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Updated PX4 use / API of low level GPIO and other hardware-centric system facilities

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This commit is contained in:
Lorenz Meier
2016-05-28 14:56:17 +02:00
parent c2e2645c82
commit 7398164fcc
89 changed files with 1294 additions and 1087 deletions
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src/modules/commander/state_machine_helper.cpp
+3 -2
View File
@@ -39,6 +39,7 @@
* @author Julian Oes <julian@oes.ch>
* @author Sander Smeets <sander@droneslab.com>
*/
#include <px4_config.h>
#include <stdio.h>
#include <unistd.h>
@@ -167,7 +168,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
* Perform an atomic state update
*/
#ifdef __PX4_NUTTX
irqstate_t flags = irqsave();
irqstate_t flags = px4_enter_critical_section();
#endif
/* enforce lockdown in HIL */
@@ -306,7 +307,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
/* end of atomic state update */
#ifdef __PX4_NUTTX
irqrestore(flags);
px4_leave_critical_section(flags);
#endif
}
src/modules/px4iofirmware/controls.c
+2 -2
View File
@@ -542,7 +542,7 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
}
/* avoid racing with PPM updates */
irqstate_t state = irqsave();
irqstate_t state = px4_enter_critical_section();
/*
* If we have received a new PPM frame within the last 200ms, accept it
@@ -571,7 +571,7 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
result = (*num_values > 0);
}
irqrestore(state);
px4_leave_critical_section(state);
return result;
}
src/modules/px4iofirmware/i2c.c
+4 -4
View File
@@ -112,8 +112,8 @@ interface_init(void)
modifyreg32(STM32_RCC_APB1RSTR, RCC_APB1RSTR_I2C1RST, 0);
/* configure the i2c GPIOs */
stm32_configgpio(GPIO_I2C1_SCL);
stm32_configgpio(GPIO_I2C1_SDA);
px4_arch_configgpio(GPIO_I2C1_SCL);
px4_arch_configgpio(GPIO_I2C1_SDA);
/* soft-reset the block */
rCR1 |= I2C_CR1_SWRST;
@@ -301,12 +301,12 @@ i2c_rx_complete(void)
}
/* disable interrupts while reconfiguring DMA for the selected registers */
irqstate_t flags = irqsave();
irqstate_t flags = px4_enter_critical_section();
stm32_dmastop(tx_dma);
i2c_tx_setup();
irqrestore(flags);
px4_leave_critical_section(flags);
}
}
src/modules/px4iofirmware/px4io.h
+14 -14
View File
@@ -151,22 +151,22 @@ extern pwm_limit_t pwm_limit;
/*
* GPIO handling.
*/
#define LED_BLUE(_s) stm32_gpiowrite(GPIO_LED1, !(_s))
#define LED_AMBER(_s) stm32_gpiowrite(GPIO_LED2, !(_s))
#define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s))
#define LED_RING(_s) stm32_gpiowrite(GPIO_LED4, (_s))
#define LED_BLUE(_s) px4_arch_gpiowrite(GPIO_LED1, !(_s))
#define LED_AMBER(_s) px4_arch_gpiowrite(GPIO_LED2, !(_s))
#define LED_SAFETY(_s) px4_arch_gpiowrite(GPIO_LED3, !(_s))
#define LED_RING(_s) px4_arch_gpiowrite(GPIO_LED4, (_s))
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
