forked from Archive/PX4-Autopilot
Linux: added hil support
The HIL driver now runs in the Linux build Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
parent
ac1679dbc3
commit
facc2faf04
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@ -12,6 +12,7 @@
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#
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MODULES += drivers/device
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MODULES += drivers/blinkm
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MODULES += drivers/hil
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MODULES += modules/sensors
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#MODULES += drivers/ms5611
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@ -44,6 +45,7 @@ MODULES += modules/systemlib/mixer
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MODULES += modules/uORB
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MODULES += modules/dataman
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MODULES += modules/sdlog2
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MODULES += modules/simulator
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#
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# Libraries
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@ -114,9 +114,14 @@
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/* no GPIO driver on the PX4_STM32F4DISCOVERY board */
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#endif
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#ifdef CONFIG_ARCH_BOARD_LINUXTEST
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/* no GPIO driver on the LINUXTEST board */
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#endif
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#if !defined(CONFIG_ARCH_BOARD_PX4IO_V1) && !defined(CONFIG_ARCH_BOARD_PX4IO_V2) && \
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!defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && !defined(CONFIG_ARCH_BOARD_PX4FMU_V2) && \
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!defined(CONFIG_ARCH_BOARD_AEROCORE) && !defined(CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY)
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!defined(CONFIG_ARCH_BOARD_AEROCORE) && !defined(CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY) \
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!defined(CONFIG_ARCH_BOARD_LINUXTEST)
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# error No CONFIG_ARCH_BOARD_xxxx set
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#endif
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/*
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@ -53,6 +53,7 @@
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#ifndef _DRV_MIXER_H
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#define _DRV_MIXER_H
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#include <px4_defines.h>
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#include <stdint.h>
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#include <sys/ioctl.h>
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@ -62,7 +63,7 @@
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* ioctl() definitions
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*/
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#define _MIXERIOCBASE (0x2500)
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#define _MIXERIOC(_n) (_IOC(_MIXERIOCBASE, _n))
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#define _MIXERIOC(_n) (_PX4_IOC(_MIXERIOCBASE, _n))
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/** get the number of mixable outputs */
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#define MIXERIOCGETOUTPUTCOUNT _MIXERIOC(0)
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@ -43,6 +43,7 @@
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#pragma once
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#include <px4_defines.h>
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#include <stdint.h>
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#include <sys/ioctl.h>
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@ -149,102 +150,102 @@ ORB_DECLARE(output_pwm);
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#define _PWM_SERVO_BASE 0x2a00
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/** arm all servo outputs handle by this driver */
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#define PWM_SERVO_ARM _IOC(_PWM_SERVO_BASE, 0)
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#define PWM_SERVO_ARM _PX4_IOC(_PWM_SERVO_BASE, 0)
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/** disarm all servo outputs (stop generating pulses) */
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#define PWM_SERVO_DISARM _IOC(_PWM_SERVO_BASE, 1)
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#define PWM_SERVO_DISARM _PX4_IOC(_PWM_SERVO_BASE, 1)
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/** get default servo update rate */
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#define PWM_SERVO_GET_DEFAULT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2)
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/** set alternate servo update rate */
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#define PWM_SERVO_SET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 3)
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#define PWM_SERVO_SET_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 3)
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/** get alternate servo update rate */
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#define PWM_SERVO_GET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 4)
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#define PWM_SERVO_GET_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 4)
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/** get the number of servos in *(unsigned *)arg */
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#define PWM_SERVO_GET_COUNT _IOC(_PWM_SERVO_BASE, 5)
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#define PWM_SERVO_GET_COUNT _PX4_IOC(_PWM_SERVO_BASE, 5)
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/** selects servo update rates, one bit per servo. 0 = default (50Hz), 1 = alternate */
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#define PWM_SERVO_SET_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 6)
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#define PWM_SERVO_SET_SELECT_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 6)
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/** check the selected update rates */
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#define PWM_SERVO_GET_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 7)
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#define PWM_SERVO_GET_SELECT_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 7)
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/** set the 'ARM ok' bit, which activates the safety switch */
