mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-21 05:17:35 +08:00
merge origin/master
This commit is contained in:
Thomas Gubler
@@ -0,0 +1,42 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Interface driver for the PX4FMU board
|
||||
#
|
||||
|
||||
APPNAME = hil
|
||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
||||
STACKSIZE = 2048
|
||||
|
||||
include $(APPDIR)/mk/app.mk
|
||||
@@ -0,0 +1,852 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 hil.cpp
|
||||
*
|
||||
* Driver/configurator for the virtual HIL port.
|
||||
*
|
||||
* This virtual driver emulates PWM / servo outputs for setups where
|
||||
* the connected hardware does not provide enough or no PWM outputs.
|
||||
*
|
||||
* Its only function is to take actuator_control uORB messages,
|
||||
* mix them with any loaded mixer and output the result to the
|
||||
* actuator_output uORB topic. HIL can also be performed with normal
|
||||
* PWM outputs, a special flag prevents the outputs to be operated
|
||||
* during HIL mode. If HIL is not performed with a standalone FMU,
|
||||
* but in a real system, it is NOT recommended to use this virtual
|
||||
* driver. Use instead the normal FMU or IO driver.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <stdlib.h>
|
||||
#include <semaphore.h>
|
||||
#include <string.h>
|
||||
#include <fcntl.h>
|
||||
#include <poll.h>
|
||||
#include <errno.h>
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
|
||||
#include <drivers/device/device.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
#include <drivers/drv_gpio.h>
|
||||
// #include <drivers/boards/HIL/HIL_internal.h>
|
||||
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <systemlib/mixer/mixer.h>
|
||||
#include <drivers/drv_mixer.h>
|
||||
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
#include <uORB/topics/actuator_outputs.h>
|
||||
|
||||
#include <systemlib/err.h>
|
||||
|
||||
class HIL : public device::CDev
|
||||
{
|
||||
public:
|
||||
enum Mode {
|
||||
MODE_2PWM,
|
||||
MODE_4PWM,
|
||||
MODE_8PWM,
|
||||
MODE_12PWM,
|
||||
MODE_16PWM,
|
||||
MODE_NONE
|
||||
};
|
||||
HIL();
|
||||
~HIL();
|
||||
|
||||
virtual int ioctl(file *filp, int cmd, unsigned long arg);
|
||||
|
||||
virtual int init();
|
||||
|
||||
int set_mode(Mode mode);
|
||||
int set_pwm_rate(unsigned rate);
|
||||
|
||||
private:
|
||||
static const unsigned _max_actuators = 4;
|
||||
|
||||
Mode _mode;
|
||||
int _update_rate;
|
||||
int _current_update_rate;
|
||||
int _task;
|
||||
int _t_actuators;
|
||||
int _t_armed;
|
||||
orb_advert_t _t_outputs;
|
||||
unsigned _num_outputs;
|
||||
bool _primary_pwm_device;
|
||||
|
||||
volatile bool _task_should_exit;
|
||||
bool _armed;
|
||||
|
||||
MixerGroup *_mixers;
|
||||
|
||||
actuator_controls_s _controls;
|
||||
|
||||
static void task_main_trampoline(int argc, char *argv[]);
|
||||
void task_main() __attribute__((noreturn));
|
||||
|
||||
static int control_callback(uintptr_t handle,
|
||||
uint8_t control_group,
|
||||
uint8_t control_index,
|
||||
float &input);
|
||||
|
||||
int pwm_ioctl(file *filp, int cmd, unsigned long arg);
|
||||
|
||||
struct GPIOConfig {
|
||||
uint32_t input;
|
||||
uint32_t output;
|
||||
uint32_t alt;
|
||||
};
|
||||
|
||||
static const GPIOConfig _gpio_tab[];
