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Rework the PX4IO software architecture:

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- Use a separate thread for handing R/C inputs and outputs.
 - Remove all PX4IO R/C receiver configuration; it's all automatic now.
 - Rework the main loop, dedicate it to PX4FMU communications after startup.
 - Fix several issues in the px4io driver that would cause a crash if PX4IO was not responding.
This commit is contained in:
px4dev
2012-11-30 00:02:47 -08:00
parent e153476950
commit 9fa794a8fa
10 changed files with 288 additions and 308 deletions
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apps/drivers/px4io/px4io.cpp
+33 -63
View File
@@ -87,15 +87,13 @@ public:
virtual int ioctl(file *filp, int cmd, unsigned long arg);
void set_rx_mode(unsigned mode);
private:
static const unsigned _max_actuators = PX4IO_OUTPUT_CHANNELS;
int _serial_fd; ///< serial interface to PX4IO
hx_stream_t _io_stream; ///< HX protocol stream
int _task; ///< worker task
volatile int _task; ///< worker task
volatile bool _task_should_exit;
volatile bool _connected; ///< true once we have received a valid frame
@@ -121,8 +119,6 @@ private:
bool _send_needed; ///< If true, we need to send a packet to IO
bool _config_needed; ///< if true, we need to set a config update to IO
uint8_t _rx_mode; ///< the current RX mode on IO
/**
* Trampoline to the worker task
*/
@@ -190,8 +186,7 @@ PX4IO::PX4IO() :
_primary_pwm_device(false),
_switch_armed(false),
_send_needed(false),
_config_needed(false),
_rx_mode(RX_MODE_PPM_ONLY)
_config_needed(false)
{
/* we need this potentially before it could be set in task_main */
g_dev = this;
@@ -201,33 +196,17 @@ PX4IO::PX4IO() :
PX4IO::~PX4IO()
{
if (_task != -1) {
/* tell the task we want it to go away */
_task_should_exit = true;
/* tell the task we want it to go away */
_task_should_exit = true;
/* spin waiting for the thread to stop */
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);
/* spin waiting for the task to stop */
for (unsigned i = 0; (i < 10) && (_task != -1); i++) {
/* give it another 100ms */
usleep(100000);
}
/* clean up the alternate device node */
if (_primary_pwm_device)
unregister_driver(PWM_OUTPUT_DEVICE_PATH);
/* kill the HX stream */
if (_io_stream != nullptr)
hx_stream_free(_io_stream);
/* well, kill it anyway, though this will probably crash */
if (_task != -1)
task_delete(_task);
g_dev = nullptr;
}
@@ -295,6 +274,16 @@ PX4IO::task_main()
goto out;
}
/* 115200bps, no parity, one stop bit */
{
struct termios t;
tcgetattr(_serial_fd, &t);
cfsetspeed(&t, 115200);
t.c_cflag &= ~(CSTOPB | PARENB);
tcsetattr(_serial_fd, TCSANOW, &t);
}
/* protocol stream */
_io_stream = hx_stream_init(_serial_fd, &PX4IO::rx_callback_trampoline, this);
if (_io_stream == nullptr) {
@@ -402,8 +391,16 @@ PX4IO::task_main()
}
out:
debug("exiting");
/* kill the HX stream */
if (_io_stream != nullptr)
hx_stream_free(_io_stream);
::close(_serial_fd);
/* clean up the alternate device node */
if (_primary_pwm_device)
unregister_driver(PWM_OUTPUT_DEVICE_PATH);
/* tell the dtor that we are exiting */
_task = -1;
@@ -514,7 +511,6 @@ PX4IO::config_send()
int ret;
cfg.f2i_config_magic = F2I_CONFIG_MAGIC;
cfg.serial_rx_mode = _rx_mode;
ret = hx_stream_send(_io_stream, &cfg, sizeof(cfg));
if (ret)
@@ -634,17 +630,6 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
return ret;
}
void
PX4IO::set_rx_mode(unsigned mode)
{
/*
* Always (re)set the rx mode; makes testing
* easier after PX4IO has been restarted.
*/
_rx_mode = mode;
_config_needed = true;
}
extern "C" __EXPORT int px4io_main(int argc, char *argv[]);
namespace
@@ -748,25 +733,10 @@ px4io_main(int argc, char *argv[])
if (!strcmp(argv[1], "rx_dsm") ||
!strcmp(argv[1], "rx_dsm_10bit") ||
!strcmp(argv[1], "rx_dsm_11bit")) {
if (g_dev == nullptr)
errx(1, "not started");
g_dev->set_rx_mode(RX_MODE_DSM);
exit(0);
}
if (!strcmp(argv[1], "rx_sbus")) {
if (g_dev == nullptr)
errx(1, "not started");
g_dev->set_rx_mode(RX_MODE_FUTABA_SBUS);
exit(0);
}
if (!strcmp(argv[1], "rx_ppm")) {
if (g_dev == nullptr)
errx(1, "not started");
g_dev->set_rx_mode(RX_MODE_PPM_ONLY);
exit(0);
}
!strcmp(argv[1], "rx_dsm_11bit") ||
!strcmp(argv[1], "rx_sbus") ||
!strcmp(argv[1], "rx_ppm"))
errx(0, "receiver type is automatically detected, option '%s' is deprecated", argv[1]);
if (!strcmp(argv[1], "test"))
test();