Merged master into lockdown_disable

2026-10-18 07:23:34 +08:00 · 2014-01-30 10:00:01 +01:00
parent 62076c0e81 3b31a6b1b9
commit ff753b9e24
98 changed files with 2764 additions and 2745 deletions
@@ -61,6 +61,7 @@
 #include <drivers/device/device.h>
 #include <drivers/drv_rc_input.h>
 #include <drivers/drv_pwm_output.h>
+#include <drivers/drv_sbus.h>
 #include <drivers/drv_gpio.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
@@ -238,6 +239,7 @@ private:
 	unsigned 		_update_interval;	///< Subscription interval limiting send rate
 	bool			_rc_handling_disabled;	///< If set, IO does not evaluate, but only forward the RC values
 	unsigned		_rc_chan_count;		///< Internal copy of the last seen number of RC channels
+	uint64_t		_rc_last_valid;		///< last valid timestamp

 	volatile int		_task;			///< worker task id
 	volatile bool		_task_should_exit;	///< worker terminate flag
@@ -270,7 +272,8 @@ private:
 	orb_advert_t		_to_servorail;		///< servorail status
 	orb_advert_t		_to_safety;		///< status of safety

-	actuator_outputs_s	_outputs;		///<mixed outputs
+	actuator_outputs_s	_outputs;		///< mixed outputs
+	servorail_status_s	_servorail_status;	///< servorail status

 	bool			_primary_pwm_device;	///< true if we are the default PWM output
 	bool			_lockdown_override;	///< allow to override the safety lockdown
@@ -444,14 +447,14 @@ private:
 	 * @param vservo	vservo register
 	 * @param vrssi 	vrssi register
 	 */
-	void			io_handle_vservo(uint16_t vbatt, uint16_t ibatt);
+	void			io_handle_vservo(uint16_t vservo, uint16_t vrssi);

 };

 namespace
 {

-PX4IO	*g_dev;
+PX4IO	*g_dev = nullptr;

 }

@@ -467,6 +470,7 @@ PX4IO::PX4IO(device::Device *interface) :
 	_update_interval(0),
 	_rc_handling_disabled(false),
 	_rc_chan_count(0),
+	_rc_last_valid(0),
 	_task(-1),
 	_task_should_exit(false),
 	_mavlink_fd(-1),
@@ -506,7 +510,8 @@ PX4IO::PX4IO(device::Device *interface) :
 	/* open MAVLink text channel */
 	_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);

-	_debug_enabled = true;
+	_debug_enabled = false;
+	_servorail_status.rssi_v = 0;
 }

 PX4IO::~PX4IO()
@@ -580,6 +585,12 @@ PX4IO::init()
 	/* get some parameters */
 	unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);

+	if (protocol == _io_reg_get_error) {
+		log("failed to communicate with IO");
+		mavlink_log_emergency(_mavlink_fd, "[IO] failed to communicate with IO, abort.");
+		return -1;
+	}
+
 	if (protocol != PX4IO_PROTOCOL_VERSION) {
 		log("protocol/firmware mismatch");
 		mavlink_log_emergency(_mavlink_fd, "[IO] protocol/firmware mismatch, abort.");
@@ -750,7 +761,7 @@ PX4IO::init()
 	}

 	/* start the IO interface task */
-	_task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 2048, (main_t)&PX4IO::task_main_trampoline, nullptr);
+	_task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 1024, (main_t)&PX4IO::task_main_trampoline, nullptr);

 	if (_task < 0) {
 		debug("task start failed: %d", errno);
@@ -774,8 +785,6 @@ PX4IO::task_main()
 	hrt_abstime poll_last = 0;
 	hrt_abstime orb_check_last = 0;

-	log("starting");
-
 	_thread_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);

 	/*
@@ -809,8 +818,6 @@ PX4IO::task_main()
 	fds[0].fd = _t_actuator_controls_0;
 	fds[0].events = POLLIN;

-	log("ready");
-
 	/* lock against the ioctl handler */
 	lock();

@@ -1308,6 +1315,7 @@ PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt)

 	/* voltage is scaled to mV */
 	battery_status.voltage_v = vbatt / 1000.0f;
+	battery_status.voltage_filtered_v = vbatt / 1000.0f;

 	/*
 	  ibatt contains the raw ADC count, as 12 bit ADC
@@ -1339,19 +1347,18 @@ PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt)
 void
 PX4IO::io_handle_vservo(uint16_t vservo, uint16_t vrssi)
 {
-	servorail_status_s servorail_status;
-	servorail_status.timestamp = hrt_absolute_time();
+	_servorail_status.timestamp = hrt_absolute_time();

 	/* voltage is scaled to mV */
-	servorail_status.voltage_v = vservo * 0.001f;
-	servorail_status.rssi_v    = vrssi * 0.001f;
+	_servorail_status.voltage_v = vservo * 0.001f;
+	_servorail_status.rssi_v    = vrssi * 0.001f;

 	/* lazily publish the servorail voltages */
 	if (_to_servorail > 0) {
-		orb_publish(ORB_ID(servorail_status), _to_servorail, &servorail_status);
+		orb_publish(ORB_ID(servorail_status), _to_servorail, &_servorail_status);

 	} else {
-		_to_servorail = orb_advertise(ORB_ID(servorail_status), &servorail_status);
+		_to_servorail = orb_advertise(ORB_ID(servorail_status), &_servorail_status);
 	}
 }

@@ -1361,7 +1368,10 @@ PX4IO::io_get_status()
 	uint16_t	regs[6];
 	int		ret;

