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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Moved all drivers to new world, PX4IO completely in new world
This commit is contained in:
Lorenz Meier
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file px4io.c
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* Top-level logic for the PX4IO module.
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*/
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#include <nuttx/config.h>
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#include <stdio.h> // required for task_create
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#include <stdbool.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <string.h>
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#include <poll.h>
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#include <signal.h>
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#include <drivers/drv_pwm_output.h>
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#include <drivers/drv_hrt.h>
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#include <systemlib/perf_counter.h>
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#include <stm32_uart.h>
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#define DEBUG
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#include "px4io.h"
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__EXPORT int user_start(int argc, char *argv[]);
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extern void up_cxxinitialize(void);
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struct sys_state_s system_state;
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static struct hrt_call serial_dma_call;
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/* store i2c reset count XXX this should be a register, together with other error counters */
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volatile uint32_t i2c_loop_resets = 0;
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/*
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* a set of debug buffers to allow us to send debug information from ISRs
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*/
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static volatile uint32_t msg_counter;
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static volatile uint32_t last_msg_counter;
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static volatile uint8_t msg_next_out, msg_next_in;
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/*
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* WARNING: too large buffers here consume the memory required
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* for mixer handling. Do not allocate more than 80 bytes for
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* output.
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*/
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#define NUM_MSG 2
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static char msg[NUM_MSG][40];
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/*
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* add a debug message to be printed on the console
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*/
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void
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isr_debug(uint8_t level, const char *fmt, ...)
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{
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if (level > r_page_setup[PX4IO_P_SETUP_SET_DEBUG]) {
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return;
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}
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va_list ap;
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va_start(ap, fmt);
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vsnprintf(msg[msg_next_in], sizeof(msg[0]), fmt, ap);
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va_end(ap);
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msg_next_in = (msg_next_in+1) % NUM_MSG;
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msg_counter++;
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}
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/*
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* show all pending debug messages
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*/
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static void
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show_debug_messages(void)
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{
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if (msg_counter != last_msg_counter) {
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uint32_t n = msg_counter - last_msg_counter;
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if (n > NUM_MSG) n = NUM_MSG;
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last_msg_counter = msg_counter;
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while (n--) {
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debug("%s", msg[msg_next_out]);
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msg_next_out = (msg_next_out+1) % NUM_MSG;
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}
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}
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}
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int
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user_start(int argc, char *argv[])
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{
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/* run C++ ctors before we go any further */
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up_cxxinitialize();
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/* reset all to zero */
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memset(&system_state, 0, sizeof(system_state));
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/* configure the high-resolution time/callout interface */
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hrt_init();
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/*
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* Poll at 1ms intervals for received bytes that have not triggered
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* a DMA event.
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*/
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hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
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/* print some startup info */
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lowsyslog("\nPX4IO: starting\n");
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/* default all the LEDs to off while we start */
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LED_AMBER(false);
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LED_BLUE(false);
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LED_SAFETY(false);
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/* turn on servo power */
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POWER_SERVO(true);
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/* start the safety switch handler */
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safety_init();
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/* configure the first 8 PWM outputs (i.e. all of them) */
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up_pwm_servo_init(0xff);
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/* initialise the control inputs */
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controls_init();
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/* start the i2c handler */
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i2c_init();
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/* add a performance counter for mixing */
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perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix");
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/* add a performance counter for controls */
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perf_counter_t controls_perf = perf_alloc(PC_ELAPSED, "controls");
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/* and one for measuring the loop rate */
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perf_counter_t loop_perf = perf_alloc(PC_INTERVAL, "loop");
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struct mallinfo minfo = mallinfo();
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lowsyslog("MEM: free %u, largest %u\n", minfo.mxordblk, minfo.fordblks);
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#if 0
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/* not enough memory, lock down */
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if (minfo.mxordblk < 500) {
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lowsyslog("ERR: not enough MEM");
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bool phase = false;
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if (phase) {
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LED_AMBER(true);
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LED_BLUE(false);
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} else {
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LED_AMBER(false);
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LED_BLUE(true);
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}
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phase = !phase;
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usleep(300000);
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}
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#endif
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/*
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* Run everything in a tight loop.
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*/
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uint64_t last_debug_time = 0;
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for (;;) {
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/* track the rate at which the loop is running */
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perf_count(loop_perf);
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/* kick the mixer */
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perf_begin(mixer_perf);
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mixer_tick();
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perf_end(mixer_perf);
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/* kick the control inputs */
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perf_begin(controls_perf);
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controls_tick();
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perf_end(controls_perf);
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/* check for debug activity */
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show_debug_messages();
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/* post debug state at ~1Hz */
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if (hrt_absolute_time() - last_debug_time > (1000 * 1000)) {
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struct mallinfo minfo = mallinfo();
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isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x r=%u m=%u",
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(unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG],
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(unsigned)r_status_flags,
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(unsigned)r_setup_arming,
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(unsigned)r_setup_features,
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(unsigned)i2c_loop_resets,
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(unsigned)minfo.mxordblk);
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last_debug_time = hrt_absolute_time();
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}
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}
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}
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