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#define PWM_SERVO_SET_ARM_OK _IOC(_PWM_SERVO_BASE, 8)
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#define PWM_SERVO_SET_ARM_OK _PX4_IOC(_PWM_SERVO_BASE, 8)
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/** clear the 'ARM ok' bit, which deactivates the safety switch */
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#define PWM_SERVO_CLEAR_ARM_OK _IOC(_PWM_SERVO_BASE, 9)
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#define PWM_SERVO_CLEAR_ARM_OK _PX4_IOC(_PWM_SERVO_BASE, 9)
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/** start DSM bind */
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#define DSM_BIND_START _IOC(_PWM_SERVO_BASE, 10)
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#define DSM_BIND_START _PX4_IOC(_PWM_SERVO_BASE, 10)
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#define DSM2_BIND_PULSES 3 /* DSM_BIND_START ioctl parameter, pulses required to start dsm2 pairing */
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#define DSMX_BIND_PULSES 7 /* DSM_BIND_START ioctl parameter, pulses required to start dsmx pairing */
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#define DSMX8_BIND_PULSES 9 /* DSM_BIND_START ioctl parameter, pulses required to start 8 or more channel dsmx pairing */
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/** power up DSM receiver */
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#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 11)
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#define DSM_BIND_POWER_UP _PX4_IOC(_PWM_SERVO_BASE, 11)
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/** set the PWM value for failsafe */
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#define PWM_SERVO_SET_FAILSAFE_PWM _IOC(_PWM_SERVO_BASE, 12)
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#define PWM_SERVO_SET_FAILSAFE_PWM _PX4_IOC(_PWM_SERVO_BASE, 12)
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/** get the PWM value for failsafe */
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#define PWM_SERVO_GET_FAILSAFE_PWM _IOC(_PWM_SERVO_BASE, 13)
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#define PWM_SERVO_GET_FAILSAFE_PWM _PX4_IOC(_PWM_SERVO_BASE, 13)
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/** set the PWM value when disarmed - should be no PWM (zero) by default */
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#define PWM_SERVO_SET_DISARMED_PWM _IOC(_PWM_SERVO_BASE, 14)
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#define PWM_SERVO_SET_DISARMED_PWM _PX4_IOC(_PWM_SERVO_BASE, 14)
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/** get the PWM value when disarmed */
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#define PWM_SERVO_GET_DISARMED_PWM _IOC(_PWM_SERVO_BASE, 15)
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#define PWM_SERVO_GET_DISARMED_PWM _PX4_IOC(_PWM_SERVO_BASE, 15)
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/** set the minimum PWM value the output will send */
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#define PWM_SERVO_SET_MIN_PWM _IOC(_PWM_SERVO_BASE, 16)
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#define PWM_SERVO_SET_MIN_PWM _PX4_IOC(_PWM_SERVO_BASE, 16)
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/** get the minimum PWM value the output will send */
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#define PWM_SERVO_GET_MIN_PWM _IOC(_PWM_SERVO_BASE, 17)
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#define PWM_SERVO_GET_MIN_PWM _PX4_IOC(_PWM_SERVO_BASE, 17)
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/** set the maximum PWM value the output will send */
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#define PWM_SERVO_SET_MAX_PWM _IOC(_PWM_SERVO_BASE, 18)
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#define PWM_SERVO_SET_MAX_PWM _PX4_IOC(_PWM_SERVO_BASE, 18)
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/** get the maximum PWM value the output will send */
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#define PWM_SERVO_GET_MAX_PWM _IOC(_PWM_SERVO_BASE, 19)
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#define PWM_SERVO_GET_MAX_PWM _PX4_IOC(_PWM_SERVO_BASE, 19)
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/** set the number of servos in (unsigned)arg - allows change of
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* split between servos and GPIO */
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#define PWM_SERVO_SET_COUNT _IOC(_PWM_SERVO_BASE, 20)
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#define PWM_SERVO_SET_COUNT _PX4_IOC(_PWM_SERVO_BASE, 20)
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/** set the lockdown override flag to enable outputs in HIL */
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#define PWM_SERVO_SET_DISABLE_LOCKDOWN _IOC(_PWM_SERVO_BASE, 21)
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#define PWM_SERVO_SET_DISABLE_LOCKDOWN _PX4_IOC(_PWM_SERVO_BASE, 21)
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/** get the lockdown override flag to enable outputs in HIL */
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#define PWM_SERVO_GET_DISABLE_LOCKDOWN _IOC(_PWM_SERVO_BASE, 22)
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#define PWM_SERVO_GET_DISABLE_LOCKDOWN _PX4_IOC(_PWM_SERVO_BASE, 22)
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/** force safety switch off (to disable use of safety switch) */
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#define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23)
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#define PWM_SERVO_SET_FORCE_SAFETY_OFF _PX4_IOC(_PWM_SERVO_BASE, 23)
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/** force failsafe mode (failsafe values are set immediately even if failsafe condition not met) */
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#define PWM_SERVO_SET_FORCE_FAILSAFE _IOC(_PWM_SERVO_BASE, 24)
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#define PWM_SERVO_SET_FORCE_FAILSAFE _PX4_IOC(_PWM_SERVO_BASE, 24)
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/** make failsafe non-recoverable (termination) if it occurs */
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#define PWM_SERVO_SET_TERMINATION_FAILSAFE _IOC(_PWM_SERVO_BASE, 25)
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#define PWM_SERVO_SET_TERMINATION_FAILSAFE _PX4_IOC(_PWM_SERVO_BASE, 25)
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/** force safety switch on (to enable use of safety switch) */
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#define PWM_SERVO_SET_FORCE_SAFETY_ON _IOC(_PWM_SERVO_BASE, 26)
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#define PWM_SERVO_SET_FORCE_SAFETY_ON _PX4_IOC(_PWM_SERVO_BASE, 26)
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/** set RC config for a channel. This takes a pointer to pwm_output_rc_config */
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#define PWM_SERVO_SET_RC_CONFIG _IOC(_PWM_SERVO_BASE, 27)
