been lost for more than a timeout interval
*/
bool fmu_lost;
/**
* If true, FMU is ready for autonomous position control. Only used for LED indication
*/
bool vector_flight_mode_ok;
/**
* If true, IO performs an on-board manual override with the RC channel values
*/
bool manual_override_ok;
/*
* Measured battery voltage in mV
*/
uint16_t battery_mv;
/*
* ADC IN5 measurement
*/
uint16_t adc_in5;
/*
* Power supply overcurrent status bits.
*/
uint8_t overcurrent;
volatile uint64_t fmu_data_received_time;
};
extern struct sys_state_s system_state;
#if 0
/*
* Software countdown timers.
*
* Each timer counts down to zero at one tick per ms.
*/
#define TIMER_BLINK_AMBER 0
#define TIMER_BLINK_BLUE 1
#define TIMER_STATUS_PRINT 2
#define TIMER_SANITY 7
#define TIMER_NUM_TIMERS 8
extern volatile int timers[TIMER_NUM_TIMERS];
#endif
/*
* GPIO handling.
*/
@ -206,6 +135,7 @@ extern volatile int timers[TIMER_NUM_TIMERS];
#define ADC_VBATT 4
#define ADC_IN5 5
#define ADC_CHANNEL_COUNT 2
/*
* Mixer
@ -213,34 +143,46 @@ extern volatile int timers[TIMER_NUM_TIMERS];
extern void mixer_tick(void);
extern void mixer_handle_text(const void *buffer, size_t length);
/*
/**
* Safety switch/LED.
*/
extern void safety_init(void);
/*
/**
* FMU communications
*/
extern void comms_main(void) __attribute__((noreturn));
extern void i2c_init(void);
/*
/**
* Register space
*/
extern void registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values);
extern int registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_values);
/**
* Sensors/misc inputs
*/
extern int adc_init(void);
extern uint16_t adc_measure(unsigned channel);
/*
/**
* R/C receiver handling.
*
* Input functions return true when they receive an update from the RC controller.
*/
extern void controls_main(void);
extern void controls_init(void);
extern void controls_tick(void);
extern int dsm_init(const char *device);
extern bool dsm_input(void);
extern bool dsm_input(uint16_t *values, uint16_t *num_values);
extern int sbus_init(const char *device);
extern bool sbus_input(void);
extern bool sbus_input(uint16_t *values, uint16_t *num_values);
/** global debug level for isr_debug() */
extern volatile uint8_t debug_level;
/* send a debug message to the console */
extern void isr_debug(uint8_t level, const char *fmt, ...);
void i2c_dump(void);
void i2c_reset(void);
/*
* Assertion codes
*/
#define A_GPIO_OPEN_FAIL 100
#define A_SERVO_OPEN_FAIL 101
#define A_INPUTQ_OPEN_FAIL 102

