From eb76d116cc67c6354c29fa41e49b4cf9df1a472d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 12 Jun 2013 12:30:42 +0200 Subject: [PATCH] Minor state machine improvements and fixes for IO safety / in-air restart handling --- src/drivers/px4io/px4io.cpp | 70 +++++++++++++++----- src/modules/commander/state_machine_helper.c | 3 + src/modules/mavlink/orb_listener.c | 2 +- src/modules/px4iofirmware/mixer.cpp | 11 +-- src/modules/px4iofirmware/protocol.h | 5 +- src/modules/px4iofirmware/registers.c | 13 ++-- src/modules/px4iofirmware/safety.c | 10 +-- 7 files changed, 78 insertions(+), 36 deletions(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index bc65c4f259..f033382a63 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -336,6 +336,7 @@ PX4IO::PX4IO() : _to_actuators_effective(0), _to_outputs(0), _to_battery(0), + _to_safety(0), _primary_pwm_device(false), _battery_amp_per_volt(90.0f/5.0f), // this matches the 3DR current sensor _battery_amp_bias(0), @@ -389,6 +390,30 @@ PX4IO::init() */ _retries = 2; + /* get IO's last seen FMU state */ + int val = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING); + if (val == _io_reg_get_error) { + mavlink_log_emergency(_mavlink_fd, "[IO] ERROR! FAILED READING STATE"); + } + uint16_t arming = val; + + /* get basic software version */ + /* basic configuration */ + usleep(5000); + + unsigned proto_version = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION); + unsigned sw_version = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_SOFTWARE_VERSION); + + if (proto_version != PX4IO_P_CONFIG_PROTOCOL_VERSION) { + mavlink_log_emergency(_mavlink_fd, "[IO] ERROR! PROTO VER MISMATCH: v%u vs v%u\n", + proto_version, + PX4IO_P_CONFIG_PROTOCOL_VERSION); + + mavlink_log_emergency(_mavlink_fd, "[IO] Please update PX4IO firmware."); + log("protocol version mismatch (v%u on IO vs v%u on FMU)", proto_version, PX4IO_P_CONFIG_PROTOCOL_VERSION); + return 1; + } + /* get some parameters */ _max_actuators = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT); _max_controls = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT); @@ -414,21 +439,23 @@ PX4IO::init() * in this case. */ - uint16_t reg; + printf("arming 0x%04x%s%s%s%s\n", + arming, + ((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : ""), + ((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : ""), + ((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""), + ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : "")); - /* get IO's last seen FMU state */ - ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, ®, sizeof(reg)); - if (ret != OK) - return ret; /* * in-air restart is only tried if the IO board reports it is * already armed, and has been configured for in-air restart */ - if ((reg & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) && - (reg & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + if ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) && + (arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { mavlink_log_emergency(_mavlink_fd, "[IO] RECOVERING FROM FMU IN-AIR RESTART"); + log("INAIR RESTART RECOVERY (needs commander app running)"); /* WARNING: COMMANDER app/vehicle status must be initialized. * If this fails (or the app is not started), worst-case IO @@ -482,7 +509,7 @@ PX4IO::init() cmd.confirmation = 1; /* send command once */ - (void)orb_advertise(ORB_ID(vehicle_command), &cmd); + orb_advert_t pub = orb_advertise(ORB_ID(vehicle_command), &cmd); /* spin here until IO's state has propagated into the system */ do { @@ -492,16 +519,22 @@ PX4IO::init() orb_copy(ORB_ID(vehicle_status), vstatus_sub, &status); } - /* wait 10 ms */ - usleep(10000); + /* wait 50 ms */ + usleep(50000); /* abort after 5s */ - if ((hrt_absolute_time() - try_start_time)/1000 > 50000) { + if ((hrt_absolute_time() - try_start_time)/1000 > 2000) { log("failed to recover from in-air restart (2), aborting IO driver init."); return 1; } - /* keep waiting for state change for 10 s */ + /* re-send if necessary */ + if (!status.flag_system_armed) { + orb_publish(ORB_ID(vehicle_command), pub, &cmd); + log("re-sending arm cmd"); + } + + /* keep waiting for state change for 2 s */ } while (!status.flag_system_armed); /* regular boot, no in-air restart, init IO */ @@ -540,7 +573,7 @@ PX4IO::init() return -errno; } - mavlink_log_info(_mavlink_fd, "[IO] init ok"); + mavlink_log_info(_mavlink_fd, "[IO] init ok (sw v.%u)", sw_version); return OK; } @@ -863,14 +896,14 @@ PX4IO::io_handle_status(uint16_t status) */ /* check for IO reset - force it back to armed if necessary */ - if (_status & PX4IO_P_STATUS_FLAGS_ARMED && !(status & PX4IO_P_STATUS_FLAGS_ARMED) + if (_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF && !(status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) && !(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) { /* set the arming flag */ - ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARMED | PX4IO_P_STATUS_FLAGS_ARM_SYNC); + ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_SAFETY_OFF | PX4IO_P_STATUS_FLAGS_ARM_SYNC); /* set new status */ _status = status; - _status &= PX4IO_P_STATUS_FLAGS_ARMED; + _status &= PX4IO_P_STATUS_FLAGS_SAFETY_OFF; } else if (!