# define PX4IO_RELAY_CHANNELS 4
# define POWER_SERVO(_s) stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s))
# define POWER_ACC1(_s) stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s))
# define POWER_ACC2(_s) stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s))
# define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
# define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
# define POWER_SERVO(_s) px4_arch_gpiowrite(GPIO_SERVO_PWR_EN, (_s))
# define POWER_ACC1(_s) px4_arch_gpiowrite(GPIO_ACC1_PWR_EN, (_s))
# define POWER_ACC2(_s) px4_arch_gpiowrite(GPIO_ACC2_PWR_EN, (_s))
# define POWER_RELAY1(_s) px4_arch_gpiowrite(GPIO_RELAY1_EN, (_s))
# define POWER_RELAY2(_s) px4_arch_gpiowrite(GPIO_RELAY2_EN, (_s))
# define OVERCURRENT_ACC (!stm32_gpioread(GPIO_ACC_OC_DETECT))
# define OVERCURRENT_SERVO (!stm32_gpioread(GPIO_SERVO_OC_DETECT))
# define OVERCURRENT_ACC (!px4_arch_gpioread(GPIO_ACC_OC_DETECT))
# define OVERCURRENT_SERVO (!px4_arch_gpioread(GPIO_SERVO_OC_DETECT))
# define PX4IO_ADC_CHANNEL_COUNT 2
# define ADC_VBATT 4
@@ -177,9 +177,9 @@ extern pwm_limit_t pwm_limit;
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
# define PX4IO_RELAY_CHANNELS 0
# define ENABLE_SBUS_OUT(_s) stm32_gpiowrite(GPIO_SBUS_OENABLE, !(_s))
# define ENABLE_SBUS_OUT(_s) px4_arch_gpiowrite(GPIO_SBUS_OENABLE, !(_s))
# define VDD_SERVO_FAULT (!stm32_gpioread(GPIO_SERVO_FAULT_DETECT))
# define VDD_SERVO_FAULT (!px4_arch_gpioread(GPIO_SERVO_FAULT_DETECT))
# define PX4IO_ADC_CHANNEL_COUNT 2
# define ADC_VSERVO 4
@@ -187,7 +187,7 @@ extern pwm_limit_t pwm_limit;
#endif
#define BUTTON_SAFETY stm32_gpioread(GPIO_BTN_SAFETY)
#define BUTTON_SAFETY px4_arch_gpioread(GPIO_BTN_SAFETY)
#define CONTROL_PAGE_INDEX(_group, _channel) (_group * PX4IO_CONTROL_CHANNELS + _channel)
src/modules/px4iofirmware/serial.c
+2 -2
View File
@@ -104,8 +104,8 @@ interface_init(void)
rx_dma = stm32_dmachannel(PX4FMU_SERIAL_RX_DMA);
/* configure pins for serial use */
stm32_configgpio(PX4FMU_SERIAL_TX_GPIO);
stm32_configgpio(PX4FMU_SERIAL_RX_GPIO);
px4_arch_configgpio(PX4FMU_SERIAL_TX_GPIO);
px4_arch_configgpio(PX4FMU_SERIAL_RX_GPIO);
/* reset and configure the UART */
rCR1 = 0;
src/modules/systemlib/param/param.c
+3 -3
View File
@@ -807,17 +807,17 @@ param_bus_lock(bool lock)
// XXX this would be the preferred locking method
// if (dev == nullptr) {
// dev = up_spiinitialize(PX4_SPI_BUS_BARO);
// dev = px4_spibus_initialize(PX4_SPI_BUS_BARO);
// }
// SPI_LOCK(dev, lock);
// we lock like this for Pixracer for now
if (lock) {
irq_state = irqsave();
irq_state = px4_enter_critical_section();
} else {
irqrestore(irq_state);
px4_leave_critical_section(irq_state);
}
#endif
src/modules/systemlib/px4_macros.h
+103
View File
@@ -0,0 +1,103 @@
/****************************************************************************
*
* Copyright (C) 2014 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 px4_macros.h
*
* A set of useful macros for enhanced runtime and compile time
* error detection and warning suppression.
*
* Define NO_BLOAT to reduce bloat from file name inclusion.