|
||||
static const unsigned _ngpio;
|
||||
|
||||
void gpio_reset(void);
|
||||
void gpio_set_function(uint32_t gpios, int function);
|
||||
void gpio_write(uint32_t gpios, int function);
|
||||
uint32_t gpio_read(void);
|
||||
int gpio_ioctl(file *filp, int cmd, unsigned long arg);
|
||||
|
||||
};
|
||||
|
||||
namespace
|
||||
{
|
||||
|
||||
HIL *g_hil;
|
||||
|
||||
} // namespace
|
||||
|
||||
HIL::HIL() :
|
||||
CDev("hilservo", PWM_OUTPUT_DEVICE_PATH/*"/dev/hil" XXXL*/),
|
||||
_mode(MODE_NONE),
|
||||
_update_rate(50),
|
||||
_task(-1),
|
||||
_t_actuators(-1),
|
||||
_t_armed(-1),
|
||||
_t_outputs(0),
|
||||
_num_outputs(0),
|
||||
_primary_pwm_device(false),
|
||||
_task_should_exit(false),
|
||||
_armed(false),
|
||||
_mixers(nullptr)
|
||||
{
|
||||
_debug_enabled = true;
|
||||
}
|
||||
|
||||
HIL::~HIL()
|
||||
{
|
||||
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) {
|
||||
task_delete(_task);
|
||||
break;
|
||||
}
|
||||
|
||||
} while (_task != -1);
|
||||
}
|
||||
|
||||
/* 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 = CDev::init();
|
||||
|
||||
if (ret != OK)
|
||||
return ret;
|
||||
|
||||
/* 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 == OK) {
|
||||
log("default PWM output device");
|
||||
_primary_pwm_device = true;
|
||||
}
|
||||
|
||||
/* reset GPIOs */
|
||||
// gpio_reset();
|
||||
|
||||
/* start the IO interface task */
|
||||
_task = task_spawn("fmuservo",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_DEFAULT,
|
||||
1024,
|
||||
(main_t)&HIL::task_main_trampoline,
|
||||
nullptr);
|
||||
|
||||
if (_task < 0) {
|
||||
debug("task start failed: %d", errno);
|
||||
return -errno;
|
||||
}
|
||||
|
||||
return 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 OK;
|
||||
}
|
||||
|
||||
int
|
||||
HIL::set_pwm_rate(unsigned rate)
|
||||
{
|
||||
if ((rate > 500) || (rate < 10))
|
||||
return -EINVAL;
|
||||
|
||||
_update_rate = rate;
|
||||
return 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 */
|
||||
_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
|
||||
&outputs);
|
||||
|
||||
pollfd 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 = ::poll(&fds[0], 2, 1000);
|
||||
|
||||
/* this would be bad... */
|
||||
if (ret < 0) {
|
||||
log("poll error %d", errno);
|
||||
usleep(1000000);
|
||||
continue;
|
||||
}
|
||||
|
||||
/* do we have a control update? */
|
||||
if (fds[0].revents & POLLIN) {
|
||||
|
||||
/* get controls - must always do this to avoid spinning */
|
||||
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
|
||||
|
||||
/* can we mix? */
|
||||
if (_mixers != nullptr) {
|
||||
|
||||
/* do mixing */
|
||||
_mixers->mix(&outputs.output[0], num_outputs);
|
||||
|
||||
/* iterate actuators */
|
||||
for (unsigned i = 0; i < num_outputs; i++) {
|
||||
|
||||
/* scale for PWM output 900 - 2100us */
|
||||
outputs.output[i] = 1500 + (600 * outputs.output[i]);
|
||||
|
||||
/* output to the servo */
|
||||
// up_pwm_servo_set(i, outputs.output[i]);
|
||||
}
|
||||
|
||||
/* and publish for anyone that cares to see */
|
||||
orb_publish(ORB_ID_VEHICLE_CONTROLS, _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);
|
||||
|
||||
/* update PWM servo armed status */
|
||||
// up_pwm_servo_arm(aa.armed);
|
||||
