Cleanup and refactor of the PX4IO firmware and board support. Builds, not tested yet.

apps/px4io/Makefile

@@ -39,11 +39,10 @@
 # Note that we pull a couple of specific files from the systemlib, since
 # we can't support it all.
 #
-CSRCS	= comms.c \
-	  mixer.c \
-	  px4io.c \
-	  safety.c \
-	  ../systemlib/hx_stream.c \
-	  ../systemlib/perf_counter.c
+CSRCS		= $(wildcard *.c) \
+		  ../systemlib/hx_stream.c \
+		  ../systemlib/perf_counter.c
+
+INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
 
 include $(APPDIR)/mk/app.mk

apps/px4io/comms.c

@@ -93,7 +93,7 @@ comms_check(void)
 		last_report_time = now;
 
 		/* populate the report */
-		for (unsigned i = 0; i < system_state.rc_channels; i++)
+		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;

apps/px4io/mixer.c

@@ -45,18 +45,13 @@
 #include <errno.h>
 #include <fcntl.h>
 
-#include <arch/board/drv_ppm_input.h>
-#include <arch/board/drv_pwm_servo.h>
+#include <drivers/drv_pwm_output.h>
 #include <drivers/drv_hrt.h>
 
+#include <systemlib/ppm_decode.h>
+
 #include "px4io.h"
 
-#ifdef CONFIG_DISABLE_MQUEUE
-# error Mixer requires message queues - set CONFIG_DISABLE_MQUEUE=n and try again
-#endif
-
-static mqd_t	input_queue;
-
 /*
  * Count of periodic calls in which we have no data.
  */
@@ -89,9 +84,6 @@ static void	mixer_get_rc_input(void);
  */
 static void	mixer_update(int mixer, uint16_t *inputs, int input_count);
 
-/* servo driver handle */
-int mixer_servo_fd;
-
 /* current servo arm/disarm state */
 bool mixer_servos_armed;
 
@@ -106,14 +98,6 @@ struct mixer {
 int
 mixer_init(const char *mq_name)
 {
-	/* open the control input queue; this should always exist */
-	input_queue = mq_open(mq_name, O_RDONLY | O_NONBLOCK);
-	ASSERTCODE((input_queue >= 0), A_INPUTQ_OPEN_FAIL);
-
-	/* open the servo driver */
-	mixer_servo_fd = open("/dev/pwm_servo", O_WRONLY);
-	ASSERTCODE((mixer_servo_fd >= 0), A_SERVO_OPEN_FAIL);
-
 	/* look for control data at 50Hz */
 	hrt_call_every(&mixer_input_call, 1000, 20000, mixer_tick, NULL);
 
@@ -176,9 +160,8 @@ mixer_tick(void *arg)
 			 * If we are armed, update the servo output.
 			 */
 			if (system_state.armed)
-				ioctl(mixer_servo_fd, PWM_SERVO_SET(i), mixers[i].current_value);
+				up_pwm_servo_set(i, mixers[i].current_value);
 		}
-
 	}
 
 	/*
@@ -187,12 +170,12 @@ mixer_tick(void *arg)
 	should_arm = system_state.armed && (control_count > 0);
 	if (should_arm && !mixer_servos_armed) {
 		/* need to arm, but not armed */
-		ioctl(mixer_servo_fd, PWM_SERVO_ARM, 0);
+		up_pwm_servo_arm(true);
 		mixer_servos_armed = true;
 
 	} else if (!should_arm && mixer_servos_armed) {
-		/* armed but need to disarm*/
-		ioctl(mixer_servo_fd, PWM_SERVO_DISARM, 0);		
+		/* armed but need to disarm */
+		up_pwm_servo_arm(false);
 		mixer_servos_armed = false;
 	}
 }
@@ -200,22 +183,20 @@ mixer_tick(void *arg)
 static void
 mixer_get_rc_input(void)
 {
-	ssize_t len;
-
 	/*
-	 * Pull channel data from the message queue into the system state structure.
+	 * XXX currently only supporting PPM
 	 *
+	 * XXX check timestamp to ensure current
 	 */
-	len = mq_receive(input_queue, &system_state.rc_channel_data, sizeof(system_state.rc_channel_data), NULL);
-
-	/*
-	 * If we have data, update the count and status.
-	 */
-	if (len > 0) {
-		system_state.rc_channels = len / sizeof(system_state.rc_channel_data[0]);
+	if (ppm_decoded_channels > 0) {
 		mixer_input_drops = 0;
-
 		system_state.fmu_report_due = true;
+
+		/* copy channel data */
+		system_state.rc_channels = ppm_decoded_channels;
+		for (unsigned i = 0; i < ppm_decoded_channels; i++)
+			system_state.rc_channel_data[i] = ppm_buffer[i];
+
 	} else {
 		/*
 		 * No data; count the 'frame drops' and once we hit the limit

apps/px4io/px4io.c

@@ -47,9 +47,7 @@
 
 #include <nuttx/clock.h>
 
-#include <arch/board/up_boardinitialize.h>
-#include <arch/board/drv_gpio.h>
-#include <arch/board/drv_ppm_input.h>
+#include <drivers/drv_pwm_output.h>
 #include <drivers/drv_hrt.h>
 
 #include "px4io.h"
@@ -73,8 +71,8 @@ int user_start(int argc, char *argv[])
 	bool	heartbeat = false;
 	bool	failsafe = false;
 
-	/* Do board init */
-	(void)up_boardinitialize();
+	/* configure the PWM outputs */
+	up_pwm_servo_init(0xff);
 
 	/* print some startup info */
 	lib_lowprintf("\nPX4IO: starting\n");
@@ -84,21 +82,14 @@ int user_start(int argc, char *argv[])
 	/* start the software timer service */
 	hrt_call_every(&timer_tick_call, 1000, 1000, timer_tick, NULL);
 
-	/* Open the GPIO driver so we can do LEDs and the like. */
-	gpio_fd = open("/dev/gpio", 0);
-	ASSERTCODE((gpio_fd >= 0), A_GPIO_OPEN_FAIL);
-
 	/* default all the LEDs to off while we start */
-	LED_AMBER(heartbeat);
-	LED_BLUE(failsafe);
+	LED_AMBER(false);
+	LED_BLUE(false);
 	LED_SAFETY(false);
 
 	/* turn on servo power */
 	POWER_SERVO(true);
 
-	/* configure the PPM input driver */
-	ppm_input_init(rc_input_mq_name);
-
 	/* start the mixer */
 	mixer_init(rc_input_mq_name);
 
@@ -123,18 +114,19 @@ int user_start(int argc, char *argv[])
 		/* blink the heartbeat LED */
 		if (timers[TIMER_BLINK_AMBER] == 0) {
 			timers[TIMER_BLINK_AMBER] = 250;
-			LED_AMBER((heartbeat = !heartbeat));
+			LED_AMBER(heartbeat = !heartbeat);
 		}
 
 		/* blink the failsafe LED if we don't have FMU input */
 		if (!system_state.mixer_use_fmu) {
 			if (timers[TIMER_BLINK_BLUE] == 0) {
 				timers[TIMER_BLINK_BLUE] = 125;
-				LED_BLUE((failsafe = !failsafe));
+				failsafe = !failsafe;
 			}
 		} else {
-			LED_BLUE((failsafe = false));
+			failsafe = false;
 		}
+		LED_BLUE(failsafe);
 		
 		/* print some simple status */
 		if (timers[TIMER_STATUS_PRINT] == 0) {
@@ -147,7 +139,6 @@ int user_start(int argc, char *argv[])
 				system_state.rc_channels
 			);
 		}
-
 	}
 
 	/* Should never reach here */

apps/px4io/px4io.h

@@ -32,10 +32,18 @@
  ****************************************************************************/
 
  /**
-  * @file General defines and structures for the PX4IO module firmware.
+  * @file px4io.h
+  *
+  * General defines and structures for the PX4IO module firmware.
   */
 
-#include <arch/board/drv_gpio.h>
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <drivers/boards/px4io/px4io_internal.h>
+
 #include "protocol.h"
 
 /*
@@ -102,21 +110,19 @@ extern volatile int	timers[TIMER_NUM_TIMERS];
 /*
  * GPIO handling.
  */
-extern int gpio_fd;
+#define LED_AMBER(_s)		stm32_gpiowrite(GPIO_LED1, !(_s))
+#define LED_BLUE(_s)		stm32_gpiowrite(GPIO_LED2, !(_s))
+#define LED_SAFETY(_s)		stm32_gpiowrite(GPIO_LED3, !(_s))
 
-#define POWER_SERVO(_s)		ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_POWER), (_s))
-#define POWER_ACC1(_s)		ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_ACC1), (_s))
-#define POWER_ACC2(_s)		ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_ACC2), (_s))
-#define POWER_RELAY1(_s)	ioctl(gpio_fd, GPIO_SET(GPIO_RELAY1, (_s))
-#define POWER_RELAY2(_s)	ioctl(gpio_fd, GPIO_SET(GPIO_RELAY2, (_s))
+#define POWER_SERVO(_s)		stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s))
+#define POWER_ACC1(_s)		stm32_gpiowrite(GPIO_SERVO_ACC1_EN, (_s))
+#define POWER_ACC2(_s)		stm32_gpiowrite(GPIO_SERVO_ACC2_EN, (_s))
+#define POWER_RELAY1(_s)	stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
+#define POWER_RELAY2(_s)	stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
 
-#define LED_AMBER(_s)		ioctl(gpio_fd, GPIO_SET(GPIO_LED_AMBER), !(_s))
-#define LED_BLUE(_s)		ioctl(gpio_fd, GPIO_SET(GPIO_LED_BLUE), !(_s))
-#define LED_SAFETY(_s)		ioctl(gpio_fd, GPIO_SET(GPIO_LED_SAFETY), !(_s))
-
-#define OVERCURRENT_ACC		ioctl(gpio_fd, GPIO_GET(GPIO_ACC_OVERCURRENT), 0)
-#define OVERCURRENT_SERVO	ioctl(gpio_fd, GPIO_GET(GPIO_SERVO_OVERCURRENT), 0)
-#define BUTTON_SAFETY		ioctl(gpio_fd, GPIO_GET(GPIO_SAFETY_BUTTON), 0)
+#define OVERCURRENT_ACC		stm32_gpioread(GPIO_ACC_OC_DETECT)
+#define OVERCURRENT_SERVO	stm32_gpioread(GPIO_SERVO_OC_DETECT
+#define BUTTON_SAFETY		stm32_gpioread(GPIO_BTN_SAFETY)
 
 /*
  * Mixer

apps/px4io/safety.c

@@ -46,9 +46,6 @@
 
 #include <nuttx/clock.h>
 
-#include <arch/board/up_boardinitialize.h>
-#include <arch/board/drv_gpio.h>
-#include <arch/board/drv_ppm_input.h>
 #include <drivers/drv_hrt.h>
 
 #include "px4io.h"