forked from Archive/PX4-Autopilot
158 lines
4.5 KiB
C
158 lines
4.5 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 px4io.c
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* Top-level logic 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 <nuttx/clock.h>
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#include <drivers/drv_pwm_output.h>
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#include <drivers/drv_hrt.h>
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#include "px4io.h"
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__EXPORT int user_start(int argc, char *argv[]);
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struct sys_state_s system_state;
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int gpio_fd;
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static const char cursor[] = {'|', '/', '-', '\\'};
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static struct hrt_call timer_tick_call;
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volatile int timers[TIMER_NUM_TIMERS];
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static void timer_tick(void *arg);
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int user_start(int argc, char *argv[])
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{
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int cycle = 0;
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bool heartbeat = false;
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bool failsafe = false;
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/* configure the high-resolution time/callout interface */
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hrt_init();
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/* init the FMU link */
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comms_init();
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/* configure the first 8 PWM outputs (i.e. all of them) */
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/* note, must do this after comms init to steal back PA0, which is CTS otherwise */
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up_pwm_servo_init(0xff);
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/* print some startup info */
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lib_lowprintf("\nPX4IO: starting\n");
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struct mallinfo minfo = mallinfo();
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lib_lowprintf("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
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/* start the software timer service */
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hrt_call_every(&timer_tick_call, 1000, 1000, timer_tick, NULL);
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/* default all the LEDs to off while we start */
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LED_AMBER(false);
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LED_BLUE(false);
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LED_SAFETY(false);
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/* turn on servo power */
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POWER_SERVO(true);
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/* start the mixer */
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mixer_init();
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/* start the safety switch handler */
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safety_init();
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/* set up some timers for the main loop */
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timers[TIMER_BLINK_AMBER] = 250; /* heartbeat blink @ 2Hz */
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timers[TIMER_STATUS_PRINT] = 1000; /* print status message @ 1Hz */
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/*
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* Main loop servicing communication with FMU
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*/
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while(true) {
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/* check for communication from FMU, send updates */
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comms_check();
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/* blink the heartbeat LED */
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if (timers[TIMER_BLINK_AMBER] == 0) {
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timers[TIMER_BLINK_AMBER] = 250;
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LED_AMBER(heartbeat = !heartbeat);
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}
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/* blink the failsafe LED if we don't have FMU input */
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if (!system_state.mixer_use_fmu) {
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if (timers[TIMER_BLINK_BLUE] == 0) {
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timers[TIMER_BLINK_BLUE] = 125;
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failsafe = !failsafe;
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}
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} else {
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failsafe = false;
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}
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LED_BLUE(failsafe);
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/* print some simple status */
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if (timers[TIMER_STATUS_PRINT] == 0) {
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timers[TIMER_STATUS_PRINT] = 1000;
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lib_lowprintf("%c %s | %s | %s | C=%d F=%d B=%d \r",
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cursor[cycle++ & 3],
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(system_state.armed ? "ARMED" : "SAFE"),
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(system_state.rc_channels ? "RC OK" : "NO RC"),
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(system_state.mixer_use_fmu ? "FMU OK" : "NO FMU"),
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system_state.rc_channels,
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frame_rx, frame_bad
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);
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}
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}
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/* Should never reach here */
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return ERROR;
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}
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static void
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timer_tick(void *arg)
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{
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for (unsigned i = 0; i < TIMER_NUM_TIMERS; i++)
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if (timers[i] > 0)
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timers[i]--;
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}
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