595
apps/px4io/registers.c Normal file
View File

@ -0,0 +1,595 @@
/****************************************************************************
*
* 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 registers.c
*
* Implementation of the PX4IO register space.
*/
#include <nuttx/config.h>
#include <stdbool.h>
#include <stdlib.h>
#include <drivers/drv_hrt.h>
#include "px4io.h"
#include "protocol.h"
static int registers_set_one(uint8_t page, uint8_t offset, uint16_t value);
/**
* PAGE 0
*
* Static configuration parameters.
*/
static const uint16_t r_page_config[] = {
[PX4IO_P_CONFIG_PROTOCOL_VERSION] = 1, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_SOFTWARE_VERSION] = 1, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_BOOTLOADER_VERSION] = 3, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_MAX_TRANSFER] = 64, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_CONTROL_COUNT] = PX4IO_CONTROL_CHANNELS,
[PX4IO_P_CONFIG_ACTUATOR_COUNT] = IO_SERVO_COUNT,
[PX4IO_P_CONFIG_RC_INPUT_COUNT] = MAX_CONTROL_CHANNELS,
[PX4IO_P_CONFIG_ADC_INPUT_COUNT] = ADC_CHANNEL_COUNT,
[PX4IO_P_CONFIG_RELAY_COUNT] = PX4IO_RELAY_CHANNELS,
};
/**
* PAGE 1
*
* Status values.
*/
uint16_t r_page_status[] = {
[PX4IO_P_STATUS_FREEMEM] = 0,
[PX4IO_P_STATUS_CPULOAD] = 0,
[PX4IO_P_STATUS_FLAGS] = 0,
[PX4IO_P_STATUS_ALARMS] = 0,
[PX4IO_P_STATUS_VBATT] = 0,
[PX4IO_P_STATUS_IBATT] = 0
};
/**
* PAGE 2
*
* Post-mixed actuator values.
*/
uint16_t r_page_actuators[IO_SERVO_COUNT];
/**
* PAGE 3
*
* Servo PWM values
*/
uint16_t r_page_servos[IO_SERVO_COUNT];
/**
* PAGE 4
*
* Raw RC input
*/
uint16_t r_page_raw_rc_input[] =
{
[PX4IO_P_RAW_RC_COUNT] = 0,
[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + MAX_CONTROL_CHANNELS)] = 0
};
/**
* PAGE 5
*
* Scaled/routed RC input
*/
uint16_t r_page_rc_input[] = {
[PX4IO_P_RC_VALID] = 0,
[PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + MAX_CONTROL_CHANNELS)] = 0
};
/**
* PAGE 6
*
* Raw ADC input.
*/
uint16_t r_page_adc[ADC_CHANNEL_COUNT];
/**
* PAGE 100
*
* Setup registers
*/
volatile uint16_t r_page_setup[] =
{
[PX4IO_P_SETUP_FEATURES] = 0,
[PX4IO_P_SETUP_ARMING] = 0,
[PX4IO_P_SETUP_PWM_RATES] = 0,
[PX4IO_P_SETUP_PWM_LOWRATE] = 50,
[PX4IO_P_SETUP_PWM_HIGHRATE] = 200,
[PX4IO_P_SETUP_RELAYS] = 0,
[PX4IO_P_SETUP_VBATT_SCALE] = 10000,
[PX4IO_P_SETUP_IBATT_SCALE] = 0,
[PX4IO_P_SETUP_IBATT_BIAS] = 0,
[PX4IO_P_SETUP_SET_DEBUG] = 0,
};
#define PX4IO_P_SETUP_FEATURES_VALID (0)
#define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_ARM_OK | \
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \
PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK)
#define PX4IO_P_SETUP_RATES_VALID ((1 << IO_SERVO_COUNT) - 1)
#define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1)
/**
* PAGE 101
*
* Control values from the FMU.
*/
volatile uint16_t r_page_controls[PX4IO_CONTROL_CHANNELS];
/*
* PAGE 102 does not have a buffer.
*/
/**
* PAGE 103
*
* R/C channel input configuration.
*/
uint16_t r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE];
/* valid options */
#define PX4IO_P_RC_CONFIG_OPTIONS_VALID (PX4IO_P_RC_CONFIG_OPTIONS_REVERSE | PX4IO_P_RC_CONFIG_OPTIONS_ENABLED)
/*
* PAGE 104 uses r_page_servos.
*/
/**
* PAGE 105
*
* Failsafe servo PWM values
*/
uint16_t r_page_servo_failsafe[IO_SERVO_COUNT];
void
registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
{
switch (page) {
/* handle bulk controls input */
case PX4IO_PAGE_CONTROLS:
/* copy channel data */
while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
/* XXX range-check value? */
r_page_controls[offset] = *values;
offset++;
num_values--;
values++;
}
system_state.fmu_data_received_time = hrt_absolute_time();
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST;
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RAW_PWM;
break;
/* handle raw PWM input */
case PX4IO_PAGE_DIRECT_PWM:
/* copy channel data */
while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
/* XXX range-check value? */
r_page_servos[offset] = *values;
offset++;
num_values--;
values++;
}
system_state.fmu_data_received_time = hrt_absolute_time();
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM;
break;
/* handle setup for servo failsafe values */
case PX4IO_PAGE_FAILSAFE_PWM:
/* copy channel data */
while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
/* XXX range-check value? */
r_page_servo_failsafe[offset] = *values;
offset++;
num_values--;
values++;
}
break;
/* handle text going to the mixer parser */
case PX4IO_PAGE_MIXERLOAD:
mixer_handle_text(values, num_values * sizeof(*values));
break;
default:
/* avoid offset wrap */
if ((offset + num_values) > 255)
num_values = 255 - offset;
/* iterate individual registers, set each in turn */
while (num_values--) {
if (registers_set_one(page, offset, *values))
break;
offset++;
values++;
}
}
}
static int
registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
{
switch (page) {
case PX4IO_PAGE_STATUS:
switch (offset) {
case PX4IO_P_STATUS_ALARMS:
/* clear bits being written */
r_status_alarms &= ~value;
break;
case PX4IO_P_STATUS_FLAGS:
/*
* Allow FMU override of arming state (to allow in-air restores),
* but only if the arming state is not in sync on the IO side.
*/
if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
r_status_flags = value;
}
break;
default:
/* just ignore writes to other registers in this page */
break;
}
break;
case PX4IO_PAGE_SETUP:
switch (offset) {
case PX4IO_P_SETUP_FEATURES:
value &= PX4IO_P_SETUP_FEATURES_VALID;
r_setup_features = value;
/* no implemented feature selection at this point */
break;
case PX4IO_P_SETUP_ARMING:
value &= PX4IO_P_SETUP_ARMING_VALID;
/*
* Update arming state - disarm if no longer OK.
* This builds on the requirement that the FMU driver
* asks about the FMU arming state on initialization,
* so that an in-air reset of FMU can not lead to a
* lockup of the IO arming state.
*/
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && !(value & PX4IO_P_SETUP_ARMING_ARM_OK)) {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED;
