mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-28 02:53:34 +08:00
Hoist the GPIO driver out and integrate it with the px4fmu driver. Move these pieces into the drivers tree.
This commit is contained in:
px4dev
@@ -294,9 +294,6 @@ __EXPORT int nsh_archinitialize(void)
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/* Get board information if available */
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/* Initialize the user GPIOs */
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px4fmu_gpio_init();
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#ifdef CONFIG_ADC
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int adc_state = adc_devinit();
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@@ -47,6 +47,8 @@
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#include <nuttx/compiler.h>
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#include <stdint.h>
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#include "stm32_internal.h"
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/****************************************************************************************************
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* Definitions
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****************************************************************************************************/
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@@ -150,17 +152,4 @@
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extern void stm32_spiinitialize(void);
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/****************************************************************************************************
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* Name: px4fmu_gpio_init
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*
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* Description:
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* Called to configure the PX4FMU user GPIOs
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*
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****************************************************************************************************/
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extern void px4fmu_gpio_init(void);
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// XXX additional SPI chipselect functions required?
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#endif /* __ASSEMBLY__ */
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+66
-16
@@ -40,25 +40,75 @@
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#include <sys/ioctl.h>
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#ifdef CONFIG_ARCH_BOARD_PX4FMU
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/*
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* GPIO defines come from a board-specific header, as they are shared
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* with board-specific logic.
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* PX4FMU GPIO numbers.
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*
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* The board-specific header must define:
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* GPIO_DEVICE_PATH
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* GPIO_RESET
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* GPIO_SET_OUTPUT
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* GPIO_SET_INPUT
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* GPIO_SET_ALT_1
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* GPIO_SET_ALT_2
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* GPIO_SET_ALT_3
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* GPIO_SET_ALT_4
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* GPIO_SET
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* GPIO_CLEAR
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* GPIO_GET
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* For shared pins, alternate function 1 selects the non-GPIO mode
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* (USART2, CAN2, etc.)
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*/
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# define GPIO_EXT_1 (1<<0) /**< high-power GPIO 1 */
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# define GPIO_EXT_2 (1<<1) /**< high-power GPIO 1 */
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# define GPIO_MULTI_1 (1<<2) /**< USART2 CTS */
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# define GPIO_MULTI_2 (1<<3) /**< USART2 RTS */
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# define GPIO_MULTI_3 (1<<4) /**< USART2 TX */
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# define GPIO_MULTI_4 (1<<5) /**< USART2 RX */
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# define GPIO_CAN_TX (1<<6) /**< CAN2 TX */
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# define GPIO_CAN_RX (1<<7) /**< CAN2 RX */
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/* Include board-specific GPIO definitions as well. */
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#include <arch/board/drv_gpio.h>
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/**
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* Default GPIO device - other devices may also support this protocol if
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* they also export GPIO-like things. This is always the GPIOs on the
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* main board.
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*/
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# define GPIO_DEVICE_PATH "/dev/px4fmu"
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#endif
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#ifndef GPIO_DEVICE_PATH
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# error No GPIO support for this board.
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#endif
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/*
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* IOCTL definitions.
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*
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* For all ioctls, the (arg) argument is a bitmask of GPIOs to be affected
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* by the operation, with the LSB being the lowest-numbered GPIO.
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*
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* Note that there may be board-specific relationships between GPIOs;
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* applications using GPIOs should be aware of this.
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*/
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#define _GPIOCBASE 0x6700
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#define GPIOC(_x) _IOC(_GPIOCBASE, _x)
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/** reset all board GPIOs to their default state */
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#define GPIO_RESET GPIOC(0)
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/** configure the board GPIOs in (arg) as outputs */
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#define GPIO_SET_OUTPUT GPIOC(1)
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/** configure the board GPIOs in (arg) as inputs */
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#define GPIO_SET_INPUT GPIOC(2)
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/** configure the board GPIOs in (arg) for the first alternate function (if supported) */
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#define GPIO_SET_ALT_1 GPIOC(3)
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/** configure the board GPIO (arg) for the second alternate function (if supported) */
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#define GPIO_SET_ALT_2 GPIOC(4)
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/** configure the board GPIO (arg) for the third alternate function (if supported) */
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#define GPIO_SET_ALT_3 GPIOC(5)
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/** configure the board GPIO (arg) for the fourth alternate function (if supported) */
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#define GPIO_SET_ALT_4 GPIOC(6)
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/** set the GPIOs in (arg) */
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#define GPIO_SET GPIOC(10)
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/** clear the GPIOs in (arg) */
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#define GPIO_CLEAR GPIOC(11)
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/** read all the GPIOs and return their values in *(uint32_t *)arg */
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#define GPIO_GET GPIOC(12)
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#endif /* _DRV_GPIO_H */
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@@ -0,0 +1,44 @@
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############################################################################
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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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# Interface driver for the PX4FMU board
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#
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APPNAME = fmu
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
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include $(APPDIR)/mk/app.mk
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@@ -0,0 +1,918 @@
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/****************************************************************************
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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 fmu.cpp
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*
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* Driver/configurator for the PX4 FMU multi-purpose port.
