mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-08 21:31:36 +08:00
Breakout px4io.hpp and delete unneeded #includes.
This commit is contained in:
mcsauder
+9
-290
@@ -37,283 +37,7 @@
|
||||
*
|
||||
* PX4IO is connected via DMA enabled high-speed UART.
|
||||
*/
|
||||
#include <px4_platform_common/defines.h>
|
||||
#include <px4_platform_common/events.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
#include <px4_platform_common/posix.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/sem.hpp>
|
||||
|
||||
#include <crc32.h>
|
||||
|
||||
#include <drivers/device/device.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
|
||||
#include <lib/mathlib/mathlib.h>
|
||||
#include <lib/mixer_module/mixer_module.hpp>
|
||||
#include <lib/parameters/param.h>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <lib/rc/dsm.h>
|
||||
#include <lib/systemlib/mavlink_log.h>
|
||||
#include <lib/button/ButtonPublisher.hpp>
|
||||
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/PublicationMulti.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/SubscriptionCallback.hpp>
|
||||
#include <uORB/SubscriptionInterval.hpp>
|
||||
#include <uORB/topics/actuator_armed.h>
|
||||
#include <uORB/topics/heater_status.h>
|
||||
#include <uORB/topics/input_rc.h>
|
||||
#include <uORB/topics/vehicle_command.h>
|
||||
#include <uORB/topics/vehicle_command_ack.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/px4io_status.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
|
||||
#include <debug.h>
|
||||
|
||||
#include <modules/px4iofirmware/protocol.h>
|
||||
|
||||
#include "uploader.h"
|
||||
|
||||
#include "px4io_driver.h"
|
||||
|
||||
#define PX4IO_SET_DEBUG _IOC(0xff00, 0)
|
||||
#define PX4IO_REBOOT_BOOTLOADER _IOC(0xff00, 1)
|
||||
#define PX4IO_CHECK_CRC _IOC(0xff00, 2)
|
||||
|
||||
static constexpr unsigned MIN_TOPIC_UPDATE_INTERVAL = 2500; // 2.5 ms -> 400 Hz
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
/**
|
||||
* The PX4IO class.
|
||||
*
|
||||
* Encapsulates PX4FMU to PX4IO communications modeled as file operations.
|
||||
*/
|
||||
class PX4IO : public cdev::CDev, public ModuleBase<PX4IO>, public OutputModuleInterface
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor.
|
||||
*
|
||||
* Initialize all class variables.
|
||||
*/
|
||||
PX4IO() = delete;
|
||||
explicit PX4IO(device::Device *interface);
|
||||
|
||||
~PX4IO() override;
|
||||
|
||||
/**
|
||||
* Initialize the PX4IO class.
|
||||
*
|
||||
* Retrieve relevant initial system parameters. Initialize PX4IO registers.
|
||||
*/
|
||||
int init() override;
|
||||
|
||||
/**
|
||||
* IO Control handler.
|
||||
*
|
||||
* Handle all IOCTL calls to the PX4IO file descriptor.
|
||||
*
|
||||
* @param[in] filp file handle (not used). This function is always called directly through object reference
|
||||
* @param[in] cmd the IOCTL command
|
||||
* @param[in] the IOCTL command parameter (optional)
|
||||
*/
|
||||
int ioctl(file *filp, int cmd, unsigned long arg) override;
|
||||
|
||||
/**
|
||||
* Print IO status.
|
||||
*
|
||||
* Print all relevant IO status information
|
||||
*
|
||||
*/
|
||||
int print_status();
|
||||
|
||||
static int custom_command(int argc, char *argv[]);
|
||||
|
||||
static int print_usage(const char *reason = nullptr);
|
||||
|
||||
static int task_spawn(int argc, char *argv[]);
|
||||
|
||||
/*
|
||||
* To test what happens if IO stops receiving updates from FMU.
|
||||
*
|
||||
* @param is_fail true for failure condition, false for normal operation.
|
||||
*/
|
||||
void test_fmu_fail(bool is_fail) { _test_fmu_fail = is_fail; };
|
||||
|
||||
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
|
||||
unsigned num_control_groups_updated) override;
|
||||
|
||||
private:
|
||||
void Run() override;
|
||||
|
||||
void updateTimerRateGroups();
|
||||
|
||||
static int checkcrc(int argc, char *argv[]);
|
||||
static int bind(int argc, char *argv[]);
|
||||
|
||||
static constexpr int PX4IO_MAX_ACTUATORS = 8;
|
||||
|
||||
device::Device *const _interface;
|
||||
|
||||
unsigned _hardware{0}; ///< Hardware revision
|
||||
unsigned _max_actuators{0}; ///< Maximum # of actuators supported by PX4IO
|
||||
unsigned _max_rc_input{0}; ///< Maximum receiver channels supported by PX4IO
|
||||
unsigned _max_transfer{16}; ///< Maximum number of I2C transfers supported by PX4IO
|
||||
|
||||
bool _first_param_update{true};
|
||||
uint32_t _group_channels[PX4IO_P_SETUP_PWM_RATE_GROUP3 - PX4IO_P_SETUP_PWM_RATE_GROUP0 + 1] {};
|
||||
|
||||
hrt_abstime _poll_last{0};
|
||||
|
||||
orb_advert_t _mavlink_log_pub{nullptr}; ///< mavlink log pub
|
||||
|
||||
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
|
||||
perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
|
||||
perf_counter_t _interface_read_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": interface read")};
|
||||
perf_counter_t _interface_write_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": interface write")};
|
||||
|
||||
/* cached IO state */
|
||||
uint16_t _status{0}; ///< Various IO status flags
|
||||
uint16_t _alarms{0}; ///< Various IO alarms
|
||||
uint16_t _setup_arming{0}; ///< last arming setup state
|
||||
uint16_t _last_written_arming_s{0}; ///< the last written arming state reg
|
||||
uint16_t _last_written_arming_c{0}; ///< the last written arming state reg
|
||||
|
||||
uORB::Subscription _t_actuator_armed{ORB_ID(actuator_armed)}; ///< system armed control topic
|
||||
uORB::Subscription _t_vehicle_command{ORB_ID(vehicle_command)}; ///< vehicle command topic
|
||||
uORB::Subscription _t_vehicle_status{ORB_ID(vehicle_status)}; ///< vehicle status topic
|
||||
uORB::Subscription _heater_status_sub{ORB_ID(heater_status)};
|
||||
|
||||
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
||||
|
||||
hrt_abstime _last_status_publish{0};
|
||||
|
||||
uint16_t _rc_valid_update_count{0};
|
||||
|
||||
bool _param_update_force{true}; ///< force a parameter update
|
||||
bool _timer_rates_configured{false};
|
||||
|
||||
/* advertised topics */
|
||||
uORB::PublicationMulti<input_rc_s> _to_input_rc{ORB_ID(input_rc)};
|
||||
uORB::Publication<px4io_status_s> _px4io_status_pub{ORB_ID(px4io_status)};
|
||||
|
||||
ButtonPublisher _button_publisher;
|
||||
bool _previous_safety_off{false};
|
||||
|
||||
int32_t _thermal_control{-1}; ///< thermal control state
|
||||
bool _analog_rc_rssi_stable{false}; ///< true when analog RSSI input is stable
|
||||
float _analog_rc_rssi_volt{-1.f}; ///< analog RSSI voltage
|
||||
|
||||
bool _test_fmu_fail{false}; ///< To test what happens if IO loses FMU
|
||||
|
||||
MixingOutput _mixing_output{"PWM_MAIN", PX4IO_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
|
||||
|
||||
/**
|
||||
* Update IO's arming-related state
|
||||
*/
|
||||
int io_set_arming_state();
|
||||
|
||||
/**
|
||||
* Fetch status and alarms from IO
|
||||
*
|
||||
* Also publishes battery voltage/current.
|
||||
*/
|
||||
int io_get_status();
|
||||
|
||||
/**
|
||||
* Fetch RC inputs from IO.
|
||||
*
|
||||
* @param input_rc Input structure to populate.
|
||||
* @return OK if data was returned.
|
||||
*/
|
||||
int io_publish_raw_rc();
|
||||
|
||||
/**
|
||||
* write register(s)
|
||||
*
|
||||
* @param page Register page to write to.
|
||||
* @param offset Register offset to start writing at.
|
||||
* @param values Pointer to array of values to write.
|
||||
* @param num_values The number of values to write.
|
||||
* @return OK if all values were successfully written.
|
||||
*/
|
||||
int io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values);
|
||||
|
||||
/**
|
||||
* write a register
|
||||
*
|
||||
* @param page Register page to write to.
|
||||
* @param offset Register offset to write to.
|
||||
* @param value Value to write.
|
||||
* @return OK if the value was written successfully.
|
||||
*/
|
||||
int io_reg_set(uint8_t page, uint8_t offset, const uint16_t value);
|
||||
|
||||
/**
|
||||
* read register(s)
|
||||
*
|
||||
* @param page Register page to read from.
|
||||
* @param offset Register offset to start reading from.
|
||||
* @param values Pointer to array where values should be stored.
|
||||
* @param num_values The number of values to read.
|
||||
* @return OK if all values were successfully read.
|
||||
*/
|
||||
int io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values);
|
||||
|
||||
/**
|
||||
* read a register
|
||||
*
|
||||
* @param page Register page to read from.
|
||||
* @param offset Register offset to start reading from.
|
||||
* @return Register value that was read, or _io_reg_get_error on error.
|
||||
*/
|
||||
uint32_t io_reg_get(uint8_t page, uint8_t offset);
|
||||
static const uint32_t _io_reg_get_error = 0x80000000;
|
||||
|
||||
/**
|
||||
* modify a register
|
||||
*
|
||||
* @param page Register page to modify.
|
||||
* @param offset Register offset to modify.
|
||||
* @param clearbits Bits to clear in the register.
|
||||
* @param setbits Bits to set in the register.
|
||||
*/
|
||||
int io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits);
|
||||
|
||||
/**
|
||||
* Handle issuing dsm bind ioctl to px4io.
|
||||
*
|
||||
* @param dsmMode DSM2_BIND_PULSES, DSMX_BIND_PULSES, DSMX8_BIND_PULSES
|
||||
*/
|
||||
int dsm_bind_ioctl(int dsmMode);
|
||||
|
||||
/**
|
||||
* Respond to a vehicle command with an ACK message
|
||||
*
|
||||
* @param cmd The command that was executed or denied (inbound)
|
||||
* @param result The command result
|
||||
*/
|
||||
void answer_command(const vehicle_command_s &cmd, uint8_t result);
|
||||
|
||||
void update_params();
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamInt<px4::params::RC_RSSI_PWM_CHAN>) _param_rc_rssi_pwm_chan,
|
||||
(ParamInt<px4::params::RC_RSSI_PWM_MAX>) _param_rc_rssi_pwm_max,
|
||||
(ParamInt<px4::params::RC_RSSI_PWM_MIN>) _param_rc_rssi_pwm_min,
|
||||
(ParamInt<px4::params::SENS_EN_THERMAL>) _param_sens_en_themal,
|
||||
(ParamInt<px4::params::SYS_HITL>) _param_sys_hitl,
|
||||
(ParamInt<px4::params::SYS_USE_IO>) _param_sys_use_io
|
||||
)
|
||||
};
|
||||
|
||||
#define PX4IO_DEVICE_PATH "/dev/px4io"
|
||||
#include "px4io.hpp"
|
||||
|
||||
PX4IO::PX4IO(device::Device *interface) :
|
||||
CDev(PX4IO_DEVICE_PATH),
|
||||
@@ -482,14 +206,13 @@ void PX4IO::Run()
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/* if we have new control data from the ORB, handle it */
|
||||
if (_param_sys_hitl.get() <= 0) {
|
||||
_mixing_output.update();
|
||||
}
|
||||
|
||||
if (hrt_elapsed_time(&_poll_last) >= 20_ms) {
|
||||
/* run at 50 */
|
||||
/* run at 50Hz */
|
||||
_poll_last = hrt_absolute_time();
|
||||
|
||||
/* pull status and alarms from IO */
|
||||
@@ -501,7 +224,7 @@ void PX4IO::Run()
|
||||
|
||||
if (_param_sys_hitl.get() <= 0) {
|
||||
/* check updates on uORB topics and handle it */
|
||||
if (_t_actuator_armed.updated()) {
|
||||
if (_actuator_armed_sub.updated()) {
|
||||
io_set_arming_state();
|
||||
|
||||
// TODO: throttle
|
||||
@@ -510,9 +233,9 @@ void PX4IO::Run()
|
||||
|
||||
if (!_mixing_output.armed().armed) {
|
||||
/* vehicle command */
|
||||
if (_t_vehicle_command.updated()) {
|
||||
if (_vehicle_command_sub.updated()) {
|
||||
vehicle_command_s cmd{};
|
||||
_t_vehicle_command.copy(&cmd);
|
||||
_vehicle_command_sub.copy(&cmd);
|
||||
|
||||
// Check for a DSM pairing command
|
||||
if (((unsigned int)cmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) {
|
||||
@@ -683,6 +406,7 @@ void PX4IO::update_params()
|
||||
// sync params to IO
|
||||
updateTimerRateGroups();
|
||||
_first_param_update = false;
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
@@ -710,7 +434,7 @@ PX4IO::io_set_arming_state()
|
||||
|
||||
actuator_armed_s armed;
|
||||
|
||||
if (_t_actuator_armed.copy(&armed)) {
|
||||
if (_actuator_armed_sub.copy(&armed)) {
|
||||
if (armed.armed || armed.in_esc_calibration_mode) {
|
||||
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
|
||||
|
||||
@@ -718,12 +442,7 @@ PX4IO::io_set_arming_state()
|
||||
clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
|
||||
}
|
||||
|
||||
if (true) {
|
||||
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
|
||||
|
||||
} else {
|
||||
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
|
||||
}
|
||||
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
|
||||
}
|
||||
|
||||
if (_last_written_arming_s != set || _last_written_arming_c != clear) {
|
||||
@@ -808,7 +527,7 @@ int PX4IO::io_get_status()
|
||||
*/
|
||||
vehicle_status_s vehicle_status;
|
||||
|
||||
if (_t_vehicle_status.update(&vehicle_status)) {
|
||||
if (_vehicle_status_sub.update(&vehicle_status)) {
|
||||
if (_previous_safety_off != vehicle_status.safety_off) {
|
||||
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SAFETY_OFF, vehicle_status.safety_off);
|
||||
_previous_safety_off = vehicle_status.safety_off;
|
||||
|
||||
@@ -0,0 +1,304 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2022 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 px4io.hpp
|
||||
* Driver for the PX4IO board.
|
||||
*
|
||||
* PX4IO is connected via DMA enabled high-speed UART.
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/events.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
#include <px4_platform_common/sem.hpp>
|
||||
|
||||
#include <crc32.h>
|
||||
|
||||
#include <debug.h>
|
||||
|
||||
#include <lib/circuit_breaker/circuit_breaker.h>
|
||||
#include <lib/button/ButtonPublisher.hpp>
|
||||
#include <lib/mixer_module/mixer_module.hpp>
|
||||
#include <lib/rc/dsm.h>
|
||||
#include <lib/systemlib/mavlink_log.h>
|
||||
|
||||
#include <modules/px4iofirmware/protocol.h>
|
||||
|
||||
#include <uORB/topics/heater_status.h>
|
||||
#include <uORB/topics/input_rc.h>
|
||||
#include <uORB/topics/px4io_status.h>
|
||||
#include <uORB/topics/vehicle_command_ack.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
|
||||
#include "modules/dataman/dataman.h"
|
||||
|
||||
#include "px4io_driver.h"
|
||||
|
||||
#include "uploader.h"
|
||||
|
||||
#define PX4IO_DEVICE_PATH "/dev/px4io"
|
||||
|
||||
#define PX4IO_SET_DEBUG _IOC(0xff00, 0)
|
||||
#define PX4IO_REBOOT_BOOTLOADER _IOC(0xff00, 1)
|
||||
#define PX4IO_CHECK_CRC _IOC(0xff00, 2)
|
||||
|
||||
static constexpr unsigned MIN_TOPIC_UPDATE_INTERVAL = 2500; // 2.5 ms -> 400 Hz
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
/**
|
||||
* The PX4IO class.
|
||||
*
|
||||
* Encapsulates PX4FMU to PX4IO communications modeled as file operations.
|
||||
*/
|
||||
class PX4IO : public cdev::CDev, public ModuleBase<PX4IO>, public OutputModuleInterface
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor.
|
||||
*
|
||||
* Initialize all class variables.
|
||||
*/
|
||||
PX4IO() = delete;
|
||||
|
||||
explicit PX4IO(device::Device *interface);
|
||||
|
||||
~PX4IO() override;
|
||||
|
||||
/**
|
||||
* Initialize the PX4IO class.
|
||||
*
|
||||
* Retrieve relevant initial system parameters. Initialize PX4IO registers.
|
||||
*/
|
||||
int init() override;
|
||||
|
||||
/**
|
||||
* IO Control handler.
|
||||
*
|
||||
* Handle all IOCTL calls to the PX4IO file descriptor.
|
||||
*
|
||||
* @param[in] filp file handle (not used). This function is always called directly through object reference
|
||||
* @param[in] cmd the IOCTL command
|
||||
* @param[in] the IOCTL command parameter (optional)
|
||||
*/
|
||||
int ioctl(file *filp, int cmd, unsigned long arg) override;
|
||||
|
||||
/**
|
||||
* Print IO status.
|
||||
*
|
||||
* Print all relevant IO status information
|
||||
*
|
||||
*/
|
||||
int print_status();
|
||||
|
||||
static int custom_command(int argc, char *argv[]);
|
||||
|
||||
static int print_usage(const char *reason = nullptr);
|
||||
|
||||
static int task_spawn(int argc, char *argv[]);
|
||||
|
||||
/*
|
||||
* To test what happens if IO stops receiving updates from FMU.
|
||||
*
|
||||
* @param is_fail true for failure condition, false for normal operation.
|
||||
*/
|
||||
void test_fmu_fail(bool is_fail) { _test_fmu_fail = is_fail; };
|
||||
|
||||
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
|
||||
unsigned num_control_groups_updated) override;
|
||||
|
||||
private:
|
||||
void Run() override;
|
||||
|
||||
/**
|
||||
* Respond to a vehicle command with an ACK message
|
||||
*
|
||||
* @param cmd The command that was executed or denied (inbound)
|
||||
* @param result The command result
|
||||
*/
|
||||
void answer_command(const vehicle_command_s &cmd, uint8_t result);
|
||||
|
||||
/**
|
||||
* Handle issuing dsm bind ioctl to px4io.
|
||||
*
|
||||
* @param dsmMode DSM2_BIND_PULSES, DSMX_BIND_PULSES, DSMX8_BIND_PULSES
|
||||
*/
|
||||
int dsm_bind_ioctl(int dsmMode);
|
||||
|
||||
/**
|
||||
* Update IO's arming-related state
|
||||
*/
|
||||
int io_set_arming_state();
|
||||
|
||||
/**
|
||||
* Fetch status and alarms from IO
|
||||
*
|
||||
* Also publishes battery voltage/current.
|
||||
*/
|
||||
int io_get_status();
|
||||
|
||||
/**
|
||||
* Fetch RC inputs from IO.
|
||||
*
|
||||
* @param input_rc Input structure to populate.
|
||||
* @return OK if data was returned.
|
||||
*/
|
||||
int io_publish_raw_rc();
|
||||
|
||||
/**
|
||||
* write register(s)
|
||||
*
|
||||
* @param page Register page to write to.
|
||||
* @param offset Register offset to start writing at.
|
||||
* @param values Pointer to array of values to write.
|
||||
* @param num_values The number of values to write.
|
||||
* @return OK if all values were successfully written.
|
||||
*/
|
||||
int io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values);
|
||||
|
||||
/**
|
||||
* write a register
|
||||
*
|
||||
* @param page Register page to write to.
|
||||
* @param offset Register offset to write to.
|
||||
* @param value Value to write.
|
||||
* @return OK if the value was written successfully.
|
||||
*/
|
||||
int io_reg_set(uint8_t page, uint8_t offset, const uint16_t value);
|
||||
|
||||
/**
|
||||
* read register(s)
|
||||
*
|
||||
* @param page Register page to read from.
|
||||
* @param offset Register offset to start reading from.
|
||||
* @param values Pointer to array where values should be stored.
|
||||
* @param num_values The number of values to read.
|
||||
* @return OK if all values were successfully read.
|
||||
*/
|
||||
int io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values);
|
||||
|
||||
/**
|
||||
* read a register
|
||||
*
|
||||
* @param page Register page to read from.
|
||||
* @param offset Register offset to start reading from.
|
||||
* @return Register value that was read, or _io_reg_get_error on error.
|
||||
*/
|
||||
uint32_t io_reg_get(uint8_t page, uint8_t offset);
|
||||
|
||||
/**
|
||||
* modify a register
|
||||
*
|
||||
* @param page Register page to modify.
|
||||
* @param offset Register offset to modify.
|
||||
* @param clearbits Bits to clear in the register.
|
||||
* @param setbits Bits to set in the register.
|
||||
*/
|
||||
int io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits);
|
||||
|
||||
void update_params();
|
||||
|
||||
void updateTimerRateGroups();
|
||||
|
||||
static int checkcrc(int argc, char *argv[]);
|
||||
|
||||
static int bind(int argc, char *argv[]);
|
||||
|
||||
static constexpr int PX4IO_MAX_ACTUATORS = 8;
|
||||
|
||||
static const uint32_t _io_reg_get_error = 0x80000000;
|
||||
|
||||
device::Device *const _interface;
|
||||
|
||||
ButtonPublisher _button_publisher;
|
||||
MixingOutput _mixing_output{"PWM_MAIN", PX4IO_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
|
||||
|
||||
hrt_abstime _last_status_publish{0};
|
||||
hrt_abstime _poll_last{0};
|
||||
|
||||
orb_advert_t _mavlink_log_pub{nullptr}; ///< mavlink log pub
|
||||
|
||||
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
|
||||
perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
|
||||
perf_counter_t _interface_read_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": interface read")};
|
||||
perf_counter_t _interface_write_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": interface write")};
|
||||
|
||||
/* advertised topics */
|
||||
uORB::PublicationMulti<input_rc_s> _to_input_rc{ORB_ID(input_rc)};
|
||||
uORB::Publication<px4io_status_s> _px4io_status_pub{ORB_ID(px4io_status)};
|
||||
|
||||
uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)}; ///< system armed control topic
|
||||
uORB::Subscription _heater_status_sub{ORB_ID(heater_status)};
|
||||
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; ///< vehicle command topic
|
||||
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; ///< vehicle status topic
|
||||
|
||||
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
||||
|
||||
float _analog_rc_rssi_volt{-1.f}; ///< analog RSSI voltage
|
||||
|
||||
int32_t _thermal_control{-1}; ///< thermal control state
|
||||
|
||||
unsigned _hardware{0}; ///< Hardware revision
|
||||
unsigned _max_actuators{0}; ///< Maximum # of actuators supported by PX4IO
|
||||
unsigned _max_rc_input{0}; ///< Maximum receiver channels supported by PX4IO
|
||||
unsigned _max_transfer{16}; ///< Maximum number of I2C transfers supported by PX4IO
|
||||
|
||||
uint32_t _group_channels[PX4IO_P_SETUP_PWM_RATE_GROUP3 - PX4IO_P_SETUP_PWM_RATE_GROUP0 + 1] {};
|
||||
|
||||
/* cached IO state */
|
||||
uint16_t _alarms{0}; ///< Various IO alarms
|
||||
uint16_t _last_written_arming_s{0}; ///< the last written arming state reg
|
||||
uint16_t _last_written_arming_c{0}; ///< the last written arming state reg
|
||||
uint16_t _rc_valid_update_count{0};
|
||||
uint16_t _setup_arming{0}; ///< last arming setup state
|
||||
uint16_t _status{0}; ///< Various IO status flags
|
||||
|
||||
bool _analog_rc_rssi_stable{false}; ///< true when analog RSSI input is stable
|
||||
|
||||
bool _first_param_update{true};
|
||||
bool _param_update_force{true}; ///< force a parameter update
|
||||
bool _previous_safety_off{false};
|
||||
|
||||
bool _test_fmu_fail{false}; ///< To test what happens if IO loses FMU
|
||||
bool _timer_rates_configured{false};
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamInt<px4::params::RC_RSSI_PWM_CHAN>) _param_rc_rssi_pwm_chan,
|
||||
(ParamInt<px4::params::RC_RSSI_PWM_MAX>) _param_rc_rssi_pwm_max,
|
||||
(ParamInt<px4::params::RC_RSSI_PWM_MIN>) _param_rc_rssi_pwm_min,
|
||||
(ParamInt<px4::params::SENS_EN_THERMAL>) _param_sens_en_themal,
|
||||
(ParamInt<px4::params::SYS_HITL>) _param_sys_hitl,
|
||||
(ParamInt<px4::params::SYS_USE_IO>) _param_sys_use_io
|
||||
)
|
||||
};
|
||||
Reference in New Issue
Block a user