}
r_setup_arming = value;
break;
case PX4IO_P_SETUP_PWM_RATES:
value &= PX4IO_P_SETUP_RATES_VALID;
r_setup_pwm_rates = value;
/* XXX re-configure timers */
break;
case PX4IO_P_SETUP_PWM_LOWRATE:
if (value < 50)
value = 50;
if (value > 400)
value = 400;
r_setup_pwm_lowrate = value;
/* XXX re-configure timers */
break;
case PX4IO_P_SETUP_PWM_HIGHRATE:
if (value < 50)
value = 50;
if (value > 400)
value = 400;
r_setup_pwm_highrate = value;
/* XXX re-configure timers */
break;
case PX4IO_P_SETUP_RELAYS:
value &= PX4IO_P_SETUP_RELAYS_VALID;
r_setup_relays = value;
POWER_RELAY1(value & (1 << 0) ? 1 : 0);
POWER_RELAY2(value & (1 << 1) ? 1 : 0);
POWER_ACC1(value & (1 << 2) ? 1 : 0);
POWER_ACC2(value & (1 << 3) ? 1 : 0);
break;
case PX4IO_P_SETUP_SET_DEBUG:
r_page_setup[PX4IO_P_SETUP_SET_DEBUG] = value;
isr_debug(0, "set debug %u\n", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG]);
break;
default:
return -1;
}
break;
case PX4IO_PAGE_RC_CONFIG: {
/* do not allow a RC config change while fully armed */
if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
break;
}
unsigned channel = offset / PX4IO_P_RC_CONFIG_STRIDE;
unsigned index = offset - channel * PX4IO_P_RC_CONFIG_STRIDE;
uint16_t *conf = &r_page_rc_input_config[channel * PX4IO_P_RC_CONFIG_STRIDE];
if (channel >= MAX_CONTROL_CHANNELS)
return -1;
/* disable the channel until we have a chance to sanity-check it */
conf[PX4IO_P_RC_CONFIG_OPTIONS] &= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
switch (index) {
case PX4IO_P_RC_CONFIG_MIN:
case PX4IO_P_RC_CONFIG_CENTER:
case PX4IO_P_RC_CONFIG_MAX:
case PX4IO_P_RC_CONFIG_DEADZONE:
case PX4IO_P_RC_CONFIG_ASSIGNMENT:
conf[index] = value;
break;
case PX4IO_P_RC_CONFIG_OPTIONS:
value &= PX4IO_P_RC_CONFIG_OPTIONS_VALID;
r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK;
/* set all options except the enabled option */
conf[index] = value & ~PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
/* should the channel be enabled? */
/* this option is normally set last */
if (value & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
uint8_t count = 0;
/* assert min..center..max ordering */
if (conf[PX4IO_P_RC_CONFIG_MIN] < 500) {
count++;
}
if (conf[PX4IO_P_RC_CONFIG_MAX] > 2500) {
count++;
}
if (conf[PX4IO_P_RC_CONFIG_CENTER] < conf[PX4IO_P_RC_CONFIG_MIN]) {
count++;
}
if (conf[PX4IO_P_RC_CONFIG_CENTER] > conf[PX4IO_P_RC_CONFIG_MAX]) {
count++;
}
/* assert deadzone is sane */
if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) {
count++;
}
// The following check isn't needed as constraint checks in controls.c will catch this.
//if (conf[PX4IO_P_RC_CONFIG_MIN] > (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
// count++;
//}
//if (conf[PX4IO_P_RC_CONFIG_MAX] < (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
// count++;
//}
if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= MAX_CONTROL_CHANNELS) {
count++;
}
/* sanity checks pass, enable channel */
if (count) {
isr_debug(0, "ERROR: %d config error(s) for RC%d.\n", count, (channel + 1));
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_INIT_OK;
} else {
conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
}
}
break;
/* inner switch: case PX4IO_P_RC_CONFIG_OPTIONS */
}
break;
/* case PX4IO_RC_PAGE_CONFIG */
}
default:
return -1;
}
return 0;
}
uint8_t last_page;
uint8_t last_offset;
int
registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_values)
{
#define SELECT_PAGE(_page_name) \
do { \
*values = &_page_name[0]; \
*num_values = sizeof(_page_name) / sizeof(_page_name[0]); \
} while(0)
switch (page) {
/*
* Handle pages that are updated dynamically at read time.
*/
case PX4IO_PAGE_STATUS:
/* PX4IO_P_STATUS_FREEMEM */
{
struct mallinfo minfo = mallinfo();
r_page_status[PX4IO_P_STATUS_FREEMEM] = minfo.fordblks;
}
/* XXX PX4IO_P_STATUS_CPULOAD */
/* PX4IO_P_STATUS_FLAGS maintained externally */
/* PX4IO_P_STATUS_ALARMS maintained externally */
/* PX4IO_P_STATUS_VBATT */
{
/*
* Coefficients here derived by measurement of the 5-16V
* range on one unit:
*
* V counts
* 5 1001
* 6 1219
* 7 1436
* 8 1653
* 9 1870
* 10 2086
* 11 2303
* 12 2522
* 13 2738
* 14 2956
* 15 3172
* 16 3389
*
* slope = 0.0046067
* intercept = 0.3863
*
* Intercept corrected for best results @ 12V.
*/
unsigned counts = adc_measure(ADC_VBATT);
unsigned mV = (4150 + (counts * 46)) / 10 - 200;
unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000;
r_page_status[PX4IO_P_STATUS_VBATT] = corrected;
}
/* PX4IO_P_STATUS_IBATT */
{
unsigned counts = adc_measure(ADC_VBATT);
unsigned scaled = (counts * r_page_setup[PX4IO_P_SETUP_IBATT_SCALE]) / 10000;
int corrected = scaled + REG_TO_SIGNED(r_page_setup[PX4IO_P_SETUP_IBATT_BIAS]);
if (corrected < 0)
corrected = 0;
r_page_status[PX4IO_P_STATUS_IBATT] = corrected;
}
SELECT_PAGE(r_page_status);
break;
case PX4IO_PAGE_RAW_ADC_INPUT:
r_page_adc[0] = adc_measure(ADC_VBATT);
r_page_adc[1] = adc_measure(ADC_IN5);
SELECT_PAGE(r_page_adc);
break;
/*
* Pages that are just a straight read of the register state.
*/
/* status pages */
case PX4IO_PAGE_CONFIG:
SELECT_PAGE(r_page_config);
break;
case PX4IO_PAGE_ACTUATORS:
SELECT_PAGE(r_page_actuators);
break;
case PX4IO_PAGE_SERVOS:
SELECT_PAGE(r_page_servos);
break;
case PX4IO_PAGE_RAW_RC_INPUT:
SELECT_PAGE(r_page_raw_rc_input);
break;
case PX4IO_PAGE_RC_INPUT:
SELECT_PAGE(r_page_rc_input);
break;
/* readback of input pages */
case PX4IO_PAGE_SETUP:
SELECT_PAGE(r_page_setup);
break;
case PX4IO_PAGE_CONTROLS:
SELECT_PAGE(r_page_controls);
break;
case PX4IO_PAGE_RC_CONFIG:
SELECT_PAGE(r_page_rc_input_config);
break;
case PX4IO_PAGE_DIRECT_PWM:
SELECT_PAGE(r_page_servos);
break;
case PX4IO_PAGE_FAILSAFE_PWM:
SELECT_PAGE(r_page_servo_failsafe);
break;
default:
return -1;
}
#undef SELECT_PAGE
#undef COPY_PAGE
last_page = page;
last_offset = offset;
/* if the offset is at or beyond the end of the page, we have no data */
if (offset >= *num_values)
return -1;
/* correct the data pointer and count for the offset */
*values += offset;
*num_values -= offset;
return 0;
}