}
|
||||
}
|
||||
|
||||
::close(_t_actuators);
|
||||
::close(_t_armed);
|
||||
|
||||
/* make sure servos are off */
|
||||
// up_pwm_servo_deinit();
|
||||
|
||||
log("stopping");
|
||||
|
||||
/* note - someone else is responsible for restoring the GPIO config */
|
||||
|
||||
/* tell the dtor that we are exiting */
|
||||
_task = -1;
|
||||
_exit(0);
|
||||
}
|
||||
|
||||
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(file *filp, 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(filp, 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(filp, cmd, arg);
|
||||
break;
|
||||
default:
|
||||
debug("not in a PWM mode");
|
||||
break;
|
||||
}
|
||||
|
||||
/* if nobody wants it, let CDev have it */
|
||||
if (ret == -ENOTTY)
|
||||
ret = CDev::ioctl(filp, cmd, arg);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
int ret = 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(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 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 MIXERIOCADDMULTIROTOR:
|
||||
/* XXX not yet supported */
|
||||
ret = -ENOTTY;
|
||||
break;
|
||||
|
||||
case MIXERIOCLOADFILE: {
|
||||
const char *path = (const char *)arg;
|
||||
|
||||
if (_mixers != nullptr) {
|
||||
delete _mixers;
|
||||
_mixers = nullptr;
|
||||
}
|
||||
|
||||
_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
|
||||
if (_mixers == nullptr) {
|
||||
ret = -ENOMEM;
|
||||
} else {
|
||||
|
||||
debug("loading mixers from %s", path);
|
||||
ret = _mixers->load_from_file(path);
|
||||
|
||||
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, int update_rate)
|
||||
{
|
||||
// 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);
|
||||
if ((servo_mode != HIL::MODE_NONE) && (update_rate != 0))
|
||||
g_hil->set_pwm_rate(update_rate);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int
|
||||
hil_start(void)
|
||||
{
|
||||
int ret = OK;
|
||||
|
||||
if (g_hil == nullptr) {
|
||||
|
||||
g_hil = new HIL;
|
||||
|
||||
if (g_hil == nullptr) {
|
||||
ret = -ENOMEM;
|
||||
|
||||
} else {
|
||||
ret = g_hil->init();
|
||||
|
||||
if (ret != OK) {
|
||||
delete g_hil;
|
||||
g_hil = nullptr;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void
|
||||
test(void)
|
||||
{
|
||||
int fd;
|
||||
|
||||
fd = open(PWM_OUTPUT_DEVICE_PATH, 0);
|
||||
|
||||
if (fd < 0) {
|
||||
puts("open fail");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
ioctl(fd, PWM_SERVO_ARM, 0);
|
||||
ioctl(fd, PWM_SERVO_SET(0), 1000);
|
||||
|
||||
close(fd);
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void
|
||||
fake(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 5) {
|
||||
puts("hil fake <roll> <pitch> <yaw> <thrust> (values -100 .. 100)");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
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");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
exit(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;
|
||||
int pwm_update_rate_in_hz = 0;
|
||||
|
||||
if (!strcmp(argv[1], "test"))
|
||||
test();
|
||||
|
||||
if (!strcmp(argv[1], "fake"))
|
||||
fake(argc - 1, argv + 1);
|
||||
|
||||
if (hil_start() != OK)
|
||||
errx(1, "failed to start the FMU driver");
|
||||
|
||||
/*
|
||||
* Mode switches.
|
||||
*
|
||||
* XXX use getopt?
