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
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@ -144,4 +144,6 @@
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/** read all the GPIOs and return their values in *(uint32_t *)arg */
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#define GPIO_GET GPIOC(12)
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#define GPIO_SENSOR_RAIL_RESET GPIOC(13)
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#endif /* _DRV_GPIO_H */
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@ -164,6 +164,7 @@ private:
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static const unsigned _ngpio;
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void gpio_reset(void);
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void sensor_reset(int ms);
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void gpio_set_function(uint32_t gpios, int function);
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void gpio_write(uint32_t gpios, int function);
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uint32_t gpio_read(void);
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@ -226,8 +227,8 @@ PX4FMU::PX4FMU() :
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_armed(false),
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_pwm_on(false),
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_mixers(nullptr),
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_failsafe_pwm({0}),
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_disarmed_pwm({0}),
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_failsafe_pwm( {0}),
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_disarmed_pwm( {0}),
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_num_failsafe_set(0),
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_num_disarmed_set(0)
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{
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@ -396,6 +397,7 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate
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// get the channel mask for this rate group
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uint32_t mask = up_pwm_servo_get_rate_group(group);
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if (mask == 0)
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continue;
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@ -409,6 +411,7 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate
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// not a legal map, bail
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return -EINVAL;
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}
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} else {
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// set it - errors here are unexpected
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if (alt != 0) {
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@ -416,6 +419,7 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate
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warn("rate group set alt failed");
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return -EINVAL;
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}
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} else {
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if (up_pwm_servo_set_rate_group_update(group, _pwm_default_rate) != OK) {
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warn("rate group set default failed");
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@ -425,6 +429,7 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate
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}
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}
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}
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_pwm_alt_rate_channels = rate_map;
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_pwm_default_rate = default_rate;
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_pwm_alt_rate = alt_rate;
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@ -503,6 +508,7 @@ PX4FMU::task_main()
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* We always mix at max rate; some channels may update slower.
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*/
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unsigned max_rate = (_pwm_default_rate > _pwm_alt_rate) ? _pwm_default_rate : _pwm_alt_rate;
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if (_current_update_rate != max_rate) {
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_current_update_rate = max_rate;
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int update_rate_in_ms = int(1000 / _current_update_rate);
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@ -511,6 +517,7 @@ PX4FMU::task_main()
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if (update_rate_in_ms < 2) {
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update_rate_in_ms = 2;
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}
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/* reject slower than 10 Hz updates */
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if (update_rate_in_ms > 100) {
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update_rate_in_ms = 100;
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@ -532,6 +539,7 @@ PX4FMU::task_main()
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log("poll error %d", errno);
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usleep(1000000);
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continue;
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} else if (ret == 0) {
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/* timeout: no control data, switch to failsafe values */
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// warnx("no PWM: failsafe");
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@ -553,12 +561,15 @@ PX4FMU::task_main()
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case MODE_2PWM:
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num_outputs = 2;
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break;
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case MODE_4PWM:
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num_outputs = 4;
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break;
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case MODE_6PWM:
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num_outputs = 6;
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break;
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default:
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num_outputs = 0;
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break;
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@ -592,6 +603,7 @@ PX4FMU::task_main()
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for (unsigned i = 0; i < num_outputs; i++) {
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controls_effective.control_effective[i] = (float)pwm_limited[i];
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}
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orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective);
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/* output to the servos */
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@ -613,11 +625,13 @@ PX4FMU::task_main()
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/* update the armed status and check that we're not locked down */
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bool set_armed = aa.armed && !aa.lockdown;
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if (_armed != set_armed)
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_armed = set_armed;
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/* update PWM status if armed or if disarmed PWM values are set */
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bool pwm_on = (aa.armed || _num_disarmed_set > 0);
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if (_pwm_on != pwm_on) {
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_pwm_on = pwm_on;
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up_pwm_servo_arm(pwm_on);
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@ -626,25 +640,31 @@ PX4FMU::task_main()
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}
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#ifdef HRT_PPM_CHANNEL
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// see if we have new PPM input data
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if (ppm_last_valid_decode != rc_in.timestamp) {
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// we have a new PPM frame. Publish it.