38
apps/px4io/safety.c
View File

@ -36,15 +36,8 @@
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdbool.h>
#include <fcntl.h>
#include <unistd.h>
#include <debug.h>
#include <stdlib.h>
#include <errno.h>
#include <nuttx/clock.h>
#include <stdbool.h>
#include <drivers/drv_hrt.h>
@ -116,30 +109,28 @@ safety_check_button(void *arg)
* state machine, keep ARM_COUNTER_THRESHOLD the same
* length in all cases of the if/else struct below.
*/
if (safety_button_pressed && !system_state.armed) {
if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
if (counter < ARM_COUNTER_THRESHOLD) {
counter++;
} else if (counter == ARM_COUNTER_THRESHOLD) {
/* change to armed state and notify the FMU */
system_state.armed = true;
/* switch to armed state */
r_status_flags |= PX4IO_P_STATUS_FLAGS_ARMED;
counter++;
system_state.fmu_report_due = true;
}
/* Disarm quickly */
} else if (safety_button_pressed && system_state.armed) {
} else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
if (counter < ARM_COUNTER_THRESHOLD) {
counter++;
} else if (counter == ARM_COUNTER_THRESHOLD) {
/* change to disarmed state and notify the FMU */
system_state.armed = false;
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED;
counter++;
system_state.fmu_report_due = true;
}
} else {
@ -149,18 +140,18 @@ safety_check_button(void *arg)
/* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */
uint16_t pattern = LED_PATTERN_SAFE;
if (system_state.armed) {
if (system_state.arm_ok) {
if (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) {
if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) {
pattern = LED_PATTERN_IO_FMU_ARMED;
} else {
pattern = LED_PATTERN_IO_ARMED;
}
} else if (system_state.arm_ok) {
} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) {
pattern = LED_PATTERN_FMU_ARMED;
} else if (system_state.vector_flight_mode_ok) {
} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) {
pattern = LED_PATTERN_VECTOR_FLIGHT_MODE_OK;
}
@ -185,12 +176,17 @@ heartbeat_blink(void *arg)
static void
failsafe_blink(void *arg)
{
/* indicate that a serious initialisation error occured */
if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)) {
LED_AMBER(true);
return;
}
static bool failsafe = false;
/* blink the failsafe LED if we don't have FMU input */
if (!system_state.mixer_fmu_available) {
if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) {
failsafe = !failsafe;
} else {
failsafe = false;
}

