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Rework the PX4IO software architecture:

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files
apps/drivers/px4io/px4io.cpp
+33 -63
View File
@@ -87,15 +87,13 @@ public:
virtual int ioctl(file *filp, int cmd, unsigned long arg); virtual int ioctl(file *filp, int cmd, unsigned long arg);
void set_rx_mode(unsigned mode);
private: private:
static const unsigned _max_actuators = PX4IO_OUTPUT_CHANNELS; static const unsigned _max_actuators = PX4IO_OUTPUT_CHANNELS;
int _serial_fd; ///< serial interface to PX4IO int _serial_fd; ///< serial interface to PX4IO
hx_stream_t _io_stream; ///< HX protocol stream hx_stream_t _io_stream; ///< HX protocol stream
int _task; ///< worker task volatile int _task; ///< worker task
volatile bool _task_should_exit; volatile bool _task_should_exit;
volatile bool _connected; ///< true once we have received a valid frame 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 _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 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 * Trampoline to the worker task
*/ */
@@ -190,8 +186,7 @@ PX4IO::PX4IO() :
_primary_pwm_device(false), _primary_pwm_device(false),
_switch_armed(false), _switch_armed(false),
_send_needed(false), _send_needed(false),
_config_needed(false), _config_needed(false)
_rx_mode(RX_MODE_PPM_ONLY)
{ {
/* we need this potentially before it could be set in task_main */ /* we need this potentially before it could be set in task_main */
g_dev = this; g_dev = this;
@@ -201,33 +196,17 @@ PX4IO::PX4IO() :
PX4IO::~PX4IO() PX4IO::~PX4IO()
{ {
if (_task != -1) { /* tell the task we want it to go away */
/* tell the task we want it to go away */ _task_should_exit = true;
_task_should_exit = true;
/* spin waiting for the thread to stop */ /* spin waiting for the task to stop */
unsigned i = 10; for (unsigned i = 0; (i < 10) && (_task != -1); i++) {
/* give it another 100ms */
do { usleep(100000);
/* 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);
} }
/* well, kill it anyway, though this will probably crash */
/* clean up the alternate device node */ if (_task != -1)
if (_primary_pwm_device) task_delete(_task);
unregister_driver(PWM_OUTPUT_DEVICE_PATH);
/* kill the HX stream */
if (_io_stream != nullptr)
hx_stream_free(_io_stream);
g_dev = nullptr; g_dev = nullptr;
} }
@@ -295,6 +274,16 @@ PX4IO::task_main()
goto out; 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 */ /* protocol stream */
_io_stream = hx_stream_init(_serial_fd, &PX4IO::rx_callback_trampoline, this); _io_stream = hx_stream_init(_serial_fd, &PX4IO::rx_callback_trampoline, this);
if (_io_stream == nullptr) { if (_io_stream == nullptr) {
@@ -402,8 +391,16 @@ PX4IO::task_main()
} }
out: out:
debug("exiting");
/* kill the HX stream */
if (_io_stream != nullptr) if (_io_stream != nullptr)
hx_stream_free(_io_stream); 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 */ /* tell the dtor that we are exiting */
_task = -1; _task = -1;
@@ -514,7 +511,6 @@ PX4IO::config_send()
int ret; int ret;
cfg.f2i_config_magic = F2I_CONFIG_MAGIC; cfg.f2i_config_magic = F2I_CONFIG_MAGIC;
cfg.serial_rx_mode = _rx_mode;
ret = hx_stream_send(_io_stream, &cfg, sizeof(cfg)); ret = hx_stream_send(_io_stream, &cfg, sizeof(cfg));
if (ret) if (ret)
@@ -634,17 +630,6 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
return ret; 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[]); extern "C" __EXPORT int px4io_main(int argc, char *argv[]);
namespace namespace
@@ -748,25 +733,10 @@ px4io_main(int argc, char *argv[])
if (!strcmp(argv[1], "rx_dsm") || if (!strcmp(argv[1], "rx_dsm") ||
!strcmp(argv[1], "rx_dsm_10bit") || !strcmp(argv[1], "rx_dsm_10bit") ||
!strcmp(argv[1], "rx_dsm_11bit")) { !strcmp(argv[1], "rx_dsm_11bit") ||
if (g_dev == nullptr) !strcmp(argv[1], "rx_sbus") ||
errx(1, "not started"); !strcmp(argv[1], "rx_ppm"))
g_dev->set_rx_mode(RX_MODE_DSM); errx(0, "receiver type is automatically detected, option '%s' is deprecated", argv[1]);
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);
}
if (!strcmp(argv[1], "test")) if (!strcmp(argv[1], "test"))
test(); test();
apps/px4io/comms.c
+38 -113
View File
@@ -32,10 +32,11 @@
****************************************************************************/ ****************************************************************************/
/** /**
* @file FMU communication for the PX4IO module. * @file comms.c
*
* FMU communication for the PX4IO module.
*/ */
#include <nuttx/config.h> #include <nuttx/config.h>
#include <stdio.h> #include <stdio.h>
#include <stdbool.h> #include <stdbool.h>
@@ -44,7 +45,6 @@
#include <debug.h> #include <debug.h>
#include <stdlib.h> #include <stdlib.h>
#include <errno.h> #include <errno.h>
#include <termios.h>
#include <string.h> #include <string.h>
#include <poll.h> #include <poll.h>
@@ -54,101 +54,50 @@
#include <systemlib/hx_stream.h> #include <systemlib/hx_stream.h>
#include <systemlib/perf_counter.h> #include <systemlib/perf_counter.h>
#define DEBUG
#include "px4io.h" #include "px4io.h"
#define FMU_MIN_REPORT_INTERVAL 5000 /* 5ms */ #define FMU_MIN_REPORT_INTERVAL 5000 /* 5ms */
#define FMU_MAX_REPORT_INTERVAL 100000 /* 100ms */ #define FMU_MAX_REPORT_INTERVAL 100000 /* 100ms */
int frame_rx;
int frame_bad;
static int fmu_fd; static int fmu_fd;
static hx_stream_t stream; static hx_stream_t stream;
static int rx_fd;
static struct px4io_report report; static struct px4io_report report;
static void comms_handle_frame(void *arg, const void *buffer, size_t length); static void comms_handle_frame(void *arg, const void *buffer, size_t length);
static struct pollfd pollfds[2];
static int pollcount;
void void
comms_init(void) comms_init(void)
{ {
/* initialise the FMU interface */ /* initialise the FMU interface */
fmu_fd = open("/dev/ttyS1", O_RDWR | O_NONBLOCK); fmu_fd = open("/dev/ttyS1", O_RDWR | O_NONBLOCK);
if (fmu_fd < 0)
lib_lowprintf("COMMS: fmu open failed %d\n", errno);
stream = hx_stream_init(fmu_fd, comms_handle_frame, NULL); stream = hx_stream_init(fmu_fd, comms_handle_frame, NULL);
pollfds[0].fd = fmu_fd;
pollfds[0].events = POLLIN;
pollcount = 1;
/* default state in the report to FMU */ /* default state in the report to FMU */
report.i2f_magic = I2F_MAGIC; report.i2f_magic = I2F_MAGIC;
}
static void
serial_rx_init(unsigned serial_mode)
{
if (serial_mode == system_state.serial_rx_mode)
return;
system_state.serial_rx_mode = serial_mode;
if (serial_mode == RX_MODE_PPM_ONLY) {
if (rx_fd != -1) {
pollcount = 1;
close(rx_fd);
rx_fd = -1;
}
return;
}
/* open the serial port used for DSM and S.bus communication */
rx_fd = open("/dev/ttyS0", O_RDONLY | O_NONBLOCK);
pollfds[1].fd = rx_fd;
pollfds[1].events = POLLIN;
pollcount = 2;
struct termios t;
tcgetattr(rx_fd, &t);
switch (serial_mode) {
case RX_MODE_DSM:
/* 115200, no parity, one stop bit */
cfsetspeed(&t, 115200);
t.c_cflag &= ~(CSTOPB | PARENB);
dsm_init(serial_mode);
break;
case RX_MODE_FUTABA_SBUS:
/* 100000, even parity, two stop bits */
cfsetspeed(&t, 100000);
t.c_cflag |= (CSTOPB | PARENB);
sbus_init(serial_mode);
break;
default:
break;
}
tcsetattr(rx_fd, TCSANOW, &t);
} }
void void
comms_check(void) comms_main(void)
{ {
/*
* Check for serial data
*/
int ret = poll(pollfds, pollcount, 0);
if (ret > 0) { struct pollfd fds;
fds.fd = fmu_fd;
fds.events = POLLIN;
debug("FMU: ready");
for (;;) {
/* wait for serial data, but no more than 100ms */
poll(&fds, 1, 100);
/* /*
* Pull bytes from FMU and feed them to the HX engine. * Pull bytes from FMU and feed them to the HX engine.
* Limit the number of bytes we actually process on any one iteration. * Limit the number of bytes we actually process on any one iteration.
*/ */
if (pollfds[0].revents & POLLIN) { if (fds.revents & POLLIN) {
char buf[32]; char buf[32];
ssize_t count = read(fmu_fd, buf, sizeof(buf)); ssize_t count = read(fmu_fd, buf, sizeof(buf));
for (int i = 0; i < count; i++) for (int i = 0; i < count; i++)
@@ -156,54 +105,32 @@ comms_check(void)
} }
/* /*
* Pull bytes from the serial RX port and feed them to the decoder * Decide if it's time to send an update to the FMU.
* if we care about serial RX data.
*/ */
if ((pollcount > 1) && (pollfds[1].revents & POLLIN)) { static hrt_abstime last_report_time;
switch (system_state.serial_rx_mode) { hrt_abstime now, delta;
case RX_MODE_DSM:
dsm_input(rx_fd);
break;
case RX_MODE_FUTABA_SBUS: /* should we send a report to the FMU? */
sbus_input(rx_fd); now = hrt_absolute_time();
break; delta = now - last_report_time;
if ((delta > FMU_MIN_REPORT_INTERVAL) &&
(system_state.fmu_report_due || (delta > FMU_MAX_REPORT_INTERVAL))) {
default: system_state.fmu_report_due = false;
break; last_report_time = now;
}
/* populate the report */
for (int i = 0; i < system_state.rc_channels; i++)
report.rc_channel[i] = system_state.rc_channel_data[i];
report.channel_count = system_state.rc_channels;
report.armed = system_state.armed;
/* and send it */
hx_stream_send(stream, &report, sizeof(report));
} }
} }
/*
* Decide if it's time to send an update to the FMU.
*/
static hrt_abstime last_report_time;
hrt_abstime now, delta;
/* should we send a report to the FMU? */
now = hrt_absolute_time();
delta = now - last_report_time;
if ((delta > FMU_MIN_REPORT_INTERVAL) &&
(system_state.fmu_report_due || (delta > FMU_MAX_REPORT_INTERVAL))) {
system_state.fmu_report_due = false;
last_report_time = now;
/* populate the report */
for (int i = 0; i < system_state.rc_channels; i++)
report.rc_channel[i] = system_state.rc_channel_data[i];
report.channel_count = system_state.rc_channels;
report.armed = system_state.armed;
/* and send it */
hx_stream_send(stream, &report, sizeof(report));
}
} }
int frame_rx;
int frame_bad;
static void static void
comms_handle_config(const void *buffer, size_t length) comms_handle_config(const void *buffer, size_t length)
{ {
@@ -215,8 +142,6 @@ comms_handle_config(const void *buffer, size_t length)
} }
frame_rx++; frame_rx++;
serial_rx_init(cfg->serial_rx_mode);
} }
static void static void
@@ -274,9 +199,9 @@ comms_handle_frame(void *arg, const void *buffer, size_t length)
comms_handle_config(buffer, length); comms_handle_config(buffer, length);
break; break;
default: default:
frame_bad++;
break; break;
} }
} }
frame_bad++;
} }
apps/px4io/controls.c
+88
View File
@@ -0,0 +1,88 @@
/****************************************************************************
*
* 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 controls.c
*
* R/C inputs and servo outputs.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdbool.h>
#include <fcntl.h>
#include <unistd.h>
#include <debug.h>
#include <stdlib.h>
#include <errno.h>
#include <termios.h>
#include <string.h>
#include <poll.h>
#include <nuttx/clock.h>
#include <drivers/drv_hrt.h>
#include <systemlib/hx_stream.h>
#include <systemlib/perf_counter.h>
#define DEBUG
#include "px4io.h"
void
controls_main(void)
{
struct pollfd fds[2];
fds[0].fd = dsm_init("/dev/ttyS0");
fds[0].events = POLLIN;
fds[1].fd = sbus_init("/dev/ttyS2");
fds[1].events = POLLIN;
for (;;) {
/* run this loop at ~100Hz */
poll(fds, 2, 10);
if (fds[0].revents & POLLIN)
dsm_input();
if (fds[1].revents & POLLIN)
sbus_input();
/* XXX do ppm processing, bypass mode, etc. here */
/* do PWM output updates */
mixer_tick();
}
}
apps/px4io/dsm.c
+41 -15
View File
@@ -44,6 +44,7 @@
#include <fcntl.h> #include <fcntl.h>
#include <unistd.h> #include <unistd.h>
#include <string.h> #include <string.h>
#include <termios.h>
#include <systemlib/ppm_decode.h> #include <systemlib/ppm_decode.h>
@@ -57,6 +58,8 @@
#define DSM_FRAME_SIZE 16 #define DSM_FRAME_SIZE 16
#define DSM_FRAME_CHANNELS 7 #define DSM_FRAME_CHANNELS 7
static int dsm_fd = -1;
static hrt_abstime last_rx_time; static hrt_abstime last_rx_time;
static hrt_abstime last_frame_time; static hrt_abstime last_frame_time;
@@ -66,27 +69,46 @@ static unsigned partial_frame_count;
static bool insync; static bool insync;
static unsigned channel_shift; static unsigned channel_shift;
unsigned dsm_frame_drops;
static bool dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value); static bool dsm_decode_channel(uint16_t raw, unsigned shift, unsigned *channel, unsigned *value);
static void dsm_guess_format(bool reset); static void dsm_guess_format(bool reset);
static void dsm_decode(hrt_abstime now); static void dsm_decode(hrt_abstime now);
void int
dsm_init(unsigned mode) dsm_init(const char *device)
{ {
insync = false; if (dsm_fd < 0)
partial_frame_count = 0; dsm_fd = open(device, O_RDONLY);
last_rx_time = hrt_absolute_time();
/* reset the format detector */ if (dsm_fd >= 0) {
dsm_guess_format(true); struct termios t;
debug("DSM: enabled and waiting\n"); /* 115200bps, no parity, one stop bit */
tcgetattr(dsm_fd, &t);
cfsetspeed(&t, 115200);
t.c_cflag &= ~(CSTOPB | PARENB);
tcsetattr(dsm_fd, TCSANOW, &t);
/* initialise the decoder */
insync = false;
partial_frame_count = 0;
last_rx_time = hrt_absolute_time();
/* reset the format detector */
dsm_guess_format(true);
debug("DSM: ready");
} else {
debug("DSM: open failed");
}
return dsm_fd;
} }
void void
dsm_input(int fd) dsm_input(void)
{ {
uint8_t buf[DSM_FRAME_SIZE];
ssize_t ret; ssize_t ret;
hrt_abstime now; hrt_abstime now;
@@ -107,16 +129,17 @@ dsm_input(int fd)
*/ */
now = hrt_absolute_time(); now = hrt_absolute_time();
if ((now - last_rx_time) > 5000) { if ((now - last_rx_time) > 5000) {
if (partial_frame_count > 0) if (partial_frame_count > 0) {
debug("DSM: reset @ %d", partial_frame_count); dsm_frame_drops++;
partial_frame_count = 0; partial_frame_count = 0;
}
} }
/* /*
* Fetch bytes, but no more than we would need to complete * Fetch bytes, but no more than we would need to complete
* the current frame. * the current frame.
*/ */
ret = read(fd, buf, DSM_FRAME_SIZE - partial_frame_count); ret = read(dsm_fd, &frame[partial_frame_count], DSM_FRAME_SIZE - partial_frame_count);
/* if the read failed for any reason, just give up here */ /* if the read failed for any reason, just give up here */
if (ret < 1) if (ret < 1)
@@ -126,7 +149,6 @@ dsm_input(int fd)
/* /*
* Add bytes to the current frame * Add bytes to the current frame
*/ */
memcpy(&frame[partial_frame_count], buf, ret);
partial_frame_count += ret; partial_frame_count += ret;
/* /*
@@ -292,8 +314,12 @@ dsm_decode(hrt_abstime frame_time)
/* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */ /* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
if (channel_shift == 11) if (channel_shift == 11)
value /= 2; value /= 2;
/* stuff the decoded channel into the PPM input buffer */
ppm_buffer[channel] = 988 + value; ppm_buffer[channel] = 988 + value;
} }
/* and note that we have received data from the R/C controller */
/* XXX failsafe will cause problems here - need a strategy for detecting it */
ppm_last_valid_decode = hrt_absolute_time(); ppm_last_valid_decode = hrt_absolute_time();
} }
apps/px4io/mixer.c
+2 -25
View File
@@ -60,17 +60,6 @@
*/ */
static unsigned fmu_input_drops; static unsigned fmu_input_drops;
#define FMU_INPUT_DROP_LIMIT 20 #define FMU_INPUT_DROP_LIMIT 20
/*
* HRT periodic call used to check for control input data.
*/
static struct hrt_call mixer_input_call;
/*
* Mixer periodic tick.
*/
static void mixer_tick(void *arg);
/* /*
* Collect RC input data from the controller source(s). * Collect RC input data from the controller source(s).
*/ */
@@ -92,20 +81,8 @@ struct mixer {
/* XXX more config here */ /* XXX more config here */
} mixers[IO_SERVO_COUNT]; } mixers[IO_SERVO_COUNT];
int void
mixer_init(void) mixer_tick(void)
{
/* look for control data at 50Hz */
hrt_call_every(&mixer_input_call, 1000, 20000, mixer_tick, NULL);
return 0;
}
static void
mixer_tick(void *arg)
{ {
uint16_t *control_values; uint16_t *control_values;
int control_count; int control_count;
apps/px4io/protocol.h
+1 -4
View File
@@ -62,10 +62,7 @@ struct px4io_config {
uint16_t f2i_config_magic; uint16_t f2i_config_magic;
#define F2I_CONFIG_MAGIC 0x6366 #define F2I_CONFIG_MAGIC 0x6366
uint8_t serial_rx_mode; /* XXX currently nothing here */
#define RX_MODE_PPM_ONLY 0
#define RX_MODE_DSM 1
#define RX_MODE_FUTABA_SBUS 2
}; };
/* report from IO to FMU */ /* report from IO to FMU */
apps/px4io/px4io.c
+16 -77
View File
@@ -55,37 +55,15 @@
__EXPORT int user_start(int argc, char *argv[]); __EXPORT int user_start(int argc, char *argv[]);
struct sys_state_s system_state; struct sys_state_s system_state;
int gpio_fd;
static const char cursor[] = {'|', '/', '-', '\\'};
static struct hrt_call timer_tick_call;
volatile int timers[TIMER_NUM_TIMERS];
static void timer_tick(void *arg);
int user_start(int argc, char *argv[]) int user_start(int argc, char *argv[])
{ {
int cycle = 0;
bool heartbeat = false;
bool failsafe = false;
/* configure the high-resolution time/callout interface */ /* configure the high-resolution time/callout interface */
hrt_init(); hrt_init();
/* init the FMU and receiver links */
comms_init();
/* configure the first 8 PWM outputs (i.e. all of them) */
/* note, must do this after comms init to steal back PA0, which is CTS otherwise */
up_pwm_servo_init(0xff);
/* print some startup info */ /* print some startup info */
lib_lowprintf("\nPX4IO: starting\n"); lib_lowprintf("\nPX4IO: starting\n");
struct mallinfo minfo = mallinfo();
lib_lowprintf("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
/* start the software timer service */
hrt_call_every(&timer_tick_call, 1000, 1000, timer_tick, NULL);
/* default all the LEDs to off while we start */ /* default all the LEDs to off while we start */
LED_AMBER(false); LED_AMBER(false);
@@ -95,66 +73,27 @@ int user_start(int argc, char *argv[])
/* turn on servo power */ /* turn on servo power */
POWER_SERVO(true); POWER_SERVO(true);
/* start the mixer */
mixer_init();
/* start the safety switch handler */ /* start the safety switch handler */
safety_init(); safety_init();
/* set up some timers for the main loop */ /* start the flight control signal handler */
timers[TIMER_BLINK_BLUE] = 250; /* heartbeat blink @ 2Hz */ task_create("FCon",
timers[TIMER_STATUS_PRINT] = 1000; /* print status message @ 1Hz */ SCHED_PRIORITY_DEFAULT,
1024,
(main_t)controls_main,
NULL);
/*
* Main loop servicing communication with FMU
*/
while(true) {
/* check for communication from FMU, send updates */ /* initialise the FMU communications interface */
comms_check(); comms_init();
/* blink the heartbeat LED */ /* configure the first 8 PWM outputs (i.e. all of them) */
if (timers[TIMER_BLINK_BLUE] == 0) { /* note, must do this after comms init to steal back PA0, which is CTS otherwise */
timers[TIMER_BLINK_BLUE] = 250; up_pwm_servo_init(0xff);
LED_BLUE(heartbeat = !heartbeat);
}
/* blink the failsafe LED if we don't have FMU input */ struct mallinfo minfo = mallinfo();
if (!system_state.mixer_use_fmu) { lib_lowprintf("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
if (timers[TIMER_BLINK_AMBER] == 0) {
timers[TIMER_BLINK_AMBER] = 125;
failsafe = !failsafe;
}
} else {
failsafe = false;
}
LED_AMBER(failsafe);
/* print some simple status */
#if 0
if (timers[TIMER_STATUS_PRINT] == 0) {
timers[TIMER_STATUS_PRINT] = 1000;
lib_lowprintf("%c %s | %s | %s | %s | C=%d F=%d B=%d \r",
cursor[cycle++ & 3],
(system_state.arm_ok ? "FMU_ARMED" : "FMU_SAFE"),
(system_state.armed ? "ARMED" : "SAFE"),
(system_state.rc_channels ? "RC OK" : "NO RC"),
(system_state.mixer_use_fmu ? "FMU OK" : "NO FMU"),
system_state.rc_channels,
frame_rx, frame_bad
);
}
#endif
}
/* Should never reach here */ /* we're done here, go run the communications loop */
return ERROR; comms_main();
} }
static void
timer_tick(void *arg)
{
for (unsigned i = 0; i < TIMER_NUM_TIMERS; i++)
if (timers[i] > 0)
timers[i]--;
}
apps/px4io/px4io.h
+8 -7
View File
@@ -147,7 +147,7 @@ extern volatile int timers[TIMER_NUM_TIMERS];
/* /*
* Mixer * Mixer
*/ */
extern int mixer_init(void); extern void mixer_tick(void);
/* /*
* Safety switch/LED. * Safety switch/LED.
@@ -158,15 +158,16 @@ extern void safety_init(void);
* FMU communications * FMU communications
*/ */
extern void comms_init(void); extern void comms_init(void);
extern void comms_check(void); extern void comms_main(void) __attribute__((noreturn));
/* /*
* Serial receiver decoders. * R/C receiver handling.
*/ */
extern void dsm_init(unsigned mode); extern void controls_main(void);
extern void dsm_input(int fd); extern int dsm_init(const char *device);
extern void sbus_init(unsigned mode); extern void dsm_input(void);
extern void sbus_input(int fd); extern int sbus_init(const char *device);
extern void sbus_input(void);
/* /*
* Assertion codes * Assertion codes
apps/px4io/safety.c
+36
View File
@@ -51,6 +51,8 @@
#include "px4io.h" #include "px4io.h"
static struct hrt_call arming_call; static struct hrt_call arming_call;
static struct hrt_call heartbeat_call;
static struct hrt_call failsafe_call;
/* /*
* Count the number of times in a row that we see the arming button * Count the number of times in a row that we see the arming button
@@ -63,13 +65,22 @@ static unsigned counter;
static bool safety_led_state; static bool safety_led_state;
static bool safety_button_pressed; static bool safety_button_pressed;
static void safety_check_button(void *arg); static void safety_check_button(void *arg);
static void heartbeat_blink(void *arg);
static void failsafe_blink(void *arg);
void void
safety_init(void) safety_init(void)
{ {
/* arrange for the button handler to be called at 10Hz */ /* arrange for the button handler to be called at 10Hz */
hrt_call_every(&arming_call, 1000, 100000, safety_check_button, NULL); hrt_call_every(&arming_call, 1000, 100000, safety_check_button, NULL);
/* arrange for the heartbeat handler to be called at 4Hz */
hrt_call_every(&heartbeat_call, 1000, 250000, heartbeat_blink, NULL);
/* arrange for the failsafe blinker to be called at 8Hz */
hrt_call_every(&failsafe_call, 1000, 125000, failsafe_blink, NULL);
} }
static void static void
@@ -117,3 +128,28 @@ safety_check_button(void *arg)
} }
LED_SAFETY(safety_led_state); LED_SAFETY(safety_led_state);
} }
static void
heartbeat_blink(void *arg)
{
static bool heartbeat = false;
/* XXX add flags here that need to be frobbed by various loops */
LED_BLUE(heartbeat = !heartbeat);
}
static void
failsafe_blink(void *arg)
{
static bool failsafe = false;
/* blink the failsafe LED if we don't have FMU input */
if (!system_state.mixer_use_fmu) {
failsafe = !failsafe;
} else {
failsafe = false;
}
LED_AMBER(failsafe);
}
apps/px4io/sbus.c
+25 -4
View File
@@ -41,18 +41,39 @@
#include <fcntl.h> #include <fcntl.h>
#include <unistd.h> #include <unistd.h>
#include <termios.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#define DEBUG
#include "px4io.h" #include "px4io.h"
#include "protocol.h"
void static int sbus_fd = -1;
sbus_init(unsigned mode)
int
sbus_init(const char *device)
{ {
if (sbus_fd < 0)
sbus_fd = open(device, O_RDONLY);
if (sbus_fd >= 0) {
struct termios t;
/* 100000bps, even parity, two stop bits */
tcgetattr(sbus_fd, &t);
cfsetspeed(&t, 100000);
t.c_cflag |= (CSTOPB | PARENB);
tcsetattr(sbus_fd, TCSANOW, &t);
debug("Sbus: ready");
} else {
debug("Sbus: open failed");
}
return sbus_fd;
} }
void void
sbus_input(int fd) sbus_input(void)
{ {
} }