forked from Archive/PX4-Autopilot
159 lines
4.6 KiB
C
159 lines
4.6 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file px4io.c
|
|
* Top-level logic for the PX4IO module.
|
|
*/
|
|
|
|
#include <nuttx/config.h>
|
|
#include <stdio.h>
|
|
#include <stdbool.h>
|
|
#include <fcntl.h>
|
|
#include <unistd.h>
|
|
#include <debug.h>
|
|
#include <stdlib.h>
|
|
#include <errno.h>
|
|
|
|
#include <nuttx/clock.h>
|
|
|
|
#include <drivers/drv_pwm_output.h>
|
|
#include <drivers/drv_hrt.h>
|
|
|
|
#include "px4io.h"
|
|
|
|
__EXPORT int user_start(int argc, char *argv[]);
|
|
|
|
struct sys_state_s system_state;
|
|
int gpio_fd;
|
|
|
|
static const char cursor[] = {'|', '/', '-', '\\'};
|
|
|
|
static struct hrt_call timer_tick_call;
|
|
volatile int timers[TIMER_NUM_TIMERS];
|
|
static void timer_tick(void *arg);
|
|
|
|
int user_start(int argc, char *argv[])
|
|
{
|
|
int cycle = 0;
|
|
bool heartbeat = false;
|
|
bool failsafe = false;
|
|
|
|
/* configure the high-resolution time/callout interface */
|
|
hrt_init();
|
|
|
|
/* init the FMU and receiver links */
|
|
comms_init();
|
|
|
|
/* configure the first 8 PWM outputs (i.e. all of them) */
|
|
/* note, must do this after comms init to steal back PA0, which is CTS otherwise */
|
|
up_pwm_servo_init(0xff);
|
|
|
|
/* print some startup info */
|
|
lib_lowprintf("\nPX4IO: starting\n");
|
|
struct mallinfo minfo = mallinfo();
|
|
lib_lowprintf("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
|
|
|
|
/* start the software timer service */
|
|
hrt_call_every(&timer_tick_call, 1000, 1000, timer_tick, NULL);
|
|
|
|
/* default all the LEDs to off while we start */
|
|
LED_AMBER(false);
|
|
LED_BLUE(false);
|
|
LED_SAFETY(false);
|
|
|
|
/* turn on servo power */
|
|
POWER_SERVO(true);
|
|
|
|
/* start the mixer */
|
|
mixer_init();
|
|
|
|
/* start the safety switch handler */
|
|
safety_init();
|
|
|
|
/* set up some timers for the main loop */
|
|
timers[TIMER_BLINK_BLUE] = 250; /* heartbeat blink @ 2Hz */
|
|
timers[TIMER_STATUS_PRINT] = 1000; /* print status message @ 1Hz */
|
|
|
|
/*
|
|
* Main loop servicing communication with FMU
|
|
*/
|
|
while(true) {
|
|
|
|
/* check for communication from FMU, send updates */
|
|
comms_check();
|
|
|
|
/* blink the heartbeat LED */
|
|
if (timers[TIMER_BLINK_BLUE] == 0) {
|
|
timers[TIMER_BLINK_BLUE] = 250;
|
|
LED_BLUE(heartbeat = !heartbeat);
|
|
}
|
|
|
|
/* blink the failsafe LED if we don't have FMU input */
|
|
if (!system_state.mixer_use_fmu) {
|
|
if (timers[TIMER_BLINK_AMBER] == 0) {
|
|
timers[TIMER_BLINK_AMBER] = 125;
|
|
failsafe = !failsafe;
|
|
}
|
|
} else {
|
|
failsafe = false;
|
|
}
|
|
LED_AMBER(failsafe);
|
|
|
|
/* print some simple status */
|
|
if (timers[TIMER_STATUS_PRINT] == 0) {
|
|
timers[TIMER_STATUS_PRINT] = 1000;
|
|
lib_lowprintf("%c %s | %s | %s | %s | C=%d F=%d B=%d \r",
|
|
cursor[cycle++ & 3],
|
|
(system_state.arm_ok ? "FMU_ARMED" : "FMU_SAFE"),
|
|
(system_state.armed ? "ARMED" : "SAFE"),
|
|
(system_state.rc_channels ? "RC OK" : "NO RC"),
|
|
(system_state.mixer_use_fmu ? "FMU OK" : "NO FMU"),
|
|
system_state.rc_channels,
|
|
frame_rx, frame_bad
|
|
);
|
|
}
|
|
}
|
|
|
|
/* Should never reach here */
|
|
return ERROR;
|
|
}
|
|
|
|
static void
|
|
timer_tick(void *arg)
|
|
{
|
|
for (unsigned i = 0; i < TIMER_NUM_TIMERS; i++)
|
|
if (timers[i] > 0)
|
|
timers[i]--;
|
|
}
|