*
* The arraySize() will compute the size of an array regardless
* it's type
*
* INVALID_CASE(c) should be used is case statements to ferret out
* unintended behavior
*
* UNUSED(var) will suppress compile time warnings of unused
* variables
*
* CCASSERT(predicate) Will generate a compile time error it the
* predicate is false
*/
#include <assert.h>
#ifndef _PX4_MACROS_H
#define _PX4_MACROS_H
#if !defined(arraySize)
#define arraySize(a) (sizeof((a))/sizeof((a[0])))
#endif
#if !defined(NO_BLOAT)
#if defined(__BASE_FILE__)
#define _FILE_NAME_ __BASE_FILE__
#else
#define _FILE_NAME_ __FILE__
#endif
#else
#define _FILE_NAME_ ""
#endif
#if !defined(INVALID_CASE)
#define INVALID_CASE(c) printf("Invalid Case %d, %s:%d",(c),__BASE_FILE__,__LINE__) /* todo use PANIC */
#endif
#if !defined(UNUSED)
#define UNUSED(var) (void)(var)
#endif
#if !defined(CAT)
#if !defined(_CAT)
#define _CAT(a, b) a ## b
#endif
#define CAT(a, b) _CAT(a, b)
#endif
#if !defined(CCASSERT)
#if defined(static_assert)
# define CCASSERT(predicate) static_assert(predicate)
# else
# define CCASSERT(predicate) _x_CCASSERT_LINE(predicate, __LINE__)
# if !defined(_x_CCASSERT_LINE)
# define _x_CCASSERT_LINE(predicate, line) typedef char CAT(constraint_violated_on_line_,line)[2*((predicate)!=0)-1] __attribute__ ((unused)) ;
# endif
# endif
#endif
#define DO_PRAGMA(x) _Pragma (#x)
#define TODO(x) DO_PRAGMA(message ("TODO - " #x))
#endif /* _PX4_MACROS_H */
src/modules/uORB/uORBDevices_nuttx.cpp
+8 -8
View File
@@ -183,7 +183,7 @@ uORB::DeviceNode::read(struct file *filp, char *buffer, size_t buflen)
/*
* Perform an atomic copy & state update
*/
irqstate_t flags = irqsave();
irqstate_t flags = px4_enter_critical_section();
/* if the caller doesn't want the data, don't give it to them */
if (nullptr != buffer) {
@@ -202,7 +202,7 @@ uORB::DeviceNode::read(struct file *filp, char *buffer, size_t buflen)
*/
sd->update_reported = false;
irqrestore(flags);
px4_leave_critical_section(flags);
return _meta->o_size;
}
@@ -244,7 +244,7 @@ uORB::DeviceNode::write(struct file *filp, const char *buffer, size_t buflen)
}
/* Perform an atomic copy. */
irqstate_t flags = irqsave();
irqstate_t flags = px4_enter_critical_section();
memcpy(_data, buffer, _meta->o_size);
/* update the timestamp and generation count */
@@ -253,7 +253,7 @@ uORB::DeviceNode::write(struct file *filp, const char *buffer, size_t buflen)
_published = true;
irqrestore(flags);
px4_leave_critical_section(flags);
/* notify any poll waiters */
poll_notify(POLLIN);
@@ -268,9 +268,9 @@ uORB::DeviceNode::ioctl(struct file *filp, int cmd, unsigned long arg)
switch (cmd) {
case ORBIOCLASTUPDATE: {
irqstate_t state = irqsave();
irqstate_t state = px4_enter_critical_section();
*(hrt_abstime *)arg = _last_update;
irqrestore(state);
px4_leave_critical_section(state);
return OK;
}
@@ -400,7 +400,7 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
bool ret = false;
/* avoid racing between interrupt and non-interrupt context calls */
irqstate_t state = irqsave();
irqstate_t state = px4_enter_critical_section();
/* check if this topic has been published yet, if not bail out */
if (_data == nullptr) {
@@ -466,7 +466,7 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
}
out:
irqrestore(state);
px4_leave_critical_section(state);
/* consider it updated */
return ret;
src/modules/uavcan/sensors/baro.cpp
+3 -3
View File
@@ -123,14 +123,14 @@ int UavcanBarometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
return -EINVAL;
}
irqstate_t flags = irqsave();
irqstate_t flags = px4_enter_critical_section();
if (!_reports.resize(arg)) {
irqrestore(flags);
px4_leave_critical_section(flags);
return -ENOMEM;
}
irqrestore(flags);
px4_leave_critical_section(flags);
return OK;
}
src/modules/uavcan/uavcan_main.cpp
+4 -4
View File
@@ -537,12 +537,12 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
* fail during initialization.
*/
#if defined(GPIO_CAN1_RX)
stm32_configgpio(GPIO_CAN1_RX);
stm32_configgpio(GPIO_CAN1_TX);
px4_arch_configgpio(GPIO_CAN1_RX);
px4_arch_configgpio(GPIO_CAN1_TX);
#endif
#if defined(GPIO_CAN2_RX)
stm32_configgpio(GPIO_CAN2_RX | GPIO_PULLUP);
stm32_configgpio(GPIO_CAN2_TX);
px4_arch_configgpio(GPIO_CAN2_RX | GPIO_PULLUP);
px4_arch_configgpio(GPIO_CAN2_TX);
#endif
#if !defined(GPIO_CAN1_RX) && !defined(GPIO_CAN2_RX)
# error "Need to define GPIO_CAN1_RX and/or GPIO_CAN2_RX"