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#define PWM_SERVO_SET_RC_CONFIG _PX4_IOC(_PWM_SERVO_BASE, 27)
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/** set the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */
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#define PWM_SERVO_SET_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 28)
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#define PWM_SERVO_SET_OVERRIDE_OK _PX4_IOC(_PWM_SERVO_BASE, 28)
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/** clear the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */
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#define PWM_SERVO_CLEAR_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 29)
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#define PWM_SERVO_CLEAR_OVERRIDE_OK _PX4_IOC(_PWM_SERVO_BASE, 29)
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/** setup OVERRIDE_IMMEDIATE behaviour on FMU fail */
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#define PWM_SERVO_SET_OVERRIDE_IMMEDIATE _IOC(_PWM_SERVO_BASE, 30)
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#define PWM_SERVO_SET_OVERRIDE_IMMEDIATE _PX4_IOC(_PWM_SERVO_BASE, 30)
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/*
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*
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@ -255,15 +256,15 @@ ORB_DECLARE(output_pwm);
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*/
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/** set a single servo to a specific value */
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#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo)
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#define PWM_SERVO_SET(_servo) _PX4_IOC(_PWM_SERVO_BASE, 0x20 + _servo)
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/** get a single specific servo value */
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#define PWM_SERVO_GET(_servo) _IOC(_PWM_SERVO_BASE, 0x40 + _servo)
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#define PWM_SERVO_GET(_servo) _PX4_IOC(_PWM_SERVO_BASE, 0x40 + _servo)
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/** get the _n'th rate group's channels; *(uint32_t *)arg returns a bitmap of channels
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* whose update rates must be the same.
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*/
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#define PWM_SERVO_GET_RATEGROUP(_n) _IOC(_PWM_SERVO_BASE, 0x60 + _n)
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#define PWM_SERVO_GET_RATEGROUP(_n) _PX4_IOC(_PWM_SERVO_BASE, 0x60 + _n)
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/*
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* Low-level PWM output interface.
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@ -0,0 +1,860 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file hil_linux.cpp
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*
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* Driver/configurator for the virtual HIL port.
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*
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* This virtual driver emulates PWM / servo outputs for setups where
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* the connected hardware does not provide enough or no PWM outputs.
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*
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* Its only function is to take actuator_control uORB messages,
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* mix them with any loaded mixer and output the result to the
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* actuator_output uORB topic. HIL can also be performed with normal
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* PWM outputs, a special flag prevents the outputs to be operated
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* during HIL mode. If HIL is not performed with a standalone FMU,
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* but in a real system, it is NOT recommended to use this virtual
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* driver. Use instead the normal FMU or IO driver.
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*/
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#include <px4_config.h>
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#include <px4_tasks.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <stdlib.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <drivers/device/device.h>
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#include <drivers/drv_pwm_output.h>
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#include <drivers/drv_gpio.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_mixer.h>
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#include <systemlib/systemlib.h>
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#include <systemlib/mixer/mixer.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_controls_0.h>
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#include <uORB/topics/actuator_controls_1.h>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <systemlib/err.h>
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class HIL : public device::VDev
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{
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public:
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enum Mode {
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MODE_2PWM,
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MODE_4PWM,
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MODE_8PWM,
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MODE_12PWM,
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MODE_16PWM,
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MODE_NONE
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};
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HIL();
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virtual ~HIL();
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virtual int ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
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virtual int init();
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int set_mode(Mode mode);
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int set_pwm_rate(unsigned rate);
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private:
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static const unsigned _max_actuators = 4;
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Mode _mode;
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int _update_rate;
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int _current_update_rate;
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int _task;
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int _t_actuators;
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int _t_armed;
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orb_advert_t _t_outputs;
