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Major rework of the PX4IO driver; pull it closer up to date

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This commit is contained in:
px4dev
2012-10-19 22:10:12 -07:00
parent f12b9d0706
commit d2ef2afb0b
1 changed files with 241 additions and 243 deletions
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apps/px4/px4io/driver/px4io.cpp
+241 -243
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@@ -37,8 +37,7 @@
*
* PX4IO is connected via serial (or possibly some other interface at a later
* point).
*
* XXX current design is racy as all hell; need a locking strategy.
*/
#include <nuttx/config.h>
@@ -53,6 +52,7 @@
#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
@@ -61,129 +61,21 @@
#include <drivers/device/device.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_pwm_output.h>
#include <systemlib/mixer/mixer.h>
#include <drivers/drv_mixer.h>
#include <systemlib/perf_counter.h>
#include <systemlib/hx_stream.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/rc_channels.h>
#include "px4io/protocol.h"
#include "uploader.h"
class PX4IO;
namespace
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
const int ERROR = -1;
PX4IO *g_dev;
}
class PX4IO_RC : public device::CDev
{
public:
PX4IO_RC();
~PX4IO_RC();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
friend class PX4IO;
protected:
void set_channels(unsigned count, const servo_position_t *data);
private:
orb_advert_t _publication;
struct rc_input_values _input;
};
/* XXX this may conflict with the onboard PPM input */
PX4IO_RC::PX4IO_RC() :
CDev("px4io_rc", RC_INPUT_DEVICE_PATH),
_publication(-1)
{
for (unsigned i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
_input.values[i] = 0;
}
_input.channel_count = 0;
}
PX4IO_RC::~PX4IO_RC()
{
if (_publication != -1)
::close(_publication);
}
int
PX4IO_RC::init()
{
int ret;
ret = CDev::init();
/* advertise ourselves as the RC input controller */
if (ret == OK) {
_publication = orb_advertise(ORB_ID(input_rc), &_input);
if (_publication < 0)
ret = -errno;
}
return ret;
}
ssize_t
PX4IO_RC::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned channels = buflen / sizeof(rc_input_t);
rc_input_t *pdata = (rc_input_t *)buffer;
unsigned i;
if (channels > PX4IO_INPUT_CHANNELS)
return -EIO;
lock();
for (i = 0; i < channels; i++)
pdata[i] = _input.values[i];
unlock();
return i * sizeof(servo_position_t);
}
void
PX4IO_RC::set_channels(unsigned count, const servo_position_t *data)
{
ASSERT(count <= PX4IO_INPUT_CHANNELS);
/* convert incoming servo position values into 0-100 range */
lock();
for (unsigned i = 0; i < count; i++) {
rc_input_t chn;
if (data[i] < 1000) {
chn = 0;
} else if (data[i] > 2000) {
chn = 100;
} else {
chn = (data[i] - 1000) / 10;
}
_input.values[i] = chn;
}
_input.channel_count = count;
unlock();
/* publish to anyone that might be listening */
if (_publication != -1)
orb_publish(ORB_ID(input_rc), _publication, &_input);
}
class PX4IO : public device::CDev
{
@@ -193,53 +85,82 @@ public:
virtual int init();
virtual ssize_t write(struct file *filp, const char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
private:
int _fd;
int _task;
PX4IO_RC *_rc;
static const unsigned _max_actuators = 8;
/** command to be sent to IO */
struct px4io_command _next_command;
int _serial_fd; ///< serial interface to PX4IO
hx_stream_t _io_stream; ///< HX protocol stream
/** RC channel input from IO */
servo_position_t _rc_channel[PX4IO_INPUT_CHANNELS];
int _rc_channel_count;
volatile bool _armed;
int _task; ///< worker task
volatile bool _task_should_exit;
int _t_actuators; ///< ORB subscription for actuator outputs
int _t_armed;
orb_advert_t _t_outputs;
MixerGroup *_mixers;
actuator_controls_s _controls;
actuator_armed_s _armed;
actuator_outputs_s _outputs;
orb_advert_t _t_input;
rc_input_values _input;
volatile bool _switch_armed; ///< PX4IO switch armed state
// XXX how should this work?
bool _send_needed;
hx_stream_t _io_stream;
/**
* Trampoline to the worker task
*/
static void task_main_trampoline(int argc, char *argv[]);
/**
* worker task
*/
void task_main();
void io_recv();
/**
* HX protocol callback.
*/
static void rx_callback_trampoline(void *arg, const void *buffer, size_t bytes_received);
void rx_callback(const uint8_t *buffer, size_t bytes_received);
void io_send();
static int control_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input);
};
namespace
{
PX4IO *g_dev;
}
PX4IO::PX4IO() :
CDev("px4io", "/dev/px4io"),
_fd(-1),
_serial_fd(-1),
_io_stream(nullptr),
_task(-1),
_rc(new PX4IO_RC),
_rc_channel_count(0),
_armed(false),
_task_should_exit(false),
_send_needed(false),
_io_stream(nullptr)
_t_actuators(-1),
_t_armed(-1),
_t_outputs(-1),
_mixers(nullptr),
_t_input(-1),
_switch_armed(false),
_send_needed(false)
{
/* set up the command we will use */
_next_command.f2i_magic = F2I_MAGIC;
/* we need this potentially before it could be set in px4io_main */
/* we need this potentially before it could be set in task_main */
g_dev = this;
_debug_enabled = true;
@@ -247,8 +168,6 @@ PX4IO::PX4IO() :
PX4IO::~PX4IO()
{
if (_rc != nullptr)
delete _rc;
if (_task != -1) {
/* task should wake up every 100ms or so at least */
_task_should_exit = true;
@@ -266,6 +185,8 @@ PX4IO::~PX4IO()
} while (_task != -1);
}
if (_io_stream != nullptr)
hx_stream_free(_io_stream);
g_dev = nullptr;
}
@@ -277,10 +198,6 @@ PX4IO::init()
ASSERT(_task == -1);
/* XXX send a who-are-you request */
/* XXX verify firmware/protocol version */
/* do regular cdev init */
ret = CDev::init();
if (ret != OK)
@@ -305,30 +222,51 @@ PX4IO::task_main_trampoline(int argc, char *argv[])
void
PX4IO::task_main()
{
ASSERT(_fd == -1);
log("ready");
log("starting");
/* open the serial port */
_fd = ::open("/dev/ttyS2", O_RDWR | O_NONBLOCK);
if (_fd < 0) {
_serial_fd = ::open("/dev/ttyS2", O_RDWR | O_NONBLOCK);
if (_serial_fd < 0) {
debug("failed to open serial port for IO: %d", errno);
_task = -1;
_exit(errno);
}
/* protocol stream */
_io_stream = hx_stream_init(_fd, &PX4IO::rx_callback_trampoline, this);
_io_stream = hx_stream_init(_serial_fd, &PX4IO::rx_callback_trampoline, this);
perf_counter_t pc_tx_bytes = perf_alloc(PC_COUNT, "PX4IO frames transmitted");
perf_counter_t pc_rx_bytes = perf_alloc(PC_COUNT, "PX4IO frames received");
perf_counter_t pc_tx_frames = perf_alloc(PC_COUNT, "PX4IO frames transmitted");
perf_counter_t pc_rx_frames = perf_alloc(PC_COUNT, "PX4IO frames received");
perf_counter_t pc_rx_errors = perf_alloc(PC_COUNT, "PX4IO receive errors");
hx_stream_set_counters(_io_stream, pc_tx_bytes, pc_rx_bytes, pc_rx_errors);
hx_stream_set_counters(_io_stream, pc_tx_frames, pc_rx_frames, pc_rx_errors);
/* XXX send a who-are-you request */
/* XXX verify firmware/protocol version */
/* subscribe to objects that we are interested in watching */
_t_actuators = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
/* convert the update rate in hz to milliseconds, rounding down if necessary */
//int update_rate_in_ms = int(1000 / _update_rate);
orb_set_interval(_t_actuators, 20); /* XXX 50Hz hardcoded for now */
_t_armed = orb_subscribe(ORB_ID(actuator_armed));
orb_set_interval(_t_armed, 200); /* 5Hz update rate */
/* advertise the mixed control outputs */
_t_outputs = orb_advertise(ORB_ID_VEHICLE_CONTROLS, &_outputs);
/* advertise the PX4IO R/C input */
_t_input = orb_advertise(ORB_ID(input_rc), &_input);
/* poll descriptor(s) */
struct pollfd fds[1];
fds[0].fd = _fd;
struct pollfd fds[3];
fds[0].fd = _serial_fd;
fds[0].events = POLLIN;
fds[1].fd = _t_actuators;
fds[1].events = POLLIN;
fds[2].fd = _t_armed;
fds[2].events = POLLIN;
/* loop handling received serial bytes */
while (!_task_should_exit) {
@@ -347,9 +285,35 @@ PX4IO::task_main()
if (ret == 0)
_send_needed = true;
/* if we have new data from IO, go handle it */
if ((ret > 0) && (fds[0].revents & POLLIN))
io_recv();
if (ret > 0) {
/* if we have new data from IO, go handle it */
if (fds[0].revents & POLLIN)
io_recv();
/* if we have new data from the ORB, go handle it */
if (fds[1].revents & POLLIN) {
/* get controls */
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
/* mix */
if (_mixers != nullptr) {
/* XXX is this the right count? */
_mixers->mix(&_outputs.output[0], _max_actuators);
/* convert to PWM values */
for (unsigned i = 0; i < _max_actuators; i++)
_outputs.output[i] = 1500 + (600 * _outputs.output[i]);
/* and flag for update */
_send_needed = true;
}
}
if (fds[2].revents & POLLIN) {
orb_copy(ORB_ID(actuator_armed), _t_armed, &_controls);
_send_needed = true;
}
}
/* send an update to IO if required */
if (_send_needed) {
@@ -357,22 +321,31 @@ PX4IO::task_main()
io_send();
}
}
if (_io_stream != nullptr)
hx_stream_free(_io_stream);
::close(_fd);
/* tell the dtor that we are exiting */
_task = -1;
_exit(0);
}
int
PX4IO::control_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input)
{
const actuator_controls_s *controls = (actuator_controls_s *)handle;
input = controls->control[control_index];
return 0;
}
void
PX4IO::io_recv()
{
uint8_t c;
/* handle bytes from IO */
while (::read(_fd, &c, 1) == 1)
while (::read(_serial_fd, &c, 1) == 1)
hx_stream_rx(_io_stream, c);
}
@@ -391,15 +364,10 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received)
if (bytes_received != sizeof(struct px4io_report))
return;
lock();
/* XXX handle R/C inputs here ... needs code sharing/library */
/* pass RC input data to the driver */
if (_rc != nullptr)
_rc->set_channels(rep->channel_count, &rep->rc_channel[0]);
_armed = rep->armed;
/* send an update frame */
_send_needed = true;
/* remember the latched arming switch state */
_switch_armed = rep->armed;
unlock();
@@ -408,75 +376,115 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received)
void
PX4IO::io_send()
{
lock();
px4io_command cmd;
/* send packet to IO while we're guaranteed it won't change */
hx_stream_send(_io_stream, &_next_command, sizeof(_next_command));
cmd.f2i_magic = F2I_MAGIC;
unlock();
}
/* set outputs */
for (unsigned i = 0; i < _max_actuators; i++)
cmd.servo_command[i] = _outputs.output[i];
ssize_t
PX4IO::write(struct file *filp, const char *buffer, size_t len)
{
unsigned channels = len / sizeof(servo_position_t);
servo_position_t *pdata = (servo_position_t *)buffer;
unsigned i;
/* publish as we send */
orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &_outputs);
if (channels > PX4IO_OUTPUT_CHANNELS)
return -EIO;
// XXX relays
lock();
for (i = 0; i < channels; i++)
_next_command.servo_command[i] = pdata[i];
unlock();
cmd.arm_ok = _armed.armed;
return i * sizeof(servo_position_t);
hx_stream_send(_io_stream, &cmd, sizeof(cmd));
}
int
PX4IO::ioctl(struct file *filep, int cmd, unsigned long arg)
{
int ret = -ENOTTY;
int ret = OK;
lock();
/* regular ioctl? */
switch (cmd) {
case PWM_SERVO_ARM:
_next_command.arm_ok = true;
ret = 0;
/* fake an armed transition */
_armed.armed = true;
_send_needed = true;
break;
case PWM_SERVO_DISARM:
_next_command.arm_ok = false;
ret = 0;
/* fake a disarmed transition */
_armed.armed = true;
_send_needed = true;
break;
case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
if ((arg >= 900) && (arg <= 2100)) {
_outputs.output[cmd - PWM_SERVO_SET(0)] = arg;
_send_needed = true;
} else {
ret = -EINVAL;
}
break;
case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1):
*(servo_position_t *)arg = _outputs.output[cmd - PWM_SERVO_GET(0)];
break;
case MIXERIOCGETOUTPUTCOUNT:
*(unsigned *)arg = _max_actuators;
break;
case MIXERIOCRESET:
if (_mixers != nullptr) {
delete _mixers;
_mixers = nullptr;
}
break;
case MIXERIOCADDSIMPLE: {
mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
SimpleMixer *mixer = new SimpleMixer(control_callback,
(uintptr_t)&_controls, mixinfo);
if (mixer->check()) {
delete mixer;
ret = -EINVAL;
} else {
if (_mixers == nullptr)
_mixers = new MixerGroup(control_callback,
(uintptr_t)&_controls);
_mixers->add_mixer(mixer);
}
}
break;
case MIXERIOCADDMULTIROTOR:
/* XXX not yet supported */
ret = -ENOTTY;
break;
case MIXERIOCLOADFILE: {
const char *path = (const char *)arg;
if (_mixers != nullptr) {
delete _mixers;
_mixers = nullptr;
}
_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
if (_mixers->load_from_file(path) != 0) {
delete _mixers;
_mixers = nullptr;
ret = -EINVAL;
}
}
break;
default:
/* channel set? */
if ((cmd >= PWM_SERVO_SET(0)) && (cmd < PWM_SERVO_SET(PX4IO_OUTPUT_CHANNELS))) {
/* XXX sanity-check value? */
_next_command.servo_command[cmd - PWM_SERVO_SET(0)] = arg;
ret = 0;
break;
}
/* channel get? */
if ((cmd >= PWM_SERVO_GET(0)) && (cmd < PWM_SERVO_GET(PX4IO_INPUT_CHANNELS))) {
int channel = cmd - PWM_SERVO_GET(0);
/* currently no data for this channel */
if (channel >= _rc_channel_count) {
ret = -ERANGE;
break;
}
*(servo_position_t *)arg = _rc_channel[channel];
ret = 0;
break;
}
/* not a recognised value */
ret = -ENOTTY;
}
@@ -492,28 +500,25 @@ px4io_main(int argc, char *argv[])
{
if (!strcmp(argv[1], "start")) {
if (g_dev != nullptr) {
fprintf(stderr, "PX4IO: already loaded\n");
return -EBUSY;
}
if (g_dev != nullptr)
errx(1, "already loaded");
/* create the driver - it will set g_dev */
(void)new PX4IO;
if (g_dev == nullptr) {
fprintf(stderr, "PX4IO: driver alloc failed\n");
return -ENOMEM;
}
if (g_dev == nullptr)
errx(1, "driver alloc failed");
if (OK != g_dev->init()) {
fprintf(stderr, "PX4IO: driver init failed\n");
delete g_dev;
return -EIO;
errx(1, "driver init failed");
}
return OK;
exit(0);
}
/* note, stop not currently implemented */
if (!strcmp(argv[1], "update")) {
PX4IO_Uploader *up;
const char *fn[3];
@@ -536,26 +541,19 @@ px4io_main(int argc, char *argv[])
case OK:
break;
case -ENOENT:
fprintf(stderr, "PX4IO firmware file not found\n");
break;
errx(1, "PX4IO firmware file not found");
case -EEXIST:
case -EIO:
fprintf(stderr, "error updating PX4IO - check that bootloader mode is enabled\n");
break;
errx(1, "error updating PX4IO - check that bootloader mode is enabled");
case -EINVAL:
fprintf(stderr, "verify failed - retry the update\n");
break;
errx(1, "verify failed - retry the update");
case -ETIMEDOUT:
fprintf(stderr, "timed out waiting for bootloader - power-cycle and try again\n");
errx(1, "timed out waiting for bootloader - power-cycle and try again");
default:
fprintf(stderr, "unexpected error %d\n", ret);
break;
errx(1, "unexpected error %d", ret);
}
return ret;
}
printf("need a verb, only support 'start' and 'update'\n");
return ERROR;
errx(1, "need a verb, only support 'start' and 'update'");
}