|
||||
*/
|
||||
for (int i = 1; i < argc; i++) { /* argv[0] is "fmu" */
|
||||
|
||||
if (!strcmp(argv[i], "mode_pwm")) {
|
||||
new_mode = PORT1_FULL_PWM;
|
||||
|
||||
} else if (!strcmp(argv[i], "mode_pwm_serial")) {
|
||||
new_mode = PORT1_PWM_AND_SERIAL;
|
||||
|
||||
} else if (!strcmp(argv[i], "mode_pwm_gpio")) {
|
||||
new_mode = PORT1_PWM_AND_GPIO;
|
||||
|
||||
} else if (!strcmp(argv[i], "mode_port2_pwm8")) {
|
||||
new_mode = PORT2_8PWM;
|
||||
|
||||
} else if (!strcmp(argv[i], "mode_port2_pwm12")) {
|
||||
new_mode = PORT2_8PWM;
|
||||
|
||||
} else if (!strcmp(argv[i], "mode_port2_pwm16")) {
|
||||
new_mode = PORT2_8PWM;
|
||||
}
|
||||
|
||||
/* look for the optional pwm update rate for the supported modes */
|
||||
if (strcmp(argv[i], "-u") == 0 || strcmp(argv[i], "--update-rate") == 0) {
|
||||
// if (new_mode == PORT1_FULL_PWM || new_mode == PORT1_PWM_AND_GPIO) {
|
||||
// XXX all modes have PWM settings
|
||||
if (argc > i + 1) {
|
||||
pwm_update_rate_in_hz = atoi(argv[i + 1]);
|
||||
} else {
|
||||
fprintf(stderr, "missing argument for pwm update rate (-u)\n");
|
||||
return 1;
|
||||
}
|
||||
// } else {
|
||||
// fprintf(stderr, "pwm update rate currently only supported for mode_pwm, mode_pwm_gpio\n");
|
||||
// }
|
||||
}
|
||||
}
|
||||
|
||||
/* 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 OK;
|
||||
|
||||
/* switch modes */
|
||||
return hil_new_mode(new_mode, pwm_update_rate_in_hz);
|
||||
}
|
||||
|
||||
/* test, etc. here */
|
||||
|
||||
fprintf(stderr, "HIL: unrecognized command, try:\n");
|
||||
fprintf(stderr, " mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, mode_port2_pwm8, mode_port2_pwm12, mode_port2_pwm16\n");
|
||||
return -EINVAL;
|
||||
}
|
||||
@@ -74,7 +74,6 @@ public:
|
||||
enum Mode {
|
||||
MODE_2PWM,
|
||||
MODE_4PWM,
|
||||
MODE_HIL_8PWM,
|
||||
MODE_NONE
|
||||
};
|
||||
PX4FMU();
|
||||
@@ -270,12 +269,6 @@ PX4FMU::set_mode(Mode mode)
|
||||
_update_rate = 50; /* default output rate */
|
||||
break;
|
||||
|
||||
case MODE_HIL_8PWM:
|
||||
debug("MODE_HIL_8PWM");
|
||||
/* do not actually start a pwm device */
|
||||
_update_rate = 50; /* default output rate */
|
||||
break;
|
||||
|
||||
case MODE_NONE:
|
||||
debug("MODE_NONE");
|
||||
/* disable servo outputs and set a very low update rate */
|
||||
@@ -328,26 +321,7 @@ PX4FMU::task_main()
|
||||
fds[1].fd = _t_armed;
|
||||
fds[1].events = POLLIN;
|
||||
|
||||
unsigned num_outputs;
|
||||
|
||||
/* select the number of (real or virtual) outputs */
|
||||
switch (_mode) {
|
||||
case MODE_2PWM:
|
||||
num_outputs = 2;
|
||||
break;
|
||||
|
||||
case MODE_4PWM:
|
||||
num_outputs = 4;
|
||||
break;
|
||||
|
||||
case MODE_HIL_8PWM:
|
||||
num_outputs = 8;
|
||||
break;
|
||||
|
||||
case MODE_NONE:
|
||||
num_outputs = 0;
|
||||
break;
|
||||
}
|
||||
unsigned num_outputs = (_mode == MODE_2PWM) ? 2 : 4;
|
||||
|
||||
log("starting");
|
||||
|
||||
@@ -360,11 +334,7 @@ PX4FMU::task_main()
|
||||
if (update_rate_in_ms < 2)
|
||||
update_rate_in_ms = 2;
|
||||
orb_set_interval(_t_actuators, update_rate_in_ms);
|
||||
|
||||