48
apps/px4io/sbus.c
View File

@ -53,7 +53,7 @@
#include "debug.h"
#define SBUS_FRAME_SIZE 25
#define SBUS_INPUT_CHANNELS 18
#define SBUS_INPUT_CHANNELS 16
static int sbus_fd = -1;
@ -66,13 +66,13 @@ static unsigned partial_frame_count;
unsigned sbus_frame_drops;
static void sbus_decode(hrt_abstime frame_time);
static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values);
int
sbus_init(const char *device)
{
if (sbus_fd < 0)
sbus_fd = open(device, O_RDONLY);
sbus_fd = open(device, O_RDONLY | O_NONBLOCK);
if (sbus_fd >= 0) {
struct termios t;
@ -97,7 +97,7 @@ sbus_init(const char *device)
}
bool
sbus_input(void)
sbus_input(uint16_t *values, uint16_t *num_values)
{
ssize_t ret;
hrt_abstime now;
@ -134,7 +134,7 @@ sbus_input(void)
/* if the read failed for any reason, just give up here */
if (ret < 1)
goto out;
return false;
last_rx_time = now;
@ -147,20 +147,14 @@ sbus_input(void)
* If we don't have a full frame, return
*/
if (partial_frame_count < SBUS_FRAME_SIZE)
goto out;
return false;
/*
* Great, it looks like we might have a frame. Go ahead and
* decode it.
*/
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;
return sbus_decode(now, values, num_values);
}
/*
@ -199,13 +193,13 @@ static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = {
/* 15 */ { {20, 5, 0x07, 0}, {21, 0, 0xff, 3}, { 0, 0, 0x00, 0} }
};
static void
sbus_decode(hrt_abstime frame_time)
static bool
sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
{
/* check frame boundary markers to avoid out-of-sync cases */
if ((frame[0] != 0x0f) || (frame[24] != 0x00)) {
sbus_frame_drops++;
return;
return false;
}
/* if the failsafe or connection lost bit is set, we consider the frame invalid */
@ -213,8 +207,8 @@ sbus_decode(hrt_abstime frame_time)
(frame[23] & (1 << 3))) { /* failsafe */
/* actively announce signal loss */
system_state.rc_channels = 0;
return 1;
*values = 0;
return false;
}
/* we have received something we think is a frame */
@ -241,23 +235,21 @@ sbus_decode(hrt_abstime frame_time)
}
/* convert 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
system_state.rc_channel_data[channel] = (value / 2) + 998;
values[channel] = (value / 2) + 998;
}
/* decode switch channels if data fields are wide enough */
if (chancount > 17) {
if (PX4IO_INPUT_CHANNELS > 17 && chancount > 15) {
chancount = 18;
/* channel 17 (index 16) */
system_state.rc_channel_data[16] = (frame[23] & (1 << 0)) * 1000 + 998;
values[16] = (frame[23] & (1 << 0)) * 1000 + 998;
/* channel 18 (index 17) */
system_state.rc_channel_data[17] = (frame[23] & (1 << 1)) * 1000 + 998;
values[17] = (frame[23] & (1 << 1)) * 1000 + 998;
}
/* note the number of channels decoded */
system_state.rc_channels = chancount;
*num_values = chancount;
/* 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;
return true;
}

70
apps/sensors/sensors.cpp
View File

@ -1084,36 +1084,6 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
void
Sensors::ppm_poll()
{
/* fake low-level driver, directly pulling from driver variables */
static orb_advert_t rc_input_pub = -1;
struct rc_input_values raw;
raw.timestamp = ppm_last_valid_decode;
/* we are accepting this message */
_ppm_last_valid = ppm_last_valid_decode;
/*
* relying on two decoded channels is very noise-prone,
* in particular if nothing is connected to the pins.
* requiring a minimum of four channels
*/
if (ppm_decoded_channels > 4 && hrt_absolute_time() - _ppm_last_valid < PPM_INPUT_TIMEOUT_INTERVAL) {
for (unsigned i = 0; i < ppm_decoded_channels; i++) {
raw.values[i] = ppm_buffer[i];
}
raw.channel_count = ppm_decoded_channels;
/* publish to object request broker */
if (rc_input_pub <= 0) {
rc_input_pub = orb_advertise(ORB_ID(input_rc), &raw);
} else {
orb_publish(ORB_ID(input_rc), rc_input_pub, &raw);
}
}
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
bool rc_updated;
@ -1159,31 +1129,45 @@ Sensors::ppm_poll()
/* Read out values from raw message */
for (unsigned int i = 0; i < channel_limit; i++) {
/* scale around the mid point differently for lower and upper range */
/*
* 1) Constrain to min/max values, as later processing depends on bounds.
*/
if (rc_input.values[i] < _parameters.min[i])
rc_input.values[i] = _parameters.min[i];
if (rc_input.values[i] > _parameters.max[i])
rc_input.values[i] = _parameters.max[i];
/*
* 2) Scale around the mid point differently for lower and upper range.
*
* This is necessary as they don't share the same endpoints and slope.
*
* First normalize to 0..1 range with correct sign (below or above center),
* the total range is 2 (-1..1).
* If center (trim) == min, scale to 0..1, if center (trim) == max,
* scale to -1..0.
*
* As the min and max bounds were enforced in step 1), division by zero
* cannot occur, as for the case of center == min or center == max the if
* statement is mutually exclusive with the arithmetic NaN case.
*
* DO NOT REMOVE OR ALTER STEP 1!
*/
if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) {
_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i]) / (float)(_parameters.max[i] - _parameters.trim[i]);
_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]);
} else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) {
/* division by zero impossible for trim == min (as for throttle), as this falls in the above if clause */
_rc.chan[i].scaled = -((_parameters.trim[i] - rc_input.values[i]) / (float)(_parameters.trim[i] - _parameters.min[i]));
_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]);
} else {
/* in the configured dead zone, output zero */
_rc.chan[i].scaled = 0.0f;
}
/* reverse channel if required */
if (i == (int)_rc.function[THROTTLE]) {
if ((int)_parameters.rev[i] == -1) {
_rc.chan[i].scaled = 1.0f + -1.0f * _rc.chan[i].scaled;
}
} else {
_rc.chan[i].scaled *= _parameters.rev[i];
}
/* handle any parameter-induced blowups */
if (isnan(_rc.chan[i].scaled) || isinf(_rc.chan[i].scaled))
if (!isfinite(_rc.chan[i].scaled))
_rc.chan[i].scaled = 0.0f;
}

42
apps/systemcmds/i2c/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.
#
############################################################################
#
# Build the i2c test tool.
#
APPNAME = i2c
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk

140
apps/systemcmds/i2c/i2c.c Normal file
View File

@ -0,0 +1,140 @@
/****************************************************************************
*
* 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
* 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 i2c.c
*
* i2c hacking tool
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/mount.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <nuttx/i2c.h>
#include <arch/board/board.h>
#include "systemlib/systemlib.h"
#include "systemlib/err.h"
#ifndef PX4_I2C_BUS_ONBOARD
# error PX4_I2C_BUS_ONBOARD not defined, no device interface
#endif
#ifndef PX4_I2C_OBDEV_PX4IO
# error PX4_I2C_OBDEV_PX4IO not defined
#endif
__EXPORT int i2c_main(int argc, char *argv[]);
static int transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len);
static struct i2c_dev_s *i2c;
int i2c_main(int argc, char *argv[])
{
/* find the right I2C */
i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD);
if (i2c == NULL)
errx(1, "failed to locate I2C bus");
usleep(100000);
uint8_t buf[] = { 0, 4};
int ret = transfer(PX4_I2C_OBDEV_PX4IO, buf, sizeof(buf), NULL, 0);
if (ret)
errx(1, "send failed - %d", ret);
uint32_t val;
ret = transfer(PX4_I2C_OBDEV_PX4IO, NULL, 0, (uint8_t *)&val, sizeof(val));
if (ret)
errx(1, "recive failed - %d", ret);
errx(0, "got 0x%08x", val);
}
static int
transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
{
struct i2c_msg_s msgv[2];
unsigned msgs;
int ret;
// debug("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
msgs = 0;
if (send_len > 0) {
msgv[msgs].addr = address;
msgv[msgs].flags = 0;
msgv[msgs].buffer = send;
msgv[msgs].length = send_len;
msgs++;
}
if (recv_len > 0) {
msgv[msgs].addr = address;
msgv[msgs].flags = I2C_M_READ;
msgv[msgs].buffer = recv;
msgv[msgs].length = recv_len;
msgs++;
}
if (msgs == 0)
return -1;
/*
* I2C architecture means there is an unavoidable race here
* if there are any devices on the bus with a different frequency
* preference. Really, this is pointless.
*/
I2C_SETFREQUENCY(i2c, 400000);
ret = I2C_TRANSFER(i2c, &msgv[0], msgs);
// reset the I2C bus to unwedge on error
if (ret != OK)
up_i2creset(i2c);
return ret;
}

18
apps/systemcmds/mixer/mixer.c
View File

@ -117,7 +117,23 @@ load(const char *devname, const char *fname)
if ((strlen(line) < 2) || !isupper(line[0]) || (line[1] != ':'))
continue;
/* XXX an optimisation here would be to strip extra whitespace */
/* compact whitespace in the buffer */
char *t, *f;
for (f = buf; *f != '\0'; f++) {
/* scan for space characters */
if (*f == ' ') {
/* look for additional spaces */
t = f + 1;
while (*t == ' ')
t++;
if (*t == '\0') {
/* strip trailing whitespace */
*f = '\0';
} else if (t > (f + 1)) {
memmove(f + 1, t, strlen(t) + 1);
}
}
}
/* if the line is too long to fit in the buffer, bail */
if ((strlen(line) + strlen(buf) + 1) >= sizeof(buf))

1
apps/systemlib/mixer/mixer.cpp
View File

@ -54,6 +54,7 @@
#include "mixer.h"
Mixer::Mixer(ControlCallback control_cb, uintptr_t cb_handle) :
_next(nullptr),
_control_cb(control_cb),
_cb_handle(cb_handle)
{

2
apps/systemlib/mixer/mixer.h
View File

@ -160,7 +160,7 @@ public:
* @param control_cb Callback invoked when reading controls.
*/
Mixer(ControlCallback control_cb, uintptr_t cb_handle);
~Mixer() {};
virtual ~Mixer() {};
/**
* Perform the mixing function.

1
apps/systemlib/mixer/mixer_group.cpp
View File

@ -93,6 +93,7 @@ MixerGroup::reset()
mixer = _first;
_first = mixer->_next;
delete mixer;
mixer = nullptr;
}
}

3
apps/uORB/objects_common.cpp
View File

@ -53,6 +53,9 @@ ORB_DEFINE(sensor_gyro, struct gyro_report);
#include <drivers/drv_baro.h>
ORB_DEFINE(sensor_baro, struct baro_report);
#include <drivers/drv_range_finder.h>
ORB_DEFINE(sensor_range_finder, struct range_finder_report);
#include <drivers/drv_pwm_output.h>
ORB_DEFINE(output_pwm, struct pwm_output_values);

4
apps/uORB/topics/actuator_controls_effective.h
View File

@ -37,8 +37,8 @@
* Actuator control topics - mixer inputs.
*
* Values published to these topics are the outputs of the vehicle control
* system, and are expected to be mixed and used to drive the actuators
* (servos, speed controls, etc.) that operate the vehicle.
* system and mixing process; they are the control-scale values that are
* then fed to the actual actuator driver.
*
* Each topic can be published by a single controller
*/

3
apps/uORB/topics/subsystem_info.h
View File

@ -71,7 +71,8 @@ enum SUBSYSTEM_TYPE
SUBSYSTEM_TYPE_YAWPOSITION = 4096,
SUBSYSTEM_TYPE_ALTITUDECONTROL = 16384,
SUBSYSTEM_TYPE_POSITIONCONTROL = 32768,
SUBSYSTEM_TYPE_MOTORCONTROL = 65536
SUBSYSTEM_TYPE_MOTORCONTROL = 65536,
SUBSYSTEM_TYPE_RANGEFINDER = 131072
};
/**

5
apps/uORB/topics/vehicle_status.h
View File

@ -156,7 +156,9 @@ struct vehicle_status_s
enum VEHICLE_FLIGHT_MODE flight_mode; /**< current flight mode, as defined by mode switch */
enum VEHICLE_MANUAL_CONTROL_MODE manual_control_mode; /**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */
enum VEHICLE_MANUAL_SAS_MODE manual_sas_mode; /**< current stabilization mode */
int32_t system_type; /**< system type, inspired by MAVLinks VEHICLE_TYPE enum */
int32_t system_type; /**< system type, inspired by MAVLink's VEHICLE_TYPE enum */
int32_t system_id; /**< system id, inspired by MAVLink's system ID field */
int32_t component_id; /**< subsystem / component id, inspired by MAVLink's component ID field */
/* system flags - these represent the state predicates */
@ -210,6 +212,7 @@ struct vehicle_status_s
bool flag_auto_flight_mode_ok; /**< conditions of vector flight mode apply plus a valid takeoff position lock has been aquired */
bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */
bool flag_valid_launch_position; /**< indicates a valid launch position */
bool flag_valid_home_position; /**< indicates a valid home position (a valid home position is not always a valid launch) */
bool flag_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */
};

27
nuttx/arch/arm/src/stm32/stm32_i2c.c
View File

@ -185,6 +185,22 @@ enum stm32_trace_e
I2CEVENT_ERROR /* Error occurred, param = 0 */
};
#ifdef CONFIG_I2C_TRACE
static const char *stm32_trace_names[] = {
"NONE ",
"SENDADDR ",
"SENDBYTE ",
"ITBUFEN ",
"RCVBYTE ",
"REITBUFEN ",
"DISITBUFEN",
"BTFNOSTART",
"BTFRESTART",
"BTFSTOP ",
"ERROR "
};
#endif
/* Trace data */
struct stm32_trace_s
@ -846,6 +862,7 @@ static void stm32_i2c_traceevent(FAR struct stm32_i2c_priv_s *priv,
trace->event = event;
trace->parm = parm;
trace->time = clock_systimer();
/* Bump up the trace index (unless we are out of trace entries) */
@ -869,8 +886,8 @@ static void stm32_i2c_tracedump(FAR struct stm32_i2c_priv_s *priv)
for (i = 0; i <= priv->tndx; i++)
{
trace = &priv->trace[i];
syslog("%2d. STATUS: %08x COUNT: %3d EVENT: %2d PARM: %08x TIME: %d\n",
i+1, trace->status, trace->count, trace->event, trace->parm,
syslog("%2d. STATUS: %08x COUNT: %3d EVENT: %s PARM: %08x TIME: %d\n",
i+1, trace->status, trace->count, stm32_trace_names[trace->event], trace->parm,
trace->time - priv->start_time);
}
}
@ -1620,8 +1637,8 @@ static int stm32_i2c_process(FAR struct i2c_dev_s *dev, FAR struct i2c_msg_s *ms
status = stm32_i2c_getstatus(priv);
errval = ETIMEDOUT;
i2cdbg("Timed out: CR1: %04x status: %08x\n",
stm32_i2c_getreg(priv, STM32_I2C_CR1_OFFSET), status);
i2cdbg("Timed out: CR1: %04x status: %08x after %d\n",
stm32_i2c_getreg(priv, STM32_I2C_CR1_OFFSET), status, timeout_us);
/* "Note: When the STOP, START or PEC bit is set, the software must
* not perform any write access to I2C_CR1 before this bit is
@ -2005,7 +2022,7 @@ int up_i2creset(FAR struct i2c_dev_s * dev)
/* Give up if we have tried too hard */
if (clock_count++ > 1000)
if (clock_count++ > CONFIG_STM32_I2CTIMEOTICKS)
{
goto out;
}

2
nuttx/configs/px4fmu/include/board.h
View File

@ -299,7 +299,7 @@
#define PX4_I2C_OBDEV_EEPROM NOTDEFINED
#define PX4_I2C_OBDEV_PX4IO_BL 0x18
#define PX4_I2C_OBDEV_PX4IO 0x19
#define PX4_I2C_OBDEV_PX4IO 0x1a
/*
* SPI

12
nuttx/configs/px4fmu/nsh/appconfig
View File

@ -46,14 +46,18 @@ CONFIGURED_APPS += systemlib
CONFIGURED_APPS += systemlib/mixer
# Math library
ifneq ($(CONFIG_APM),y)
CONFIGURED_APPS += mathlib
CONFIGURED_APPS += mathlib/CMSIS
CONFIGURED_APPS += examples/math_demo
endif
# Control library
ifneq ($(CONFIG_APM),y)
CONFIGURED_APPS += controllib
CONFIGURED_APPS += examples/control_demo
CONFIGURED_APPS += examples/kalman_demo
endif
# System utility commands
CONFIGURED_APPS += systemcmds/reboot
@ -77,7 +81,7 @@ CONFIGURED_APPS += systemcmds/delay_test
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/debug_values
CONFIGURED_APPS += examples/px4_mavlink_debug
# CONFIGURED_APPS += examples/px4_mavlink_debug
# Shared object broker; required by many parts of the system.
CONFIGURED_APPS += uORB
@ -87,6 +91,8 @@ CONFIGURED_APPS += mavlink_onboard
CONFIGURED_APPS += commander
CONFIGURED_APPS += sdlog
CONFIGURED_APPS += sensors
ifneq ($(CONFIG_APM),y)
CONFIGURED_APPS += ardrone_interface
CONFIGURED_APPS += multirotor_att_control
CONFIGURED_APPS += multirotor_pos_control
@ -96,10 +102,11 @@ CONFIGURED_APPS += fixedwing_pos_control
CONFIGURED_APPS += position_estimator
CONFIGURED_APPS += attitude_estimator_ekf
CONFIGURED_APPS += hott_telemetry
endif
# Hacking tools
#CONFIGURED_APPS += system/i2c
#CONFIGURED_APPS += tools/i2c_dev
CONFIGURED_APPS += systemcmds/i2c
# Communication and Drivers
CONFIGURED_APPS += drivers/boards/px4fmu
@ -118,6 +125,7 @@ CONFIGURED_APPS += drivers/stm32/adc
CONFIGURED_APPS += drivers/px4fmu
CONFIGURED_APPS += drivers/hil
CONFIGURED_APPS += drivers/gps
CONFIGURED_APPS += drivers/mb12xx
# Testing stuff
CONFIGURED_APPS += px4/sensors_bringup

6
nuttx/configs/px4fmu/nsh/defconfig
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@ -369,11 +369,12 @@ CONFIG_I2C_WRITEREAD=y
# I2C configuration
#
CONFIG_I2C=y
CONFIG_I2C_POLLED=y
CONFIG_I2C_POLLED=n
CONFIG_I2C_TRANSFER=y
CONFIG_I2C_TRACE=n
CONFIG_I2C_RESET=y
# XXX fixed per-transaction timeout
CONFIG_STM32_I2CTIMEOMS=10
# XXX re-enable after integration testing
@ -778,6 +779,7 @@ CONFIG_NXFFS_MAXNAMLEN=32
CONFIG_NXFFS_TAILTHRESHOLD=2048
CONFIG_NXFFS_PREALLOCATED=y
CONFIG_FS_ROMFS=y
CONFIG_FS_BINFS=y
#
# SPI-based MMC/SD driver

20
nuttx/configs/px4io/io/defconfig
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@ -86,7 +86,7 @@ CONFIG_ARCH_BOOTLOADER=n
CONFIG_ARCH_LEDS=n
CONFIG_ARCH_BUTTONS=n
CONFIG_ARCH_CALIBRATION=n
CONFIG_ARCH_DMA=n
CONFIG_ARCH_DMA=y
CONFIG_ARCH_MATH_H=y
CONFIG_ARMV7M_CMNVECTOR=y
@ -112,7 +112,7 @@ CONFIG_STM32_JTAG_SW_ENABLE=n
# Individual subsystems can be enabled:
#
# AHB:
CONFIG_STM32_DMA1=n
CONFIG_STM32_DMA1=y
CONFIG_STM32_DMA2=n
CONFIG_STM32_CRC=n
# APB1:
@ -189,6 +189,12 @@ CONFIG_USART1_2STOP=0
CONFIG_USART2_2STOP=0
CONFIG_USART3_2STOP=0
CONFIG_USART1_RXDMA=y
SERIAL_HAVE_CONSOLE_DMA=y
# Conflicts with I2C1 DMA
CONFIG_USART2_RXDMA=n
CONFIG_USART3_RXDMA=y
#
# PX4IO specific driver settings
#
@ -399,7 +405,7 @@ CONFIG_DISABLE_SIGNALS=y
CONFIG_DISABLE_MQUEUE=y
CONFIG_DISABLE_MOUNTPOINT=y
CONFIG_DISABLE_ENVIRON=y
CONFIG_DISABLE_POLL=n
CONFIG_DISABLE_POLL=y
#
# Misc libc settings
@ -469,12 +475,12 @@ CONFIG_ARCH_BZERO=n
# timer structures to minimize dynamic allocations. Set to
# zero for all dynamic allocations.
#
CONFIG_MAX_TASKS=8
CONFIG_MAX_TASKS=4
CONFIG_MAX_TASK_ARGS=4
CONFIG_NPTHREAD_KEYS=4
CONFIG_NPTHREAD_KEYS=2
CONFIG_NFILE_DESCRIPTORS=8
CONFIG_NFILE_STREAMS=0
CONFIG_NAME_MAX=32
CONFIG_NAME_MAX=12
CONFIG_STDIO_BUFFER_SIZE=32
CONFIG_STDIO_LINEBUFFER=n
CONFIG_NUNGET_CHARS=2
@ -535,7 +541,7 @@ CONFIG_BOOT_COPYTORAM=n
CONFIG_CUSTOM_STACK=n
CONFIG_STACK_POINTER=
CONFIG_IDLETHREAD_STACKSIZE=1024
CONFIG_USERMAIN_STACKSIZE=1024
CONFIG_USERMAIN_STACKSIZE=1200
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_PTHREAD_STACK_DEFAULT=1024
CONFIG_HEAP_BASE=