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rc_in.channel_count = ppm_decoded_channels;
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if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) {
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rc_in.channel_count = RC_INPUT_MAX_CHANNELS;
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}
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for (uint8_t i=0; i<rc_in.channel_count; i++) {
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for (uint8_t i = 0; i < rc_in.channel_count; i++) {
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rc_in.values[i] = ppm_buffer[i];
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}
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rc_in.timestamp = ppm_last_valid_decode;
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/* lazily advertise on first publication */
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if (to_input_rc == 0) {
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to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_in);
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} else {
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orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in);
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}
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}
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#endif
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}
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@ -753,19 +773,23 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
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break;
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case PWM_SERVO_SET_FAILSAFE_PWM: {
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struct pwm_output_values *pwm = (struct pwm_output_values*)arg;
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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/* discard if too many values are sent */
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if (pwm->channel_count > _max_actuators) {
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ret = -EINVAL;
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break;
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}
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for (unsigned i = 0; i < pwm->channel_count; i++) {
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if (pwm->values[i] == 0) {
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/* ignore 0 */
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} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
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_failsafe_pwm[i] = PWM_HIGHEST_MAX;
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} else if (pwm->values[i] < PWM_LOWEST_MIN) {
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_failsafe_pwm[i] = PWM_LOWEST_MIN;
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} else {
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_failsafe_pwm[i] = pwm->values[i];
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}
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@ -776,35 +800,44 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
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* this is needed to decide if disarmed PWM output should be turned on or not
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*/
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_num_failsafe_set = 0;
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for (unsigned i = 0; i < _max_actuators; i++) {
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if (_failsafe_pwm[i] > 0)
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_num_failsafe_set++;
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}
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break;
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}
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case PWM_SERVO_GET_FAILSAFE_PWM: {
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struct pwm_output_values *pwm = (struct pwm_output_values*)arg;
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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for (unsigned i = 0; i < _max_actuators; i++) {
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pwm->values[i] = _failsafe_pwm[i];
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}
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pwm->channel_count = _max_actuators;
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break;
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}
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case PWM_SERVO_SET_DISARMED_PWM: {
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struct pwm_output_values *pwm = (struct pwm_output_values*)arg;
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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/* discard if too many values are sent */
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if (pwm->channel_count > _max_actuators) {
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ret = -EINVAL;
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break;
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}
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for (unsigned i = 0; i < pwm->channel_count; i++) {
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if (pwm->values[i] == 0) {
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/* ignore 0 */
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} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
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_disarmed_pwm[i] = PWM_HIGHEST_MAX;
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} else if (pwm->values[i] < PWM_LOWEST_MIN) {
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_disarmed_pwm[i] = PWM_LOWEST_MIN;
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} else {
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_disarmed_pwm[i] = pwm->values[i];
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}
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@ -815,76 +848,97 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
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* this is needed to decide if disarmed PWM output should be turned on or not
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*/
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_num_disarmed_set = 0;
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for (unsigned i = 0; i < _max_actuators; i++) {
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if (_disarmed_pwm[i] > 0)
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_num_disarmed_set++;
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}
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break;
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}
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case PWM_SERVO_GET_DISARMED_PWM: {
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struct pwm_output_values *pwm = (struct pwm_output_values*)arg;
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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for (unsigned i = 0; i < _max_actuators; i++) {
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pwm->values[i] = _disarmed_pwm[i];
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}
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pwm->channel_count = _max_actuators;
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break;
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}
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case PWM_SERVO_SET_MIN_PWM: {
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struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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/* discard if too many values are sent */
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if (pwm->channel_count > _max_actuators) {
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ret = -EINVAL;
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break;
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}
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for (unsigned i = 0; i < pwm->channel_count; i++) {
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if (pwm->values[i] == 0) {
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/* ignore 0 */
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} else if (pwm->values[i] > PWM_HIGHEST_MIN) {
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_min_pwm[i] = PWM_HIGHEST_MIN;
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} else if (pwm->values[i] < PWM_LOWEST_MIN) {
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_min_pwm[i] = PWM_LOWEST_MIN;
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} else {
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_min_pwm[i] = pwm->values[i];
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}
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}
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break;
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}
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case PWM_SERVO_GET_MIN_PWM: {
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struct pwm_output_values *pwm = (struct pwm_output_values*)arg;
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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for (unsigned i = 0; i < _max_actuators; i++) {
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pwm->values[i] = _min_pwm[i];
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}
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pwm->channel_count = _max_actuators;
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arg = (unsigned long)&pwm;
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break;
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}
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case PWM_SERVO_SET_MAX_PWM: {
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struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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/* discard if too many values are sent */
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if (pwm->channel_count > _max_actuators) {
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ret = -EINVAL;
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break;
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}
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for (unsigned i = 0; i < pwm->channel_count; i++) {
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if (pwm->values[i] == 0) {
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/* ignore 0 */
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} else if (pwm->values[i] < PWM_LOWEST_MAX) {
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_max_pwm[i] = PWM_LOWEST_MAX;
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} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
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_max_pwm[i] = PWM_HIGHEST_MAX;
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} else {
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_max_pwm[i] = pwm->values[i];
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}
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}
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break;
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}
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case PWM_SERVO_GET_MAX_PWM: {
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struct pwm_output_values *pwm = (struct pwm_output_values*)arg;
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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for (unsigned i = 0; i < _max_actuators; i++) {
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pwm->values[i] = _max_pwm[i];
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}
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pwm->channel_count = _max_actuators;
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arg = (unsigned long)&pwm;
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break;
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@ -910,6 +964,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
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case PWM_SERVO_SET(0):
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if (arg <= 2100) {
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up_pwm_servo_set(cmd - PWM_SERVO_SET(0), arg);
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} else {
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ret = -EINVAL;
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}
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@ -952,12 +1007,15 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
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case MODE_6PWM:
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*(unsigned *)arg = 6;
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break;
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case MODE_4PWM:
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*(unsigned *)arg = 4;
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break;
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case MODE_2PWM:
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*(unsigned *)arg = 2;
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break;
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default:
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ret = -EINVAL;
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break;
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@ -1015,6 +1073,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
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ret = -EINVAL;
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}
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}
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break;
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}
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@ -1049,12 +1108,15 @@ PX4FMU::write(file *filp, const char *buffer, size_t len)
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for (uint8_t i = 0; i < count; i++) {
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up_pwm_servo_set(i, values[i]);
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}
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return count * 2;
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}
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void
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PX4FMU::sensor_reset(int ms)
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{
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#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
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if (ms < 1) {
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ms = 1;
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}
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@ -1115,8 +1177,10 @@ PX4FMU::sensor_reset(int ms)
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stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
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stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
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#endif
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#endif
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}
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void
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PX4FMU::gpio_reset(void)
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{
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@ -1127,6 +1191,7 @@ PX4FMU::gpio_reset(void)
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for (unsigned i = 0; i < _ngpio; i++) {
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if (_gpio_tab[i].input != 0) {
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stm32_configgpio(_gpio_tab[i].input);
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} else if (_gpio_tab[i].output != 0) {
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stm32_configgpio(_gpio_tab[i].output);
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}
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@ -1143,6 +1208,7 @@ void
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PX4FMU::gpio_set_function(uint32_t gpios, int function)
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{
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#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
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/*
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* GPIOs 0 and 1 must have the same direction as they are buffered
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* by a shared 2-port driver. Any attempt to set either sets both.
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@ -1154,6 +1220,7 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function)
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if (GPIO_SET_OUTPUT == function)
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stm32_gpiowrite(GPIO_GPIO_DIR, 1);
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}
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#endif
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/* configure selected GPIOs as required */
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@ -1178,9 +1245,11 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function)
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}
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#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
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/* flip buffer to input mode if required */
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if ((GPIO_SET_INPUT == function) && (gpios & 3))
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stm32_gpiowrite(GPIO_GPIO_DIR, 0);
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#endif
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}
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@ -1219,8 +1288,8 @@ PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
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gpio_reset();
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break;
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case SENSOR_RESET:
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sensor_reset();
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case GPIO_SENSOR_RAIL_RESET:
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sensor_reset(20);
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break;
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case GPIO_SET_OUTPUT:
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@ -1298,6 +1367,7 @@ fmu_new_mode(PortMode new_mode)
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/* mixed modes supported on v1 board only */
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#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
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case PORT_FULL_SERIAL:
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/* set all multi-GPIOs to serial mode */
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gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4;
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@ -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)
|
||||
{
|
||||
|
|
@ -1404,19 +1491,22 @@ 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;
|
||||
|
||||
if (direction == 1) {
|
||||
// use ioctl interface for one direction
|
||||
for (unsigned i=0; i < servo_count; i++) {
|
||||
for (unsigned i = 0; i < servo_count; i++) {
|
||||
if (ioctl(fd, PWM_SERVO_SET(i), servos[i]) < 0) {
|
||||
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