if (_mode != MODE_HIL_8PWM) {
|
||||
/* do not attempt to set servos in HIL mode */
|
||||
up_pwm_servo_set_rate(_update_rate);
|
||||
}
|
||||
up_pwm_servo_set_rate(_update_rate);
|
||||
_current_update_rate = _update_rate;
|
||||
}
|
||||
|
||||
@@ -397,11 +367,7 @@ PX4FMU::task_main()
|
||||
outputs.output[i] = 1500 + (600 * outputs.output[i]);
|
||||
|
||||
/* output to the servo */
|
||||
if (_mode != MODE_HIL_8PWM) {
|
||||
/* do not attempt to set servos in HIL mode */
|
||||
up_pwm_servo_set(i, outputs.output[i]);
|
||||
}
|
||||
|
||||
up_pwm_servo_set(i, outputs.output[i]);
|
||||
}
|
||||
|
||||
/* and publish for anyone that cares to see */
|
||||
@@ -417,14 +383,7 @@ PX4FMU::task_main()
|
||||
orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
|
||||
|
||||
/* update PWM servo armed status */
|
||||
|
||||
/*
|
||||
* armed = system wants to fly
|
||||
* locked = there is a low-level safety lock
|
||||
* in place, such as in hardware-in-the-loop
|
||||
* simulation setups.
|
||||
*/
|
||||
up_pwm_servo_arm(aa.armed && !aa.lockdown);
|
||||
up_pwm_servo_arm(aa.armed);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -460,7 +419,7 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
int ret;
|
||||
|
||||
// XXX disable debug output, users got confused
|
||||
// XXX disabled, confusing users
|
||||
//debug("ioctl 0x%04x 0x%08x", cmd, arg);
|
||||
|
||||
/* try it as a GPIO ioctl first */
|
||||
@@ -474,11 +433,6 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
|
||||
case MODE_4PWM:
|
||||
ret = pwm_ioctl(filp, cmd, arg);
|
||||
break;
|
||||
case MODE_HIL_8PWM:
|
||||
/* do nothing */
|
||||
debug("loading mixer for virtual HIL device");
|
||||
ret = 0;
|
||||
break;
|
||||
default:
|
||||
debug("not in a PWM mode");
|
||||
break;
|
||||
@@ -752,7 +706,6 @@ enum PortMode {
|
||||
PORT_GPIO_AND_SERIAL,
|
||||
PORT_PWM_AND_SERIAL,
|
||||
PORT_PWM_AND_GPIO,
|
||||
PORT_HIL_PWM
|
||||
};
|
||||
|
||||
PortMode g_port_mode;
|
||||
@@ -801,11 +754,6 @@ fmu_new_mode(PortMode new_mode, int update_rate)
|
||||
/* select 2-pin PWM mode */
|
||||
servo_mode = PX4FMU::MODE_2PWM;
|
||||
break;
|
||||
|
||||
case PORT_HIL_PWM:
|
||||
/* virtual PWM mode */
|
||||
servo_mode = PX4FMU::MODE_HIL_8PWM;
|
||||
break;
|
||||
}
|
||||
|
||||
/* adjust GPIO config for serial mode(s) */
|
||||
@@ -935,14 +883,11 @@ fmu_main(int argc, char *argv[])
|
||||
|
||||
} else if (!strcmp(argv[i], "mode_pwm_gpio")) {
|
||||
new_mode = PORT_PWM_AND_GPIO;
|
||||
|
||||
} else if (!strcmp(argv[i], "mode_hil_pwm")) {
|
||||
new_mode = PORT_HIL_PWM;
|
||||
}
|
||||
|
||||
/* look for the optional pwm update rate for the supported modes */
|
||||
if (strcmp(argv[i], "-u") == 0 || strcmp(argv[i], "--update-rate") == 0) {
|
||||
if (new_mode == PORT_FULL_PWM || new_mode == PORT_PWM_AND_GPIO || PORT_HIL_PWM) {
|
||||
if (new_mode == PORT_FULL_PWM || new_mode == PORT_PWM_AND_GPIO) {
|
||||
if (argc > i + 1) {
|
||||
pwm_update_rate_in_hz = atoi(argv[i + 1]);
|
||||
} else {
|
||||
@@ -968,7 +913,7 @@ fmu_main(int argc, char *argv[])
|
||||
|
||||
/* test, etc. here */
|
||||
|
||||