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unsigned _num_outputs;
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bool _primary_pwm_device;
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volatile bool _task_should_exit;
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bool _armed;
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MixerGroup *_mixers;
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actuator_controls_s _controls;
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static void task_main_trampoline(int argc, char *argv[]);
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void task_main();
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static int control_callback(uintptr_t handle,
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uint8_t control_group,
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uint8_t control_index,
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float &input);
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int pwm_ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
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struct GPIOConfig {
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uint32_t input;
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uint32_t output;
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uint32_t alt;
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};
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static const GPIOConfig _gpio_tab[];
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static const unsigned _ngpio;
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void gpio_reset(void);
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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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int gpio_ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
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};
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namespace
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{
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HIL *g_hil;
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} // namespace
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HIL::HIL() :
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VDev("hilservo", PWM_OUTPUT0_DEVICE_PATH/*"/dev/hil" XXXL*/),
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_mode(MODE_NONE),
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_update_rate(50),
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_current_update_rate(0),
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_task(-1),
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_t_actuators(-1),
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_t_armed(-1),
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_t_outputs(0),
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_num_outputs(0),
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_primary_pwm_device(false),
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_task_should_exit(false),
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_armed(false),
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_mixers(nullptr)
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{
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_debug_enabled = true;
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}
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HIL::~HIL()
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{
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if (_task != -1) {
|
||||
/* tell the task we want it to go away */
|
||||
_task_should_exit = true;
|
||||
|
||||
unsigned i = 10;
|
||||
do {
|
||||
/* wait 50ms - it should wake every 100ms or so worst-case */
|
||||
usleep(50000);
|
||||
|
||||
/* if we have given up, kill it */
|
||||
if (--i == 0) {
|
||||
px4_task_delete(_task);
|
||||
break;
|
||||
}
|
||||
|
||||
} while (_task != -1);
|
||||
}
|
||||
|
||||
// XXX already claimed with CDEV
|
||||
// /* clean up the alternate device node */
|
||||
// if (_primary_pwm_device)
|
||||
// unregister_driver(PWM_OUTPUT_DEVICE_PATH);
|
||||
|
||||
g_hil = nullptr;
|
||||
}
|
||||
|
||||
int
|
||||
HIL::init()
|
||||
{
|
||||
int ret;
|
||||
|
||||
ASSERT(_task == -1);
|
||||
|
||||
/* do regular cdev init */
|
||||
ret = VDev::init();
|
||||
|
||||
if (ret != PX4_OK)
|
||||
return ret;
|
||||
|
||||
// XXX already claimed with CDEV
|
||||
///* try to claim the generic PWM output device node as well - it's OK if we fail at this */
|
||||
//ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
|
||||
if (ret == PX4_OK) {
|
||||
log("default PWM output device");
|
||||
_primary_pwm_device = true;
|
||||
}
|
||||
|
||||
/* reset GPIOs */
|
||||
// gpio_reset();
|
||||
|
||||
/* start the HIL interface task */
|
||||
_task = px4_task_spawn_cmd("fmuhil",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_DEFAULT,
|
||||
1200,
|
||||
(px4_main_t)&HIL::task_main_trampoline,
|
||||
nullptr);
|
||||
|
||||
if (_task < 0) {
|
||||
debug("task start failed: %d", errno);
|
||||
return -errno;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
void
|
||||
HIL::task_main_trampoline(int argc, char *argv[])
|
||||
{
|
||||
g_hil->task_main();
|
||||
}
|
||||
|
||||
int
|
||||
HIL::set_mode(Mode mode)
|
||||
{
|
||||
/*
|
||||
* Configure for PWM output.
|
||||
*
|
||||
* Note that regardless of the configured mode, the task is always
|
||||
* listening and mixing; the mode just selects which of the channels
|
||||
* are presented on the output pins.
|
||||
*/
|
||||
switch (mode) {
|
||||
case MODE_2PWM:
|
||||
debug("MODE_2PWM");
|
||||
/* multi-port with flow control lines as PWM */
|
||||
_update_rate = 50; /* default output rate */
|
||||
break;
|
||||
|
||||
case MODE_4PWM:
|
||||
debug("MODE_4PWM");
|
||||
/* multi-port as 4 PWM outs */
|
||||
_update_rate = 50; /* default output rate */
|
||||
break;
|
||||
|
||||
case MODE_8PWM:
|
||||
debug("MODE_8PWM");
|
||||
/* multi-port as 8 PWM outs */
|
||||
_update_rate = 50; /* default output rate */
|
||||
break;
|
||||
|
||||
case MODE_12PWM:
|
||||
debug("MODE_12PWM");
|
||||
/* multi-port as 12 PWM outs */
|
||||
_update_rate = 50; /* default output rate */
|
||||
break;
|
||||
|
||||
case MODE_16PWM:
|
||||
debug("MODE_16PWM");
|
||||
/* multi-port as 16 PWM outs */
|
||||
_update_rate = 50; /* default output rate */
|
||||
break;
|
||||
|
||||
case MODE_NONE:
|
||||
debug("MODE_NONE");
|
||||
/* disable servo outputs and set a very low update rate */
|
||||
_update_rate = 10;
|
||||
break;
|
||||
|
||||
default:
|
||||
return -EINVAL;
|
||||
}
|
||||
_mode = mode;
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int
|
||||
HIL::set_pwm_rate(unsigned rate)
|
||||
{
|
||||
if ((rate > 500) || (rate < 10))
|
||||
return -EINVAL;
|
||||
|
||||
_update_rate = rate;
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
void
|
||||
HIL::task_main()
|
||||
{
|
||||
/*
|
||||
* Subscribe to the appropriate PWM output topic based on whether we are the
|
||||
* primary PWM output or not.
|
||||
*/
|
||||
_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
|
||||
ORB_ID(actuator_controls_1));
|
||||
/* force a reset of the update rate */
|
||||
_current_update_rate = 0;
|
||||
|
||||
_t_armed = orb_subscribe(ORB_ID(actuator_armed));
|
||||
orb_set_interval(_t_armed, 200); /* 5Hz update rate */
|
||||
|
||||
/* advertise the mixed control outputs */
|
||||
actuator_outputs_s outputs;
|
||||
memset(&outputs, 0, sizeof(outputs));
|
||||
/* advertise the mixed control outputs */
|
||||
int dummy;
|
||||
_t_outputs = orb_advertise_multi(ORB_ID(actuator_outputs),
|
||||
&outputs, &dummy, ORB_PRIO_LOW);
|
||||
|
||||
px4_pollfd_struct_t fds[2];
|
||||
fds[0].fd = _t_actuators;
|
||||
fds[0].events = POLLIN;
|
||||
fds[1].fd = _t_armed;
|
||||
fds[1].events = POLLIN;
|
||||
|
||||
unsigned num_outputs;
|
||||
|
||||
/* select the number of virtual outputs */
|
||||
switch (_mode) {
|
||||
case MODE_2PWM:
|
||||
num_outputs = 2;
|
||||
break;
|
||||
|
||||
case MODE_4PWM:
|
||||
num_outputs = 4;
|
||||
break;
|
||||
|
||||
case MODE_8PWM:
|
||||
case MODE_12PWM:
|
||||
case MODE_16PWM:
|
||||
// XXX only support the lower 8 - trivial to extend
|
||||
num_outputs = 8;
|
||||
break;
|
||||
|
||||
case MODE_NONE:
|
||||
default:
|
||||
num_outputs = 0;
|
||||
break;
|
||||
}
|
||||
|
||||
log("starting");
|
||||
|
||||
/* loop until killed */
|
||||
while (!_task_should_exit) {
|
||||
|
||||
/* handle update rate changes */
|
||||
if (_current_update_rate != _update_rate) {
|
||||
int update_rate_in_ms = int(1000 / _update_rate);
|
||||
if (update_rate_in_ms < 2)
|
||||
update_rate_in_ms = 2;
|
||||
orb_set_interval(_t_actuators, update_rate_in_ms);
|
||||
// up_pwm_servo_set_rate(_update_rate);
|
||||
_current_update_rate = _update_rate;
|
||||
}
|
||||
|
||||
/* sleep waiting for data, but no more than a second */
|
||||
int ret = px4_poll(&fds[0], 2, 1000);
|
||||
|
||||
/* this would be bad... */
|
||||
if (ret < 0) {
|
||||
log("poll error %d", errno);
|
||||
continue;
|
||||
}
|
||||
|
||||
/* do we have a control update? */
|
||||
if (fds[0].revents & POLLIN) {
|
||||
|
||||
/* get controls - must always do this to avoid spinning */
|
||||
orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
|
||||
ORB_ID(actuator_controls_1), _t_actuators, &_controls);
|
||||
|
||||
/* can we mix? */
|
||||
if (_mixers != nullptr) {
|
||||
|
||||
/* do mixing */
|
||||
outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs);
|
||||
outputs.timestamp = hrt_absolute_time();
|
||||
|
||||
/* iterate actuators */
|
||||
for (unsigned i = 0; i < num_outputs; i++) {
|
||||
|
||||
/* last resort: catch NaN, INF and out-of-band errors */
|
||||
if (i < outputs.noutputs &&
|
||||
isfinite(outputs.output[i]) &&
|
||||
outputs.output[i] >= -1.0f &&
|
||||
outputs.output[i] <= 1.0f) {
|
||||
/* scale for PWM output 900 - 2100us */
|
||||
outputs.output[i] = 1500 + (600 * outputs.output[i]);
|
||||
} else {
|
||||
/*
|
||||
* Value is NaN, INF or out of band - set to the minimum value.
|
||||
* This will be clearly visible on the servo status and will limit the risk of accidentally
|
||||
* spinning motors. It would be deadly in flight.
|
||||
*/
|
||||
outputs.output[i] = 900;
|
||||
}
|
||||
}
|
||||
|
||||
/* and publish for anyone that cares to see */
|
||||
orb_publish(ORB_ID(actuator_outputs), _t_outputs, &outputs);
|
||||
}
|
||||
}
|
||||
|
||||
/* how about an arming update? */
|
||||
if (fds[1].revents & POLLIN) {
|
||||
actuator_armed_s aa;
|
||||
|
||||
/* get new value */
|
||||
orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
|
||||
}
|
||||
}
|
||||
|
||||
px4_close(_t_actuators);
|
||||
px4_close(_t_armed);
|
||||
|
||||
/* make sure servos are off */
|
||||
// up_pwm_servo_deinit();
|
||||
|
||||
/* note - someone else is responsible for restoring the GPIO config */
|
||||
|
||||
/* tell the dtor that we are exiting */
|
||||
_task = -1;
|
||||
}
|
||||
|
||||
int
|
||||
HIL::control_callback(uintptr_t handle,
|
||||
uint8_t control_group,
|
||||
uint8_t control_index,
|
||||
float &input)
|
||||
{
|
||||
const actuator_controls_s *controls = (actuator_controls_s *)handle;
|
||||
|
||||
input = controls->control[control_index];
|
||||
return 0;
|
||||
}
|
||||
|
||||
int
|
||||
HIL::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
|
||||
{
|
||||
int ret;
|
||||
|
||||
debug("ioctl 0x%04x 0x%08x", cmd, arg);
|
||||
|
||||
// /* try it as a GPIO ioctl first */
|
||||
// ret = HIL::gpio_ioctl(handlep, cmd, arg);
|
||||
// if (ret != -ENOTTY)
|
||||
// return ret;
|
||||
|
||||
/* if we are in valid PWM mode, try it as a PWM ioctl as well */
|
||||
switch(_mode) {
|
||||
case MODE_2PWM:
|
||||
case MODE_4PWM:
|
||||
case MODE_8PWM:
|
||||
case MODE_12PWM:
|
||||
case MODE_16PWM:
|
||||
ret = HIL::pwm_ioctl(handlep, cmd, arg);
|
||||
break;
|
||||
default:
|
||||
ret = -ENOTTY;
|
||||
debug("not in a PWM mode");
|
||||
break;
|
||||
}
|
||||
|
||||
/* if nobody wants it, let VDev have it */
|
||||
if (ret == -ENOTTY)
|
||||
ret = VDev::ioctl(handlep, cmd, arg);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
HIL::pwm_ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
|
||||
{
|
||||
int ret = PX4_OK;
|
||||
// int channel;
|
||||
|
||||
lock();
|
||||
|
||||
switch (cmd) {
|
||||
case PWM_SERVO_ARM:
|
||||
// up_pwm_servo_arm(true);
|
||||
break;
|
||||
|
||||
case PWM_SERVO_DISARM:
|
||||
// up_pwm_servo_arm(false);
|
||||
break;
|
||||
|
||||
case PWM_SERVO_SET_UPDATE_RATE:
|
||||
// HIL always outputs at the alternate (usually faster) rate
|
||||
g_hil->set_pwm_rate(arg);
|
||||
break;
|
||||
|
||||
case PWM_SERVO_SET_SELECT_UPDATE_RATE:
|
||||
// HIL always outputs at the alternate (usually faster) rate
|
||||
break;
|
||||
|
||||
case PWM_SERVO_SET(2):
|
||||
case PWM_SERVO_SET(3):
|
||||
if (_mode != MODE_4PWM) {
|
||||
ret = -EINVAL;
|
||||
break;
|
||||
}
|
||||
|
||||
/* FALLTHROUGH */
|
||||
case PWM_SERVO_SET(0):
|
||||
case PWM_SERVO_SET(1):
|
||||
if (arg < 2100) {
|
||||
// channel = cmd - PWM_SERVO_SET(0);
|
||||
// up_pwm_servo_set(channel, arg); XXX
|
||||
|
||||
} else {
|
||||
ret = -EINVAL;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case PWM_SERVO_GET(2):
|
||||
case PWM_SERVO_GET(3):
|
||||
if (_mode != MODE_4PWM) {
|
||||
ret = -EINVAL;
|
||||
break;
|
||||
}
|
||||
|
||||
/* FALLTHROUGH */
|
||||
case PWM_SERVO_GET(0):
|
||||
case PWM_SERVO_GET(1): {
|
||||
// channel = cmd - PWM_SERVO_SET(0);
|
||||
// *(servo_position_t *)arg = up_pwm_servo_get(channel);
|
||||
break;
|
||||
}
|
||||
|
||||
case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): {
|
||||
// no restrictions on output grouping
|
||||
unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0);
|
||||
|
||||
*(uint32_t *)arg = (1 << channel);
|
||||
break;
|
||||
}
|
||||
|
||||
case MIXERIOCGETOUTPUTCOUNT:
|
||||
if (_mode == MODE_4PWM) {
|
||||
*(unsigned *)arg = 4;
|
||||
|
||||
} else {
|
||||
*(unsigned *)arg = 2;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case MIXERIOCRESET:
|
||||
if (_mixers != nullptr) {
|
||||
delete _mixers;
|
||||
_mixers = nullptr;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case MIXERIOCADDSIMPLE: {
|
||||
mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
|
||||
|
||||
SimpleMixer *mixer = new SimpleMixer(control_callback,
|
||||
(uintptr_t)&_controls, mixinfo);
|
||||
|
||||
if (mixer->check()) {
|
||||
delete mixer;
|
||||
ret = -EINVAL;
|
||||
|
||||
} else {
|
||||
if (_mixers == nullptr)
|
||||
_mixers = new MixerGroup(control_callback,
|
||||
(uintptr_t)&_controls);
|
||||
|
||||
_mixers->add_mixer(mixer);
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case MIXERIOCLOADBUF: {
|
||||
const char *buf = (const char *)arg;
|
||||
unsigned buflen = strnlen(buf, 1024);
|
||||
|
||||
if (_mixers == nullptr)
|
||||
_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
|
||||
|
||||
if (_mixers == nullptr) {
|
||||
ret = -ENOMEM;
|
||||
|
||||
} else {
|
||||
|
||||
ret = _mixers->load_from_buf(buf, buflen);
|
||||
|
||||
if (ret != 0) {
|
||||
debug("mixer load failed with %d", ret);
|
||||
delete _mixers;
|
||||
_mixers = nullptr;
|
||||
ret = -EINVAL;
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
default:
|
||||
ret = -ENOTTY;
|
||||
break;
|
||||
}
|
||||
|
||||
unlock();
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
namespace
|
||||
{
|
||||
|
||||
enum PortMode {
|
||||
PORT_MODE_UNDEFINED = 0,
|
||||
PORT1_MODE_UNSET,
|
||||
PORT1_FULL_PWM,
|
||||
PORT1_PWM_AND_SERIAL,
|
||||
PORT1_PWM_AND_GPIO,
|
||||
PORT2_MODE_UNSET,
|
||||
PORT2_8PWM,
|
||||
PORT2_12PWM,
|
||||
PORT2_16PWM,
|
||||
};
|
||||
|
||||
PortMode g_port_mode;
|
||||
|
||||
int
|
||||
hil_new_mode(PortMode new_mode)
|
||||
{
|
||||
// uint32_t gpio_bits;
|
||||
|
||||
|
||||
// /* reset to all-inputs */
|
||||
// g_hil->ioctl(0, GPIO_RESET, 0);
|
||||
|
||||
// gpio_bits = 0;
|
||||
|
||||
HIL::Mode servo_mode = HIL::MODE_NONE;
|
||||
|
||||
switch (new_mode) {
|
||||
case PORT_MODE_UNDEFINED:
|
||||
case PORT1_MODE_UNSET:
|
||||
case PORT2_MODE_UNSET:
|
||||
/* nothing more to do here */
|
||||
break;
|
||||
|
||||
case PORT1_FULL_PWM:
|
||||
/* select 4-pin PWM mode */
|
||||
servo_mode = HIL::MODE_4PWM;
|
||||
break;
|
||||
|
||||
case PORT1_PWM_AND_SERIAL:
|
||||
/* select 2-pin PWM mode */
|
||||
servo_mode = HIL::MODE_2PWM;
|
||||
// /* set RX/TX multi-GPIOs to serial mode */
|
||||
// gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
|
||||
break;
|
||||
|
||||
case PORT1_PWM_AND_GPIO:
|
||||
/* select 2-pin PWM mode */
|
||||
servo_mode = HIL::MODE_2PWM;
|
||||
break;
|
||||
|
||||
case PORT2_8PWM:
|
||||
/* select 8-pin PWM mode */
|
||||
servo_mode = HIL::MODE_8PWM;
|
||||
break;
|
||||
|
||||
case PORT2_12PWM:
|
||||
/* select 12-pin PWM mode */
|
||||
servo_mode = HIL::MODE_12PWM;
|
||||
break;
|
||||
|
||||
case PORT2_16PWM:
|
||||
/* select 16-pin PWM mode */
|
||||
servo_mode = HIL::MODE_16PWM;
|
||||
break;
|
||||
}
|
||||
|
||||
// /* adjust GPIO config for serial mode(s) */
|
||||
// if (gpio_bits != 0)
|
||||
// g_hil->ioctl(0, GPIO_SET_ALT_1, gpio_bits);
|
||||
|
||||
/* (re)set the PWM output mode */
|
||||
g_hil->set_mode(servo_mode);
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int
|
||||
hil_start(void)
|
||||
{
|
||||
int ret = PX4_OK;
|
||||
|
||||
if (g_hil == nullptr) {
|
||||
|
||||
g_hil = new HIL;
|
||||
|
||||
if (g_hil == nullptr) {
|
||||
ret = -ENOMEM;
|
||||
|
||||
} else {
|
||||
ret = g_hil->init();
|
||||
|
||||
if (ret != PX4_OK) {
|
||||
delete g_hil;
|
||||
g_hil = nullptr;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
test(void)
|
||||
{
|
||||
int fd;
|
||||
|
||||
fd = px4_open(PWM_OUTPUT0_DEVICE_PATH, 0);
|
||||
|
||||
if (fd < 0) {
|
||||
puts("open fail");
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
px4_ioctl(fd, PWM_SERVO_ARM, 0);
|
||||
px4_ioctl(fd, PWM_SERVO_SET(0), 1000);
|
||||
|
||||
px4_close(fd);
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int
|
||||
fake(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 5) {
|
||||
puts("hil fake <roll> <pitch> <yaw> <thrust> (values -100 .. 100)");
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
actuator_controls_s ac;
|
||||
|
||||
ac.control[0] = strtol(argv[1], 0, 0) / 100.0f;
|
||||
|
||||
ac.control[1] = strtol(argv[2], 0, 0) / 100.0f;
|
||||
|
||||
ac.control[2] = strtol(argv[3], 0, 0) / 100.0f;
|
||||
|
||||
ac.control[3] = strtol(argv[4], 0, 0) / 100.0f;
|
||||
|
||||
orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac);
|
||||
|
||||
if (handle < 0) {
|
||||
puts("advertise failed");
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
extern "C" __EXPORT int hil_main(int argc, char *argv[]);
|
||||
|
||||
int
|
||||
hil_main(int argc, char *argv[])
|
||||
{
|
||||
PortMode new_mode = PORT_MODE_UNDEFINED;
|
||||
const char *verb = argv[1];
|
||||
int ret = PX4_OK;
|
||||
|
||||
if (hil_start() != PX4_OK) {
|
||||
warnx("failed to start the HIL driver");
|
||||
return 1;
|
||||
}
|
||||
|
||||
/*
|
||||
* Mode switches.
|
||||
*/
|
||||
|
||||
// this was all cut-and-pasted from the FMU driver; it's junk
|
||||
if (!strcmp(verb, "mode_pwm")) {
|
||||
new_mode = PORT1_FULL_PWM;
|
||||
|
||||
} else if (!strcmp(verb, "mode_pwm_serial")) {
|
||||
new_mode = PORT1_PWM_AND_SERIAL;
|
||||
|
||||
} else if (!strcmp(verb, "mode_pwm_gpio")) {
|
||||
new_mode = PORT1_PWM_AND_GPIO;
|
||||
|
||||
} else if (!strcmp(verb, "mode_port2_pwm8")) {
|
||||
new_mode = PORT2_8PWM;
|
||||
|
||||
} else if (!strcmp(verb, "mode_port2_pwm12")) {
|
||||
new_mode = PORT2_8PWM;
|
||||
|
||||
} else if (!strcmp(verb, "mode_port2_pwm16")) {
|
||||
new_mode = PORT2_8PWM;
|
||||
}
|
||||
|
||||
/* was a new mode set? */
|
||||
if (new_mode != PORT_MODE_UNDEFINED) {
|
||||
|
||||
/* yes but it's the same mode */
|
||||
if (new_mode == g_port_mode)
|
||||
return PX4_OK;
|
||||
|
||||
/* switch modes */
|
||||
return hil_new_mode(new_mode);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "test")) {
|
||||
ret = test();
|
||||
}
|
||||
|
||||
else if (!strcmp(verb, "fake")) {
|
||||
ret = fake(argc - 1, argv + 1);
|
||||
}
|
||||
|
||||
else {
|
||||
fprintf(stderr, "HIL: unrecognized command, try:\n");
|
||||
fprintf(stderr, " mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, mode_port2_pwm8, mode_port2_pwm12, mode_port2_pwm16\n");
|
||||
ret = -EINVAL;
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
|
@ -37,6 +37,10 @@
|
|||
|
||||
MODULE_COMMAND = hil
|
||||
|
||||
ifdef ($(PX4_TARGET_OS),nuttx)
|
||||
SRCS = hil.cpp
|
||||
|
||||
MAXOPTIMIZATION = -Os
|
||||
else
|
||||
SRCS = hil_linux.cpp
|
||||
endif
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue