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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 * PX4IO is connected via serial (or possibly some other interface at a later
* point). * point).
*
* XXX current design is racy as all hell; need a locking strategy.
*/ */
#include <nuttx/config.h> #include <nuttx/config.h>
@@ -53,6 +52,7 @@
#include <errno.h> #include <errno.h>
#include <string.h> #include <string.h>
#include <stdio.h> #include <stdio.h>
#include <stdlib.h>
#include <unistd.h> #include <unistd.h>
#include <fcntl.h> #include <fcntl.h>
@@ -61,129 +61,21 @@
#include <drivers/device/device.h> #include <drivers/device/device.h>
#include <drivers/drv_rc_input.h> #include <drivers/drv_rc_input.h>
#include <drivers/drv_pwm_output.h> #include <drivers/drv_pwm_output.h>
#include <systemlib/mixer/mixer.h>
#include <drivers/drv_mixer.h>
#include <systemlib/perf_counter.h> #include <systemlib/perf_counter.h>
#include <systemlib/hx_stream.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 "px4io/protocol.h"
#include "uploader.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 class PX4IO : public device::CDev
{ {
@@ -193,53 +85,82 @@ public:
virtual int init(); 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); virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
private: private:
int _fd; static const unsigned _max_actuators = 8;
int _task;
PX4IO_RC *_rc;
/** command to be sent to IO */ int _serial_fd; ///< serial interface to PX4IO
struct px4io_command _next_command; hx_stream_t _io_stream; ///< HX protocol stream
/** RC channel input from IO */ int _task; ///< worker task
servo_position_t _rc_channel[PX4IO_INPUT_CHANNELS];
int _rc_channel_count;
volatile bool _armed;
volatile bool _task_should_exit; 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; bool _send_needed;
hx_stream_t _io_stream; /**
* Trampoline to the worker task
*/
static void task_main_trampoline(int argc, char *argv[]); static void task_main_trampoline(int argc, char *argv[]);
/**
* worker task
*/
void task_main(); void task_main();
void io_recv(); void io_recv();
/**
* HX protocol callback.
*/
static void rx_callback_trampoline(void *arg, const void *buffer, size_t bytes_received); 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 rx_callback(const uint8_t *buffer, size_t bytes_received);
void io_send(); 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() : PX4IO::PX4IO() :
CDev("px4io", "/dev/px4io"), CDev("px4io", "/dev/px4io"),
_fd(-1), _serial_fd(-1),
_io_stream(nullptr),
_task(-1), _task(-1),
_rc(new PX4IO_RC),
_rc_channel_count(0),
_armed(false),
_task_should_exit(false), _task_should_exit(false),
_send_needed(false), _t_actuators(-1),
_io_stream(nullptr) _t_armed(-1),
_t_outputs(-1),
_mixers(nullptr),
_t_input(-1),
_switch_armed(false),
_send_needed(false)
{ {
/* set up the command we will use */ /* we need this potentially before it could be set in task_main */
_next_command.f2i_magic = F2I_MAGIC;
/* we need this potentially before it could be set in px4io_main */
g_dev = this; g_dev = this;
_debug_enabled = true; _debug_enabled = true;
@@ -247,8 +168,6 @@ PX4IO::PX4IO() :
PX4IO::~PX4IO() PX4IO::~PX4IO()
{ {
if (_rc != nullptr)
delete _rc;
if (_task != -1) { if (_task != -1) {
/* task should wake up every 100ms or so at least */ /* task should wake up every 100ms or so at least */
_task_should_exit = true; _task_should_exit = true;
@@ -266,6 +185,8 @@ PX4IO::~PX4IO()
} while (_task != -1); } while (_task != -1);
} }
if (_io_stream != nullptr)
hx_stream_free(_io_stream);
g_dev = nullptr; g_dev = nullptr;
} }
@@ -277,10 +198,6 @@ PX4IO::init()
ASSERT(_task == -1); ASSERT(_task == -1);
/* XXX send a who-are-you request */
/* XXX verify firmware/protocol version */
/* do regular cdev init */ /* do regular cdev init */
ret = CDev::init(); ret = CDev::init();
if (ret != OK) if (ret != OK)
@@ -305,30 +222,51 @@ PX4IO::task_main_trampoline(int argc, char *argv[])
void void
PX4IO::task_main() PX4IO::task_main()
{ {
ASSERT(_fd == -1); log("starting");
log("ready");
/* open the serial port */ /* open the serial port */
_fd = ::open("/dev/ttyS2", O_RDWR | O_NONBLOCK); _serial_fd = ::open("/dev/ttyS2", O_RDWR | O_NONBLOCK);
if (_fd < 0) { if (_serial_fd < 0) {
debug("failed to open serial port for IO: %d", errno); debug("failed to open serial port for IO: %d", errno);
_task = -1; _task = -1;
_exit(errno); _exit(errno);
} }
/* protocol stream */ /* 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_tx_frames = perf_alloc(PC_COUNT, "PX4IO frames transmitted");
perf_counter_t pc_rx_bytes = perf_alloc(PC_COUNT, "PX4IO frames received"); 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"); 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) */ /* poll descriptor(s) */
struct pollfd fds[1]; struct pollfd fds[3];
fds[0].fd = _fd; fds[0].fd = _serial_fd;
fds[0].events = POLLIN; 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 */ /* loop handling received serial bytes */
while (!_task_should_exit) { while (!_task_should_exit) {
@@ -347,9 +285,35 @@ PX4IO::task_main()
if (ret == 0) if (ret == 0)
_send_needed = true; _send_needed = true;
/* if we have new data from IO, go handle it */ if (ret > 0) {
if ((ret > 0) && (fds[0].revents & POLLIN)) /* if we have new data from IO, go handle it */
io_recv(); 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 */ /* send an update to IO if required */
if (_send_needed) { if (_send_needed) {
@@ -357,22 +321,31 @@ PX4IO::task_main()
io_send(); io_send();
} }
} }
if (_io_stream != nullptr)
hx_stream_free(_io_stream);
::close(_fd);
/* tell the dtor that we are exiting */ /* tell the dtor that we are exiting */
_task = -1; _task = -1;
_exit(0); _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 void
PX4IO::io_recv() PX4IO::io_recv()
{ {
uint8_t c; uint8_t c;
/* handle bytes from IO */ /* handle bytes from IO */
while (::read(_fd, &c, 1) == 1) while (::read(_serial_fd, &c, 1) == 1)
hx_stream_rx(_io_stream, c); 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)) if (bytes_received != sizeof(struct px4io_report))
return; return;
lock(); /* XXX handle R/C inputs here ... needs code sharing/library */
/* pass RC input data to the driver */ /* remember the latched arming switch state */
if (_rc != nullptr) _switch_armed = rep->armed;
_rc->set_channels(rep->channel_count, &rep->rc_channel[0]);
_armed = rep->armed;
/* send an update frame */
_send_needed = true;
unlock(); unlock();
@@ -408,75 +376,115 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received)
void void
PX4IO::io_send() PX4IO::io_send()
{ {
lock(); px4io_command cmd;
/* send packet to IO while we're guaranteed it won't change */ cmd.f2i_magic = F2I_MAGIC;
hx_stream_send(_io_stream, &_next_command, sizeof(_next_command));
unlock(); /* set outputs */
} for (unsigned i = 0; i < _max_actuators; i++)
cmd.servo_command[i] = _outputs.output[i];
ssize_t /* publish as we send */
PX4IO::write(struct file *filp, const char *buffer, size_t len) orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &_outputs);
{
unsigned channels = len / sizeof(servo_position_t);
servo_position_t *pdata = (servo_position_t *)buffer;
unsigned i;
if (channels > PX4IO_OUTPUT_CHANNELS) // XXX relays
return -EIO;
lock(); cmd.arm_ok = _armed.armed;
for (i = 0; i < channels; i++)
_next_command.servo_command[i] = pdata[i];
unlock();
return i * sizeof(servo_position_t); hx_stream_send(_io_stream, &cmd, sizeof(cmd));
} }
int int
PX4IO::ioctl(struct file *filep, int cmd, unsigned long arg) PX4IO::ioctl(struct file *filep, int cmd, unsigned long arg)
{ {
int ret = -ENOTTY; int ret = OK;
lock(); lock();
/* regular ioctl? */ /* regular ioctl? */
switch (cmd) { switch (cmd) {
case PWM_SERVO_ARM: case PWM_SERVO_ARM:
_next_command.arm_ok = true; /* fake an armed transition */
ret = 0; _armed.armed = true;
_send_needed = true;
break; break;
case PWM_SERVO_DISARM: case PWM_SERVO_DISARM:
_next_command.arm_ok = false; /* fake a disarmed transition */
ret = 0; _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; break;
default: 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 */ /* not a recognised value */
ret = -ENOTTY; ret = -ENOTTY;
} }
@@ -492,28 +500,25 @@ px4io_main(int argc, char *argv[])
{ {
if (!strcmp(argv[1], "start")) { if (!strcmp(argv[1], "start")) {
if (g_dev != nullptr) { if (g_dev != nullptr)
fprintf(stderr, "PX4IO: already loaded\n"); errx(1, "already loaded");
return -EBUSY;
}
/* create the driver - it will set g_dev */ /* create the driver - it will set g_dev */
(void)new PX4IO; (void)new PX4IO;
if (g_dev == nullptr) { if (g_dev == nullptr)
fprintf(stderr, "PX4IO: driver alloc failed\n"); errx(1, "driver alloc failed");
return -ENOMEM;
}
if (OK != g_dev->init()) { if (OK != g_dev->init()) {
fprintf(stderr, "PX4IO: driver init failed\n");
delete g_dev; delete g_dev;
return -EIO; errx(1, "driver init failed");
} }
return OK; exit(0);
} }
/* note, stop not currently implemented */
if (!strcmp(argv[1], "update")) { if (!strcmp(argv[1], "update")) {
PX4IO_Uploader *up; PX4IO_Uploader *up;
const char *fn[3]; const char *fn[3];
@@ -536,26 +541,19 @@ px4io_main(int argc, char *argv[])
case OK: case OK:
break; break;
case -ENOENT: case -ENOENT:
fprintf(stderr, "PX4IO firmware file not found\n"); errx(1, "PX4IO firmware file not found");
break;
case -EEXIST: case -EEXIST:
case -EIO: case -EIO:
fprintf(stderr, "error updating PX4IO - check that bootloader mode is enabled\n"); errx(1, "error updating PX4IO - check that bootloader mode is enabled");
break;
case -EINVAL: case -EINVAL:
fprintf(stderr, "verify failed - retry the update\n"); errx(1, "verify failed - retry the update");
break;
case -ETIMEDOUT: 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: default:
fprintf(stderr, "unexpected error %d\n", ret); errx(1, "unexpected error %d", ret);
break;
} }
return ret; return ret;
} }
errx(1, "need a verb, only support 'start' and 'update'");
printf("need a verb, only support 'start' and 'update'\n");
return ERROR;
} }