fprintf(stderr, "FMU: unrecognized command, try:\n");
|
||||
fprintf(stderr, " mode_gpio, mode_serial, mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial,\n mode_pwm_serial, mode_pwm_gpio, mode_hil_pwm\n");
|
||||
fprintf(stderr, "FMU: unrecognised command, try:\n");
|
||||
fprintf(stderr, " mode_gpio, mode_serial, mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n");
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
@@ -436,7 +436,7 @@ l_actuator_outputs(struct listener *l)
|
||||
/* only send in HIL mode */
|
||||
if (mavlink_hil_enabled) {
|
||||
|
||||
/* translate the current system state to mavlink state and mode */
|
||||
/* translate the current syste state to mavlink state and mode */
|
||||
uint8_t mavlink_state = 0;
|
||||
uint8_t mavlink_mode = 0;
|
||||
get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);
|
||||
|
||||
@@ -130,7 +130,7 @@ accel(int argc, char *argv[])
|
||||
return ERROR;
|
||||
|
||||
} else {
|
||||
printf("\tACCEL values: acc: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
|
||||
printf("\tACCEL accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
|
||||
}
|
||||
|
||||
// /* wait at least 10ms, sensor should have data after no more than 2ms */
|
||||
@@ -182,7 +182,7 @@ gyro(int argc, char *argv[])
|
||||
return ERROR;
|
||||
|
||||
} else {
|
||||
printf("\tGYRO values: rates: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
|
||||
printf("\tGYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z);
|
||||
}
|
||||
|
||||
/* Let user know everything is ok */
|
||||
@@ -219,7 +219,7 @@ mag(int argc, char *argv[])
|
||||
return ERROR;
|
||||
|
||||
} else {
|
||||
printf("\tMAG values: mag. field: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
|
||||
printf("\tMAG values: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
|
||||
}
|
||||
|
||||
/* Let user know everything is ok */
|
||||
@@ -256,7 +256,7 @@ baro(int argc, char *argv[])
|
||||
return ERROR;
|
||||
|
||||
} else {
|
||||
printf("\tBARO values: pressure: %8.4f mbar\taltitude: %8.4f m\ttemperature: %8.4f deg Celsius\n", (double)buf.pressure, (double)buf.altitude, (double)buf.temperature);
|
||||
printf("\tBARO pressure: %8.4f mbar\talt: %8.4f m\ttemp: %8.4f deg C\n", (double)buf.pressure, (double)buf.altitude, (double)buf.temperature);
|
||||
}
|
||||
|
||||
/* Let user know everything is ok */
|
||||
|
||||
@@ -168,6 +168,7 @@ mixer_load_simple(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd
|
||||
|
||||
/* let's assume we're going to read a simple mixer */
|
||||
mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(inputs));
|
||||
mixinfo->control_count = inputs;
|
||||
|
||||
/* first, get the output scaler */
|
||||
ret = mixer_getline(fd, buf, sizeof(buf));
|
||||
|
||||
@@ -98,6 +98,7 @@ CONFIGURED_APPS += drivers/stm32
|
||||
CONFIGURED_APPS += drivers/led
|
||||
CONFIGURED_APPS += drivers/stm32/tone_alarm
|
||||
CONFIGURED_APPS += drivers/px4fmu
|
||||
CONFIGURED_APPS += drivers/hil
|
||||
|
||||
# Testing stuff
|
||||
CONFIGURED_APPS += px4/sensors_bringup
|
||||
|
||||
Reference in New Issue
Block a user