(_status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) { /* set the sync flag */ @@ -891,7 +924,7 @@ PX4IO::io_handle_status(uint16_t status) struct safety_s safety; safety.timestamp = hrt_absolute_time(); - if (status & PX4IO_P_STATUS_FLAGS_ARMED) { + if (status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) { safety.status = SAFETY_STATUS_UNLOCKED; } else { safety.status = SAFETY_STATUS_SAFE; @@ -1295,7 +1328,8 @@ PX4IO::print_status() uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS); printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s\n", flags, - ((flags & PX4IO_P_STATUS_FLAGS_ARMED) ? " SAFETY_UNLOCKED" : ""), + ((flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED) ? " OUTPUTS_ARMED" : ""), + ((flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? " SAFETY_OFF" : " SAFETY_SAFE"), ((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""), ((flags & PX4IO_P_STATUS_FLAGS_RC_OK) ? " RC_OK" : " RC_FAIL"), ((flags & PX4IO_P_STATUS_FLAGS_RC_PPM) ? " PPM" : ""), diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c index 0a6cfd0b5a..f42caad57b 100644 --- a/src/modules/commander/state_machine_helper.c +++ b/src/modules/commander/state_machine_helper.c @@ -545,6 +545,9 @@ void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_s /* play warning tune */ tune_error(); + + /* abort */ + return; } } diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 295cd5e28c..9b2d984f09 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -659,7 +659,7 @@ uorb_receive_thread(void *arg) /* handle the poll result */ if (poll_ret == 0) { - mavlink_missionlib_send_gcs_string("[mavlink] No telemetry data for 1 s"); + /* silent */ } else if (poll_ret < 0) { mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data"); diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 123eb67786..b654bdec49 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -194,7 +194,7 @@ mixer_tick(void) */ bool should_arm = ( /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && - /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && + /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) && /* there is valid input via direct PWM or mixer */ ((r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) || /* or failsafe was set manually */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)) && /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) @@ -204,11 +204,15 @@ mixer_tick(void) /* need to arm, but not armed */ up_pwm_servo_arm(true); mixer_servos_armed = true; + r_status_flags |= PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED; + isr_debug(5, "> armed"); } else if (!should_arm && mixer_servos_armed) { /* armed but need to disarm */ up_pwm_servo_arm(false); mixer_servos_armed = false; + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED); + isr_debug(5, "> disarmed"); } if (mixer_servos_armed) { @@ -263,9 +267,8 @@ 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_FMU_ARMED) && - /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { + /* do not allow a mixer change while outputs armed */ + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { return; } diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 674f9dddd6..497e6af8e2 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -77,7 +77,7 @@ /* static configuration page */ #define PX4IO_PAGE_CONFIG 0 -#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers TBD */ +#define PX4IO_P_CONFIG_PROTOCOL_VERSION 2 /* 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 */ @@ -93,7 +93,7 @@ #define PX4IO_P_STATUS_CPULOAD 1 #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_OUTPUTS_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 */ @@ -105,6 +105,7 @@ #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 */ #define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */ +#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */ #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 */ diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index df7d6dcd35..a092fc93b5 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -317,9 +317,11 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) * 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_FMU_ARMED) && !(value & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; - } + + // XXX do not reset IO's safety state by FMU for now + // if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && !(value & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + // r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; + // } r_setup_arming = value; @@ -367,9 +369,8 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) 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_FMU_ARMED) && - /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { + /* do not allow a RC config change while outputs armed */ + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { break; } diff --git a/src/modules/px4iofirmware/safety.c b/src/modules/px4iofirmware/safety.c index 4dbecc2744..95335f038a 100644 --- a/src/modules/px4iofirmware/safety.c +++ b/src/modules/px4iofirmware/safety.c @@ -110,7 +110,7 @@ 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 && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && + if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) && (r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)) { if (counter < ARM_COUNTER_THRESHOLD) { @@ -118,18 +118,18 @@ safety_check_button(void *arg) } else if (counter == ARM_COUNTER_THRESHOLD) { /* switch to armed state */ - r_status_flags |= PX4IO_P_STATUS_FLAGS_ARMED; + r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF; counter++; } - } else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { + } else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) { if (counter < ARM_COUNTER_THRESHOLD) { counter++; } else if (counter == ARM_COUNTER_THRESHOLD) { /* change to disarmed state and notify the FMU */ - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; + r_status_flags &= ~PX4IO_P_STATUS_FLAGS_SAFETY_OFF; counter++; } @@ -140,7 +140,7 @@ safety_check_button(void *arg) /* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */ uint16_t pattern = LED_PATTERN_FMU_REFUSE_TO_ARM; - if (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) { + if (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) { if (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) { pattern = LED_PATTERN_IO_FMU_ARMED;