forked from Archive/PX4-Autopilot
270 lines
6.8 KiB
C
270 lines
6.8 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 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 comms.c
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*
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* FMU communication for the PX4IO module.
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*/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <stdbool.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <debug.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <string.h>
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#include <poll.h>
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#include <termios.h>
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#include <nuttx/clock.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_pwm_output.h>
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#include <systemlib/hx_stream.h>
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#include <systemlib/perf_counter.h>
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#define DEBUG
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#include "px4io.h"
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#define FMU_MIN_REPORT_INTERVAL 5000 /* 5ms */
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#define FMU_MAX_REPORT_INTERVAL 100000 /* 100ms */
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int frame_rx;
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int frame_bad;
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static int fmu_fd;
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static hx_stream_t stream;
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static struct px4io_report report;
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static void comms_handle_frame(void *arg, const void *buffer, size_t length);
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perf_counter_t comms_rx_errors;
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static void
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comms_init(void)
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{
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/* initialise the FMU interface */
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fmu_fd = open("/dev/ttyS1", O_RDWR);
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stream = hx_stream_init(fmu_fd, comms_handle_frame, NULL);
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comms_rx_errors = perf_alloc(PC_COUNT, "rx_err");
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hx_stream_set_counters(stream, 0, 0, comms_rx_errors);
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/* default state in the report to FMU */
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report.i2f_magic = I2F_MAGIC;
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struct termios t;
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/* 115200bps, no parity, one stop bit */
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tcgetattr(fmu_fd, &t);
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cfsetspeed(&t, 115200);
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t.c_cflag &= ~(CSTOPB | PARENB);
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tcsetattr(fmu_fd, TCSANOW, &t);
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}
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void
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comms_main(void)
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{
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comms_init();
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struct pollfd fds;
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fds.fd = fmu_fd;
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fds.events = POLLIN;
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debug("FMU: ready");
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for (;;) {
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/* wait for serial data, but no more than 10ms */
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poll(&fds, 1, 10);
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/*
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* Pull bytes from FMU and feed them to the HX engine.
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* Limit the number of bytes we actually process on any one iteration.
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*/
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if (fds.revents & POLLIN) {
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char buf[32];
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ssize_t count = read(fmu_fd, buf, sizeof(buf));
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for (int i = 0; i < count; i++)
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hx_stream_rx(stream, buf[i]);
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}
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/*
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* Decide if it's time to send an update to the FMU.
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*/
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static hrt_abstime last_report_time;
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hrt_abstime now, delta;
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/* should we send a report to the FMU? */
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now = hrt_absolute_time();
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delta = now - last_report_time;
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if ((delta > FMU_MIN_REPORT_INTERVAL) &&
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(system_state.fmu_report_due || (delta > FMU_MAX_REPORT_INTERVAL))) {
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system_state.fmu_report_due = false;
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last_report_time = now;
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/* populate the report */
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for (unsigned i = 0; i < system_state.rc_channels; i++) {
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report.rc_channel[i] = system_state.rc_channel_data[i];
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}
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report.channel_count = system_state.rc_channels;
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report.armed = system_state.armed;
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/* and send it */
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hx_stream_send(stream, &report, sizeof(report));
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}
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}
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}
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static void
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comms_handle_config(const void *buffer, size_t length)
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{
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const struct px4io_config *cfg = (struct px4io_config *)buffer;
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if (length != sizeof(*cfg)) {
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frame_bad++;
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return;
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}
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frame_rx++;
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}
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static void
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comms_handle_command(const void *buffer, size_t length)
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{
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const struct px4io_command *cmd = (struct px4io_command *)buffer;
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if (length != sizeof(*cmd)) {
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frame_bad++;
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return;
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}
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frame_rx++;
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irqstate_t flags = irqsave();
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/* fetch new PWM output values */
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for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++)
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system_state.fmu_channel_data[i] = cmd->output_control[i];
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/* if the IO is armed and the FMU gets disarmed, the IO must also disarm */
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if (system_state.arm_ok && !cmd->arm_ok)
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system_state.armed = false;
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system_state.arm_ok = cmd->arm_ok;
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system_state.vector_flight_mode_ok = cmd->vector_flight_mode_ok;
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system_state.manual_override_ok = cmd->manual_override_ok;
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system_state.mixer_fmu_available = true;
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system_state.fmu_data_received_time = hrt_absolute_time();
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/* set PWM update rate if changed (after limiting) */
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uint16_t new_servo_rate = cmd->servo_rate;
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/* reject faster than 500 Hz updates */
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if (new_servo_rate > 500) {
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new_servo_rate = 500;
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}
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/* reject slower than 50 Hz updates */
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if (new_servo_rate < 50) {
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new_servo_rate = 50;
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}
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if (system_state.servo_rate != new_servo_rate) {
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up_pwm_servo_set_rate(new_servo_rate);
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system_state.servo_rate = new_servo_rate;
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}
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/*
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* update servo values immediately.
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* the updates are done in addition also
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* in the mainloop, since this function will only
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* update with a connected FMU.
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*/
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mixer_tick();
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/* handle relay state changes here */
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for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++) {
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if (system_state.relays[i] != cmd->relay_state[i]) {
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switch (i) {
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case 0:
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POWER_ACC1(cmd->relay_state[i]);
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break;
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case 1:
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POWER_ACC2(cmd->relay_state[i]);
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break;
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case 2:
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POWER_RELAY1(cmd->relay_state[i]);
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break;
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case 3:
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POWER_RELAY2(cmd->relay_state[i]);
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break;
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}
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}
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system_state.relays[i] = cmd->relay_state[i];
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}
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irqrestore(flags);
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}
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static void
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comms_handle_frame(void *arg, const void *buffer, size_t length)
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{
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const uint16_t *type = (const uint16_t *)buffer;
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/* make sure it's what we are expecting */
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if (length > 2) {
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switch (*type) {
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case F2I_MAGIC:
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comms_handle_command(buffer, length);
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break;
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case F2I_CONFIG_MAGIC:
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comms_handle_config(buffer, length);
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break;
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case F2I_MIXER_MAGIC:
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mixer_handle_text(buffer, length);
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break;
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default:
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frame_bad++;
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break;
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}
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}
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}
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