forked from Archive/PX4-Autopilot
Added sensor rail reset IOCTL and command (fmu sensor_reset 10 resets for 10 ms)
This commit is contained in:
Lorenz Meier
parent
881cf61553
commit
acc3cc087f
|
|
@ -144,4 +144,6 @@
|
|||
/** read all the GPIOs and return their values in *(uint32_t *)arg */
|
||||
#define GPIO_GET GPIOC(12)
|
||||
|
||||
#define GPIO_SENSOR_RAIL_RESET GPIOC(13)
|
||||
|
||||
#endif /* _DRV_GPIO_H */
|
||||
|
|
@ -164,6 +164,7 @@ private:
|
|||
static const unsigned _ngpio;
|
||||
|
||||
void gpio_reset(void);
|
||||
void sensor_reset(int ms);
|
||||
void gpio_set_function(uint32_t gpios, int function);
|
||||
void gpio_write(uint32_t gpios, int function);
|
||||
uint32_t gpio_read(void);
|
||||
|
|
@ -396,6 +397,7 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate
|
|||
|
||||
// get the channel mask for this rate group
|
||||
uint32_t mask = up_pwm_servo_get_rate_group(group);
|
||||
|
||||
if (mask == 0)
|
||||
continue;
|
||||
|
||||
|
|
@ -409,6 +411,7 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate
|
|||
// not a legal map, bail
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
} else {
|
||||
// set it - errors here are unexpected
|
||||
if (alt != 0) {
|
||||
|
|
@ -416,6 +419,7 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate
|
|||
warn("rate group set alt failed");
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
} else {
|
||||
if (up_pwm_servo_set_rate_group_update(group, _pwm_default_rate) != OK) {
|
||||
warn("rate group set default failed");
|
||||
|
|
@ -425,6 +429,7 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate
|
|||
}
|
||||
}
|
||||
}
|
||||
|
||||
_pwm_alt_rate_channels = rate_map;
|
||||
_pwm_default_rate = default_rate;
|
||||
_pwm_alt_rate = alt_rate;
|
||||
|
|
@ -503,6 +508,7 @@ PX4FMU::task_main()
|
|||
* We always mix at max rate; some channels may update slower.
|
||||
*/
|
||||
unsigned max_rate = (_pwm_default_rate > _pwm_alt_rate) ? _pwm_default_rate : _pwm_alt_rate;
|
||||
|
||||
if (_current_update_rate != max_rate) {
|
||||
_current_update_rate = max_rate;
|
||||
int update_rate_in_ms = int(1000 / _current_update_rate);
|
||||
|
|
@ -511,6 +517,7 @@ PX4FMU::task_main()
|
|||
if (update_rate_in_ms < 2) {
|
||||
update_rate_in_ms = 2;
|
||||
}
|
||||
|
||||
/* reject slower than 10 Hz updates */
|
||||
if (update_rate_in_ms > 100) {
|
||||
update_rate_in_ms = 100;
|
||||
|
|
@ -532,6 +539,7 @@ PX4FMU::task_main()
|
|||
log("poll error %d", errno);
|
||||
usleep(1000000);
|
||||
continue;
|
||||
|
||||
} else if (ret == 0) {
|
||||
/* timeout: no control data, switch to failsafe values */
|
||||
// warnx("no PWM: failsafe");
|
||||
|
|
@ -553,12 +561,15 @@ PX4FMU::task_main()
|
|||
case MODE_2PWM:
|
||||
num_outputs = 2;
|
||||
break;
|
||||
|
||||
case MODE_4PWM:
|
||||
num_outputs = 4;
|
||||
break;
|
||||
|
||||
case MODE_6PWM:
|
||||
num_outputs = 6;
|
||||
break;
|
||||
|
||||
default:
|
||||
num_outputs = 0;
|
||||
break;
|
||||
|
|
@ -592,6 +603,7 @@ PX4FMU::task_main()
|
|||
for (unsigned i = 0; i < num_outputs; i++) {
|
||||
controls_effective.control_effective[i] = (float)pwm_limited[i];
|
||||
}
|
||||
|
||||
orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective);
|
||||
|
||||
/* output to the servos */
|
||||
|
|
@ -613,11 +625,13 @@ PX4FMU::task_main()
|
|||
|
||||
/* update the armed status and check that we're not locked down */
|
||||
bool set_armed = aa.armed && !aa.lockdown;
|
||||
|
||||
if (_armed != set_armed)
|
||||
_armed = set_armed;
|
||||
|
||||
/* update PWM status if armed or if disarmed PWM values are set */
|
||||
bool pwm_on = (aa.armed || _num_disarmed_set > 0);
|
||||
|
||||
if (_pwm_on != pwm_on) {
|
||||
_pwm_on = pwm_on;
|
||||
up_pwm_servo_arm(pwm_on);
|
||||
|
|
@ -626,25 +640,31 @@ PX4FMU::task_main()
|
|||
}
|
||||
|
||||
#ifdef HRT_PPM_CHANNEL
|
||||
|
||||
// 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);
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
}
|
||||
|
|
@ -754,18 +774,22 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
|
|||
|
||||
case PWM_SERVO_SET_FAILSAFE_PWM: {
|
||||
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
|
||||
|
||||
/* discard if too many values are sent */
|
||||
if (pwm->channel_count > _max_actuators) {
|
||||
ret = -EINVAL;
|
||||
break;
|
||||
}
|
||||
|
||||
for (unsigned i = 0; i < pwm->channel_count; i++) {
|
||||
if (pwm->values[i] == 0) {
|
||||
/* ignore 0 */
|
||||
} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
|
||||
_failsafe_pwm[i] = PWM_HIGHEST_MAX;
|
||||
|
||||
} else if (pwm->values[i] < PWM_LOWEST_MIN) {
|
||||
_failsafe_pwm[i] = PWM_LOWEST_MIN;
|
||||
|
||||
} else {
|
||||
_failsafe_pwm[i] = pwm->values[i];
|
||||
}
|
||||
|
|
@ -776,35 +800,44 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
|
|||
* this is needed to decide if disarmed PWM output should be turned on or not
|
||||
*/
|
||||
_num_failsafe_set = 0;
|
||||
|
||||
for (unsigned i = 0; i < _max_actuators; i++) {
|
||||
if (_failsafe_pwm[i] > 0)
|
||||
_num_failsafe_set++;
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case PWM_SERVO_GET_FAILSAFE_PWM: {
|
||||
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
|
||||
|
||||
for (unsigned i = 0; i < _max_actuators; i++) {
|
||||
pwm->values[i] = _failsafe_pwm[i];
|
||||
}
|
||||
|
||||
pwm->channel_count = _max_actuators;
|
||||
break;
|
||||
}
|
||||
|
||||
case PWM_SERVO_SET_DISARMED_PWM: {
|
||||
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
|
||||
|
||||
/* discard if too many values are sent */
|
||||
if (pwm->channel_count > _max_actuators) {
|
||||
ret = -EINVAL;
|
||||
break;
|
||||
}
|
||||
|
||||
for (unsigned i = 0; i < pwm->channel_count; i++) {
|
||||
if (pwm->values[i] == 0) {
|
||||
/* ignore 0 */
|
||||
} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
|
||||
_disarmed_pwm[i] = PWM_HIGHEST_MAX;
|
||||
|
||||
} else if (pwm->values[i] < PWM_LOWEST_MIN) {
|
||||
_disarmed_pwm[i] = PWM_LOWEST_MIN;
|
||||
|
||||
} else {
|
||||
_disarmed_pwm[i] = pwm->values[i];
|
||||
}
|
||||
|
|
@ -815,46 +848,59 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
|
|||
* this is needed to decide if disarmed PWM output should be turned on or not
|
||||
*/
|
||||
_num_disarmed_set = 0;
|
||||
|
||||
for (unsigned i = 0; i < _max_actuators; i++) {
|
||||
if (_disarmed_pwm[i] > 0)
|
||||
_num_disarmed_set++;
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case PWM_SERVO_GET_DISARMED_PWM: {
|
||||
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
|
||||
|
||||
for (unsigned i = 0; i < _max_actuators; i++) {
|
||||
pwm->values[i] = _disarmed_pwm[i];
|
||||
}
|
||||
|
||||
pwm->channel_count = _max_actuators;
|
||||
break;
|
||||
}
|
||||
|
||||
case PWM_SERVO_SET_MIN_PWM: {
|
||||
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
|
||||
|
||||
/* discard if too many values are sent */
|
||||
if (pwm->channel_count > _max_actuators) {
|
||||
ret = -EINVAL;
|
||||
break;
|
||||
}
|
||||
|
||||
for (unsigned i = 0; i < pwm->channel_count; i++) {
|
||||
if (pwm->values[i] == 0) {
|
||||
/* ignore 0 */
|
||||
} else if (pwm->values[i] > PWM_HIGHEST_MIN) {
|
||||
_min_pwm[i] = PWM_HIGHEST_MIN;
|
||||
|
||||
} else if (pwm->values[i] < PWM_LOWEST_MIN) {
|
||||
_min_pwm[i] = PWM_LOWEST_MIN;
|
||||
|
||||
} else {
|
||||
_min_pwm[i] = pwm->values[i];
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case PWM_SERVO_GET_MIN_PWM: {
|
||||
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
|
||||
|
||||
for (unsigned i = 0; i < _max_actuators; i++) {
|
||||
pwm->values[i] = _min_pwm[i];
|
||||
}
|
||||
|
||||
pwm->channel_count = _max_actuators;
|
||||
arg = (unsigned long)&pwm;
|
||||
break;
|
||||
|
|
@ -862,29 +908,37 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
|
|||
|
||||
case PWM_SERVO_SET_MAX_PWM: {
|
||||
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
|
||||
|
||||
/* discard if too many values are sent */
|
||||
if (pwm->channel_count > _max_actuators) {
|
||||
ret = -EINVAL;
|
||||
break;
|
||||
}
|
||||
|
||||
for (unsigned i = 0; i < pwm->channel_count; i++) {
|
||||
if (pwm->values[i] == 0) {
|
||||
/* ignore 0 */
|
||||
} else if (pwm->values[i] < PWM_LOWEST_MAX) {
|
||||
_max_pwm[i] = PWM_LOWEST_MAX;
|
||||
|
||||
} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
|
||||
_max_pwm[i] = PWM_HIGHEST_MAX;
|
||||
|
||||
} else {
|
||||
_max_pwm[i] = pwm->values[i];
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case PWM_SERVO_GET_MAX_PWM: {
|
||||
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
|
||||
|
||||
for (unsigned i = 0; i < _max_actuators; i++) {
|
||||
pwm->values[i] = _max_pwm[i];
|
||||
}
|
||||
|
||||
pwm->channel_count = _max_actuators;
|
||||
arg = (unsigned long)&pwm;
|
||||
break;
|
||||
|
|
@ -910,6 +964,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
|
|||
case PWM_SERVO_SET(0):
|
||||
if (arg <= 2100) {
|
||||
up_pwm_servo_set(cmd - PWM_SERVO_SET(0), arg);
|
||||
|
||||
} else {
|
||||
ret = -EINVAL;
|
||||
}
|
||||
|
|
@ -952,12 +1007,15 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
|
|||
case MODE_6PWM:
|
||||
*(unsigned *)arg = 6;
|
||||
break;
|
||||
|
||||
case MODE_4PWM:
|
||||
*(unsigned *)arg = 4;
|
||||
break;
|
||||
|
||||
case MODE_2PWM:
|
||||
*(unsigned *)arg = 2;
|
||||
break;
|
||||
|
||||
default:
|
||||
ret = -EINVAL;
|
||||
break;
|
||||
|
|
@ -1015,6 +1073,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
|
|||
ret = -EINVAL;
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
|
|
@ -1049,12 +1108,15 @@ PX4FMU::write(file *filp, const char *buffer, size_t len)
|
|||
for (uint8_t i = 0; i < count; i++) {
|
||||
up_pwm_servo_set(i, values[i]);
|
||||
}
|
||||
|
||||
return count * 2;
|
||||
}
|
||||
|
||||
void
|
||||
PX4FMU::sensor_reset(int ms)
|
||||
{
|
||||
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
|
||||
|
||||
if (ms < 1) {
|
||||
ms = 1;
|
||||
}
|
||||
|
|
@ -1115,8 +1177,10 @@ PX4FMU::sensor_reset(int ms)
|
|||
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
PX4FMU::gpio_reset(void)
|
||||
{
|
||||
|
|
@ -1127,6 +1191,7 @@ PX4FMU::gpio_reset(void)
|
|||
for (unsigned i = 0; i < _ngpio; i++) {
|
||||
if (_gpio_tab[i].input != 0) {
|
||||
stm32_configgpio(_gpio_tab[i].input);
|
||||
|
||||
} else if (_gpio_tab[i].output != 0) {
|
||||
stm32_configgpio(_gpio_tab[i].output);
|
||||
}
|
||||
|
|
@ -1143,6 +1208,7 @@ void
|
|||
PX4FMU::gpio_set_function(uint32_t gpios, int function)
|
||||
{
|
||||
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
|
||||
|
||||
/*
|
||||
* GPIOs 0 and 1 must have the same direction as they are buffered
|
||||
* by a shared 2-port driver. Any attempt to set either sets both.
|
||||
|
|
@ -1154,6 +1220,7 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function)
|
|||
if (GPIO_SET_OUTPUT == function)
|
||||
stm32_gpiowrite(GPIO_GPIO_DIR, 1);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* configure selected GPIOs as required */
|
||||
|
|
@ -1178,9 +1245,11 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function)
|
|||
}
|
||||
|
||||
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
|
||||
|
||||
/* flip buffer to input mode if required */
|
||||
if ((GPIO_SET_INPUT == function) && (gpios & 3))
|
||||
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
|
|
@ -1219,8 +1288,8 @@ PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
gpio_reset();
|
||||
break;
|
||||
|
||||
case SENSOR_RESET:
|
||||
sensor_reset();
|
||||
case GPIO_SENSOR_RAIL_RESET:
|
||||
sensor_reset(20);
|
||||
break;
|
||||
|
||||
case GPIO_SET_OUTPUT:
|
||||
|
|
@ -1298,6 +1367,7 @@ fmu_new_mode(PortMode new_mode)
|
|||
|
||||
/* mixed modes supported on v1 board only */
|
||||
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
|
||||
|
||||
case PORT_FULL_SERIAL:
|
||||
/* set all multi-GPIOs to serial mode */
|
||||
gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4;
|
||||
|
|
@ -1320,6 +1390,7 @@ fmu_new_mode(PortMode new_mode)
|
|||
servo_mode = PX4FMU::MODE_2PWM;
|
||||
break;
|
||||
#endif
|
||||
|
||||
default:
|
||||
return -1;
|
||||
}
|
||||
|
|
@ -1373,6 +1444,22 @@ fmu_stop(void)
|
|||
return ret;
|
||||
}
|
||||
|
||||
void
|
||||
sensor_reset(int ms)
|
||||
{
|
||||
int fd;
|
||||
int ret;
|
||||
|
||||
fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
|
||||
|
||||
if (fd < 0)
|
||||
errx(1, "open fail");
|
||||
|
||||
if (ioctl(fd, GPIO_SENSOR_RAIL_RESET, ms) < 0)
|
||||
err(1, "servo arm failed");
|
||||
|
||||
}
|
||||
|
||||
void
|
||||
test(void)
|
||||
{
|
||||
|
|
@ -1404,6 +1491,7 @@ test(void)
|
|||
for (;;) {
|
||||
/* sweep all servos between 1000..2000 */
|
||||
servo_position_t servos[servo_count];
|
||||
|
||||
for (unsigned i = 0; i < servo_count; i++)
|
||||
servos[i] = pwm_value;
|
||||
|
||||
|
|
@ -1414,9 +1502,11 @@ test(void)
|
|||
err(1, "servo %u set failed", i);
|
||||
}
|
||||
}
|
||||
|
||||
} else {
|
||||
// and use write interface for the other direction
|
||||
ret = write(fd, servos, sizeof(servos));
|
||||
|
||||
if (ret != (int)sizeof(servos))
|
||||
err(1, "error writing PWM servo data, wrote %u got %d", sizeof(servos), ret);
|
||||
}
|
||||
|
|
@ -1424,12 +1514,15 @@ test(void)
|
|||
if (direction > 0) {
|
||||
if (pwm_value < 2000) {
|
||||
pwm_value++;
|
||||
|
||||
} else {
|
||||
direction = -1;
|
||||
}
|
||||
|
||||
} else {
|
||||
if (pwm_value > 1000) {
|
||||
pwm_value--;
|
||||
|
||||
} else {
|
||||
direction = 1;
|
||||
}
|
||||
|
|
@ -1441,6 +1534,7 @@ test(void)
|
|||
|
||||
if (ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&value))
|
||||
err(1, "error reading PWM servo %d", i);
|
||||
|
||||
if (value != servos[i])
|
||||
errx(1, "servo %d readback error, got %u expected %u", i, value, servos[i]);
|
||||
}
|
||||
|
|
@ -1448,9 +1542,11 @@ test(void)
|
|||
/* Check if user wants to quit */
|
||||
char c;
|
||||
ret = poll(&fds, 1, 0);
|
||||
|
||||
if (ret > 0) {
|
||||
|
||||
read(0, &c, 1);
|
||||
|
||||
if (c == 0x03 || c == 0x63 || c == 'q') {
|
||||
warnx("User abort\n");
|
||||
break;
|
||||
|
|
@ -1526,6 +1622,7 @@ fmu_main(int argc, char *argv[])
|
|||
new_mode = PORT_FULL_PWM;
|
||||
|
||||
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
|
||||
|
||||
} else if (!strcmp(verb, "mode_serial")) {
|
||||
new_mode = PORT_FULL_SERIAL;
|
||||
|
||||
|
|
@ -1561,6 +1658,7 @@ fmu_main(int argc, char *argv[])
|
|||
if (!strcmp(verb, "sensor_reset"))
|
||||
if (argc > 2) {
|
||||
sensor_reset(strtol(argv[2], 0, 0));
|
||||
|
||||
} else {
|
||||
sensor_reset(0);
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue