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Merge branch 'master' into beta

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This commit is contained in:
Anton Babushkin
2014-01-23 23:10:05 +01:00
parent 55f845888b 4524fe3e48
commit b3d98e4a19
12 changed files with 247 additions and 143 deletions
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src/modules/px4iofirmware/adc.c
+23 -30
View File
@@ -83,6 +83,14 @@ adc_init(void)
{
adc_perf = perf_alloc(PC_ELAPSED, "adc");
/* put the ADC into power-down mode */
rCR2 &= ~ADC_CR2_ADON;
up_udelay(10);
/* bring the ADC out of power-down mode */
rCR2 |= ADC_CR2_ADON;
up_udelay(10);
/* do calibration if supported */
#ifdef ADC_CR2_CAL
rCR2 |= ADC_CR2_RSTCAL;
@@ -96,41 +104,25 @@ adc_init(void)
if (rCR2 & ADC_CR2_CAL)
return -1;
#endif
/* arbitrarily configure all channels for 55 cycle sample time */
rSMPR1 = 0b00000011011011011011011011011011;
/*
* Configure sampling time.
*
* For electrical protection reasons, we want to be able to have
* 10K in series with ADC inputs that leave the board. At 12MHz this
* means we need 28.5 cycles of sampling time (per table 43 in the
* datasheet).
*/
rSMPR1 = 0b00000000011011011011011011011011;
rSMPR2 = 0b00011011011011011011011011011011;
/* XXX for F2/4, might want to select 12-bit mode? */
rCR1 = 0;
/* enable the temperature sensor / Vrefint channel if supported*/
rCR2 =
#ifdef ADC_CR2_TSVREFE
/* enable the temperature sensor in CR2 */
ADC_CR2_TSVREFE |
#endif
0;
#ifdef ADC_CCR_TSVREFE
/* enable temperature sensor in CCR */
rCCR = ADC_CCR_TSVREFE;
#endif
rCR2 |= ADC_CR2_TSVREFE; /* enable the temperature sensor / Vrefint channel */
/* configure for a single-channel sequence */
rSQR1 = 0;
rSQR2 = 0;
rSQR3 = 0; /* will be updated with the channel each tick */
/* power-cycle the ADC and turn it on */
rCR2 &= ~ADC_CR2_ADON;
up_udelay(10);
rCR2 |= ADC_CR2_ADON;
up_udelay(10);
rCR2 |= ADC_CR2_ADON;
up_udelay(10);
rSQR3 = 0; /* will be updated with the channel at conversion time */
return 0;
}
@@ -141,11 +133,12 @@ adc_init(void)
uint16_t
adc_measure(unsigned channel)
{
perf_begin(adc_perf);
/* clear any previous EOC */
if (rSR & ADC_SR_EOC)
rSR &= ~ADC_SR_EOC;
rSR = 0;
(void)rDR;
/* run a single conversion right now - should take about 60 cycles (a few microseconds) max */
rSQR3 = channel;
@@ -158,7 +151,6 @@ adc_measure(unsigned channel)
/* never spin forever - this will give a bogus result though */
if (hrt_elapsed_time(&now) > 100) {
debug("adc timeout");
perf_end(adc_perf);
return 0xffff;
}
@@ -166,6 +158,7 @@ adc_measure(unsigned channel)
/* read the result and clear EOC */
uint16_t result = rDR;
rSR = 0;
perf_end(adc_perf);
return result;
src/modules/px4iofirmware/controls.c
+11
View File
@@ -114,9 +114,20 @@ controls_tick() {
perf_begin(c_gather_sbus);
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &rssi, PX4IO_RC_INPUT_CHANNELS);
bool sbus_status = (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS);
if (sbus_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
}
/* switch S.Bus output pin as needed */
if (sbus_status != (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS)) {
#ifdef ENABLE_SBUS_OUT
ENABLE_SBUS_OUT((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS));
#endif
}
perf_end(c_gather_sbus);
/*
src/modules/px4iofirmware/px4io.c
+39 -16
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 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
@@ -196,6 +196,11 @@ user_start(int argc, char *argv[])
POWER_SERVO(true);
#endif
/* turn off S.Bus out (if supported) */
#ifdef ENABLE_SBUS_OUT
ENABLE_SBUS_OUT(false);
#endif
/* start the safety switch handler */
safety_init();
@@ -205,6 +210,9 @@ user_start(int argc, char *argv[])
/* initialise the control inputs */
controls_init();
/* set up the ADC */
adc_init();
/* start the FMU interface */
interface_init();
@@ -223,24 +231,41 @@ user_start(int argc, char *argv[])
/* initialize PWM limit lib */
pwm_limit_init(&pwm_limit);
#if 0
/* not enough memory, lock down */
if (minfo.mxordblk < 500) {
/*
* P O L I C E L I G H T S
*
* Not enough memory, lock down.
*
* We might need to allocate mixers later, and this will
* ensure that a developer doing a change will notice
* that he just burned the remaining RAM with static
* allocations. We don't want him to be able to
* get past that point. This needs to be clearly
* documented in the dev guide.
*
*/
if (minfo.mxordblk < 600) {
lowsyslog("ERR: not enough MEM");
bool phase = false;
if (phase) {
LED_AMBER(true);
LED_BLUE(false);
} else {
LED_AMBER(false);
LED_BLUE(true);
}
while (true) {
phase = !phase;
usleep(300000);
if (phase) {
LED_AMBER(true);
LED_BLUE(false);
} else {
LED_AMBER(false);
LED_BLUE(true);
}
up_udelay(250000);
phase = !phase;
}
}
#endif
/* Start the failsafe led init */
failsafe_led_init();
/*
* Run everything in a tight loop.
@@ -270,7 +295,6 @@ user_start(int argc, char *argv[])
check_reboot();
#if 0
/* check for debug activity */
show_debug_messages();
@@ -287,7 +311,6 @@ user_start(int argc, char *argv[])
(unsigned)minfo.mxordblk);
last_debug_time = hrt_absolute_time();
}
#endif
}
}
src/modules/px4iofirmware/px4io.h
+2
View File
@@ -160,6 +160,7 @@ extern pwm_limit_t pwm_limit;
# define PX4IO_RELAY_CHANNELS 0
# define POWER_SPEKTRUM(_s) stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s))
# define ENABLE_SBUS_OUT(_s) stm32_gpiowrite(GPIO_SBUS_OENABLE, !(_s))
# define VDD_SERVO_FAULT (!stm32_gpioread(GPIO_SERVO_FAULT_DETECT))
@@ -183,6 +184,7 @@ extern void mixer_handle_text(const void *buffer, size_t length);
* Safety switch/LED.
*/
extern void safety_init(void);
extern void failsafe_led_init(void);
/**
* FMU communications
src/modules/px4iofirmware/safety.c
+6 -2
View File
@@ -83,7 +83,11 @@ safety_init(void)
{
/* arrange for the button handler to be called at 10Hz */
hrt_call_every(&arming_call, 1000, 100000, safety_check_button, NULL);
}
void
failsafe_led_init(void)
{
/* arrange for the failsafe blinker to be called at 8Hz */
hrt_call_every(&failsafe_call, 1000, 125000, failsafe_blink, NULL);
}
@@ -164,8 +168,8 @@ failsafe_blink(void *arg)
/* indicate that a serious initialisation error occured */
if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)) {
LED_AMBER(true);
return;
}
return;
}
static bool failsafe = false;