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*/
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#include <nuttx/config.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 <nuttx/arch.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/boards/px4fmu/px4fmu_internal.h>
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#include <systemlib/mixer/mixer.h>
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#include <drivers/drv_mixer.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <systemlib/systemlib.h>
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#include <systemlib/err.h>
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class PX4FMU : public device::CDev
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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_NONE
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};
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PX4FMU();
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~PX4FMU();
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virtual int ioctl(file *filp, 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() __attribute__((noreturn));
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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(file *filp, 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(file *filp, int cmd, unsigned long arg);
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};
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const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
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{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
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{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
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{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
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{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1},
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{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1},
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{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1},
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{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
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{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
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};
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const unsigned PX4FMU::_ngpio = sizeof(PX4FMU::_gpio_tab) / sizeof(PX4FMU::_gpio_tab[0]);
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namespace
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{
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PX4FMU *g_fmu;
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} // namespace
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PX4FMU::PX4FMU() :
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CDev("fmuservo", "/dev/px4fmu"),
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_mode(MODE_NONE),
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_update_rate(50),
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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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PX4FMU::~PX4FMU()
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{
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if (_task != -1) {
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/* tell the task we want it to go away */
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_task_should_exit = true;
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unsigned i = 10;
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do {
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/* wait 50ms - it should wake every 100ms or so worst-case */
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usleep(50000);
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/* if we have given up, kill it */
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if (--i == 0) {
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task_delete(_task);
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break;
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}
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} while (_task != -1);
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}
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/* clean up the alternate device node */
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if (_primary_pwm_device)
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unregister_driver(PWM_OUTPUT_DEVICE_PATH);
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g_fmu = nullptr;
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}
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int
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PX4FMU::init()
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{
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int ret;
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ASSERT(_task == -1);
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/* do regular cdev init */
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ret = CDev::init();
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if (ret != OK)
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return ret;
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/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
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ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
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if (ret == OK) {
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log("default PWM output device");
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_primary_pwm_device = true;
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}
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/* reset GPIOs */
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gpio_reset();
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/* start the IO interface task */
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_task = task_spawn("fmuservo",
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SCHED_DEFAULT,
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SCHED_PRIORITY_DEFAULT,
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1024,
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(main_t)&PX4FMU::task_main_trampoline,
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nullptr);
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if (_task < 0) {
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debug("task start failed: %d", errno);
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return -errno;
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}
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return OK;
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}
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void
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PX4FMU::task_main_trampoline(int argc, char *argv[])
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{
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g_fmu->task_main();
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}
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int
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PX4FMU::set_mode(Mode mode)
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{
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/*
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* Configure for PWM output.
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*
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* Note that regardless of the configured mode, the task is always
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* listening and mixing; the mode just selects which of the channels
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* are presented on the output pins.
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*/
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switch (mode) {
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case MODE_2PWM:
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debug("MODE_2PWM");
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/* multi-port with flow control lines as PWM */
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/* XXX magic numbers */
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up_pwm_servo_init(0x3);
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_update_rate = 50; /* default output rate */
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break;
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|
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case MODE_4PWM:
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debug("MODE_4PWM");
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/* multi-port as 4 PWM outs */
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/* XXX magic numbers */
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up_pwm_servo_init(0xf);
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_update_rate = 50; /* default output rate */
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break;
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|
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case MODE_NONE:
|
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debug("MODE_NONE");
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/* disable servo outputs and set a very low update rate */
|
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up_pwm_servo_deinit();
|
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_update_rate = 10;
|
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break;
|
||||
|
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default:
|
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return -EINVAL;
|
||||
}
|
||||
_mode = mode;
|
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return OK;
|
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}
|
||||
|
||||
int
|
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PX4FMU::set_pwm_rate(unsigned rate)
|
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{
|
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if ((rate > 500) || (rate < 10))
|
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return -EINVAL;
|
||||
|
||||
_update_rate = rate;
|
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return OK;
|
||||
}
|
||||
|
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void
|
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PX4FMU::task_main()
|
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{
|
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/*
|
||||
* 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 :
|
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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 = (_mode == MODE_2PWM) ? 2 : 4;
|
||||
|
||||
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
|
||||
PX4FMU::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
|
||||
PX4FMU::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 = 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:
|
||||
ret = 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
|
||||
PX4FMU::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);
|
||||
|
||||
} 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;
|
||||
}
|
||||
|
||||
void
|
||||
PX4FMU::gpio_reset(void)
|
||||
{
|
||||
/*
|
||||
* Setup default GPIO config - all pins as GPIOs, GPIO driver chip
|
||||
* to input mode.
|
||||
*/
|
||||
for (unsigned i = 0; i < _ngpio; i++)
|
||||
stm32_configgpio(_gpio_tab[i].input);
|
||||
|
||||
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
|
||||
stm32_configgpio(GPIO_GPIO_DIR);
|
||||
}
|
||||
|
||||
void
|
||||
PX4FMU::gpio_set_function(uint32_t gpios, int function)
|
||||
{
|
||||
/*
|
||||
* GPIOs 0 and 1 must have the same direction as they are buffered
|
||||
* by a shared 2-port driver. Any attempt to set either sets both.
|
||||
*/
|
||||
if (gpios & 3) {
|
||||
gpios |= 3;
|
||||
|
||||
/* flip the buffer to output mode if required */
|
||||
if (GPIO_SET_OUTPUT == function)
|
||||
stm32_gpiowrite(GPIO_GPIO_DIR, 1);
|
||||
}
|
||||
|
||||
/* configure selected GPIOs as required */
|
||||
for (unsigned i = 0; i < _ngpio; i++) {
|
||||
if (gpios & (1<<i)) {
|
||||
switch (function) {
|
||||
case GPIO_SET_INPUT:
|
||||
stm32_configgpio(_gpio_tab[i].input);
|
||||
break;
|
||||
case GPIO_SET_OUTPUT:
|
||||
stm32_configgpio(_gpio_tab[i].output);
|
||||
break;
|
||||
case GPIO_SET_ALT_1:
|
||||
if (_gpio_tab[i].alt != 0)
|
||||
stm32_configgpio(_gpio_tab[i].alt);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* flip buffer to input mode if required */
|
||||
if ((GPIO_SET_INPUT == function) && (gpios & 3))
|
||||
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
|
||||
}
|
||||
|
||||
void
|
||||
PX4FMU::gpio_write(uint32_t gpios, int function)
|
||||
{
|
||||
int value = (function == GPIO_SET) ? 1 : 0;
|
||||
|
||||
for (unsigned i = 0; i < _ngpio; i++)
|
||||
if (gpios & (1<<i))
|
||||
stm32_gpiowrite(_gpio_tab[i].output, value);
|
||||
}
|
||||
|
||||
uint32_t
|
||||
PX4FMU::gpio_read(void)
|
||||
{
|
||||
uint32_t bits = 0;
|
||||
|
||||
for (unsigned i = 0; i < _ngpio; i++)
|
||||
if (stm32_gpioread(_gpio_tab[i].input))
|
||||
bits |= (1 << i);
|
||||
|
||||
return bits;
|
||||
}
|
||||
|
||||
int
|
||||
PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
int ret = OK;
|
||||
|
||||
lock();
|
||||
|
||||
switch (cmd) {
|
||||
|
||||
case GPIO_RESET:
|
||||
gpio_reset();
|
||||
break;
|
||||
|
||||
case GPIO_SET_OUTPUT:
|
||||
case GPIO_SET_INPUT:
|
||||
case GPIO_SET_ALT_1:
|
||||
gpio_set_function(arg, cmd);
|
||||
break;
|
||||
|
||||
case GPIO_SET_ALT_2:
|
||||
case GPIO_SET_ALT_3:
|
||||
case GPIO_SET_ALT_4:
|
||||
ret = -EINVAL;
|
||||
break;
|
||||
|
||||
case GPIO_SET:
|
||||
case GPIO_CLEAR:
|
||||
gpio_write(arg, cmd);
|
||||
break;
|
||||
|
||||
case GPIO_GET:
|
||||
*(uint32_t *)arg = gpio_read();
|
||||
break;
|
||||
|
||||
default:
|
||||
ret = -ENOTTY;
|
||||
}
|
||||
|
||||
unlock();
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
namespace
|
||||
{
|
||||
|
||||
enum PortMode {
|
||||
PORT_MODE_UNSET = 0,
|
||||
PORT_FULL_GPIO,
|
||||
PORT_FULL_SERIAL,
|
||||
PORT_FULL_PWM,
|
||||
PORT_GPIO_AND_SERIAL,
|
||||
PORT_PWM_AND_SERIAL,
|
||||
PORT_PWM_AND_GPIO,
|
||||
};
|
||||
|
||||
PortMode g_port_mode;
|
||||
|
||||
int
|
||||
fmu_new_mode(PortMode new_mode, int update_rate)
|
||||
{
|
||||
uint32_t gpio_bits;
|
||||
PX4FMU::Mode servo_mode;
|
||||
|
||||
/* reset to all-inputs */
|
||||
g_fmu->ioctl(0, GPIO_RESET, 0);
|
||||
|
||||
gpio_bits = 0;
|
||||
servo_mode = PX4FMU::MODE_NONE;
|
||||
|
||||
switch (new_mode) {
|
||||
case PORT_FULL_GPIO:
|
||||
case PORT_MODE_UNSET:
|
||||
/* nothing more to do here */
|
||||
break;
|
||||
|
||||
case PORT_FULL_SERIAL:
|
||||
/* set all multi-GPIOs to serial mode */
|
||||
gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4;
|
||||
break;
|
||||
|
||||
case PORT_FULL_PWM:
|
||||
/* select 4-pin PWM mode */
|
||||
servo_mode = PX4FMU::MODE_4PWM;
|
||||
break;
|
||||
|
||||
case PORT_GPIO_AND_SERIAL:
|
||||
/* set RX/TX multi-GPIOs to serial mode */
|
||||
gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
|
||||
break;
|
||||
|
||||
case PORT_PWM_AND_SERIAL:
|
||||
/* select 2-pin PWM mode */
|
||||
servo_mode = PX4FMU::MODE_2PWM;
|
||||
/* set RX/TX multi-GPIOs to serial mode */
|
||||
gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
|
||||
break;
|
||||
|
||||
case PORT_PWM_AND_GPIO:
|
||||
/* select 2-pin PWM mode */
|
||||
servo_mode = PX4FMU::MODE_2PWM;
|
||||
break;
|
||||
}
|
||||
|
||||
/* adjust GPIO config for serial mode(s) */
|
||||
if (gpio_bits != 0)
|
||||
g_fmu->ioctl(0, GPIO_SET_ALT_1, gpio_bits);
|
||||
|
||||
/* (re)set the PWM output mode */
|
||||
g_fmu->set_mode(servo_mode);
|
||||
if ((servo_mode != PX4FMU::MODE_NONE) && (update_rate != 0))
|
||||
g_fmu->set_pwm_rate(update_rate);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int
|
||||
fmu_start(void)
|
||||
{
|
||||
int ret = OK;
|
||||
|
||||
if (g_fmu == nullptr) {
|
||||
|
||||
g_fmu = new PX4FMU;
|
||||
|
||||
if (g_fmu == nullptr) {
|
||||
ret = -ENOMEM;
|
||||
|
||||
} else {
|
||||
ret = g_fmu->init();
|
||||
|
||||
if (ret != OK) {
|
||||
delete g_fmu;
|
||||
g_fmu = 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("fmu 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 fmu_main(int argc, char *argv[]);
|
||||
|
||||
int
|
||||
fmu_main(int argc, char *argv[])
|
||||
{
|
||||
PortMode new_mode = PORT_MODE_UNSET;
|
||||
int pwm_update_rate_in_hz = 0;
|
||||
|
||||
if (!strcmp(argv[1], "test"))
|
||||
test();
|
||||
|
||||
if (!strcmp(argv[1], "fake"))
|
||||
fake(argc - 1, argv + 1);
|
||||
|
||||
if (fmu_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_gpio")) {
|
||||
new_mode = PORT_FULL_GPIO;
|
||||
|
||||
} else if (!strcmp(argv[i], "mode_serial")) {
|
||||
new_mode = PORT_FULL_SERIAL;
|
||||
|
||||
} else if (!strcmp(argv[i], "mode_pwm")) {
|
||||
new_mode = PORT_FULL_PWM;
|
||||
|
||||
} else if (!strcmp(argv[i], "mode_gpio_serial")) {
|
||||
new_mode = PORT_GPIO_AND_SERIAL;
|
||||
|
||||
} else if (!strcmp(argv[i], "mode_pwm_serial")) {
|
||||
new_mode = PORT_PWM_AND_SERIAL;
|
||||
|
||||
} else if (!strcmp(argv[i], "mode_pwm_gpio")) {
|
||||
new_mode = PORT_PWM_AND_GPIO;
|
||||
}
|
||||
|
||||
/* 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) {
|
||||
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_UNSET) {
|
||||
|
||||
/* yes but it's the same mode */
|
||||
if (new_mode == g_port_mode)
|
||||
return OK;
|
||||
|
||||
/* switch modes */
|
||||
return fmu_new_mode(new_mode, pwm_update_rate_in_hz);
|
||||
}
|
||||
|
||||
/* test, etc. here */
|
||||
|
||||
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;
|
||||
}
|
||||
Reference in New Issue
Block a user