-	/* get STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT in that order */
+	/* get
+	 * STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT,
+	 * STATUS_VSERVO, STATUS_VRSSI, STATUS_PRSSI
+	 * in that order */
 	ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &regs[0], sizeof(regs) / sizeof(regs[0]));

 	if (ret != OK)
@@ -1398,7 +1408,8 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
 	 *
 	 * This should be the common case (9 channel R/C control being a reasonable upper bound).
 	 */
-	input_rc.timestamp = hrt_absolute_time();
+	input_rc.timestamp_publication = hrt_absolute_time();
+
 	ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT, &regs[0], prolog + 9);

 	if (ret != OK)
@@ -1408,13 +1419,25 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
 	 * Get the channel count any any extra channels. This is no more expensive than reading the
 	 * channel count once.
 	 */
-	channel_count = regs[0];
+	channel_count = regs[PX4IO_P_RAW_RC_COUNT];

 	if (channel_count != _rc_chan_count)
 		perf_count(_perf_chan_count);

 	_rc_chan_count = channel_count;

+	input_rc.rc_ppm_frame_length = regs[PX4IO_P_RAW_RC_DATA];
+	input_rc.rssi = regs[PX4IO_P_RAW_RC_NRSSI];
+	input_rc.rc_failsafe = (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
+	input_rc.rc_lost_frame_count = regs[PX4IO_P_RAW_LOST_FRAME_COUNT];
+	input_rc.rc_total_frame_count = regs[PX4IO_P_RAW_FRAME_COUNT];
+
+	/* rc_lost has to be set before the call to this function */
+	if (!input_rc.rc_lost && !input_rc.rc_failsafe)
+		_rc_last_valid = input_rc.timestamp_publication;
+
+	input_rc.timestamp_last_signal = _rc_last_valid;
+
 	if (channel_count > 9) {
 		ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, &regs[prolog + 9], channel_count - 9);

@@ -1431,13 +1454,12 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
 int
 PX4IO::io_publish_raw_rc()
 {
-	/* if no raw RC, just don't publish */
-	if (!(_status & PX4IO_P_STATUS_FLAGS_RC_OK))
-		return OK;

 	/* fetch values from IO */
 	rc_input_values	rc_val;
-	rc_val.timestamp = hrt_absolute_time();
+
+	/* set the RC status flag ORDER MATTERS! */
+	rc_val.rc_lost = !(_status & PX4IO_P_STATUS_FLAGS_RC_OK);

 	int ret = io_get_raw_rc_input(rc_val);

@@ -1456,6 +1478,11 @@ PX4IO::io_publish_raw_rc()

 	} else {
 		rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN;
+
+		/* we do not know the RC input, only publish if RC OK flag is set */
+		/* if no raw RC, just don't publish */
+		if (!(_status & PX4IO_P_STATUS_FLAGS_RC_OK))
+			return OK;
 	}

 	/* lazily advertise on first publication */
@@ -1672,7 +1699,18 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
 				total_len++;
 			}

-			int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, total_len / 2);
+			int ret;
+
+			for (int i = 0; i < 30; i++) {
+				/* failed, but give it a 2nd shot */
+				ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, total_len / 2);
+
+				if (ret) {
+					usleep(333);
+				} else {
+					break;
+				}
+			}

 			/* print mixer chunk */
 			if (debuglevel > 5 || ret) {
@@ -1696,7 +1734,18 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
 		msg->text[0] = '\n';
 		msg->text[1] = '\0';

-		int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2);
+		int ret;
+
+		for (int i = 0; i < 30; i++) {
+			/* failed, but give it a 2nd shot */
+			ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2);
+
+			if (ret) {
+				usleep(333);
+			} else {
+				break;
+			}
+		}

 		if (ret)
 			return ret;
@@ -1742,15 +1791,14 @@ PX4IO::print_status()
 	printf("%u bytes free\n",
 	       io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM));
 	uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS);
-	printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s%s\n",
+	uint16_t io_status_flags = flags;
+	printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s\n",
 	       flags,
 	       ((flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED) ? " OUTPUTS_ARMED" : ""),
 	       ((flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? " SAFETY_OFF" : " SAFETY_SAFE"),
 	       ((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""),
 	       ((flags & PX4IO_P_STATUS_FLAGS_RC_OK)    ? " RC_OK" : " RC_FAIL"),
 	       ((flags & PX4IO_P_STATUS_FLAGS_RC_PPM)   ? " PPM" : ""),
-	       (((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (!(flags & PX4IO_P_STATUS_FLAGS_RC_DSM11))) ? " DSM10" : ""),
-	       (((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (flags & PX4IO_P_STATUS_FLAGS_RC_DSM11)) ? " DSM11" : ""),
 	       ((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS)  ? " SBUS" : ""),
 	       ((flags & PX4IO_P_STATUS_FLAGS_FMU_OK)   ? " FMU_OK" : " FMU_FAIL"),
 	       ((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM)  ? " RAW_PWM_PASSTHROUGH" : ""),
@@ -1809,8 +1857,17 @@ PX4IO::print_status()

 	printf("\n");

-	if (raw_inputs > 0) {
-		int frame_len = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_RC_DATA);
+	flags = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_FLAGS);
+	printf("R/C flags: 0x%04x%s%s%s%s%s\n", flags,
+		(((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (!(flags & PX4IO_P_RAW_RC_FLAGS_RC_DSM11))) ? " DSM10" : ""),
+		(((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (flags & PX4IO_P_RAW_RC_FLAGS_RC_DSM11)) ? " DSM11" : ""),
+		((flags & PX4IO_P_RAW_RC_FLAGS_FRAME_DROP) ? " FRAME_DROP" : ""),
+		((flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) ? " FAILSAFE" : ""),
+		((flags & PX4IO_P_RAW_RC_FLAGS_MAPPING_OK) ? " MAPPING_OK" : "")
+	       );
+
+	if ((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_PPM)) {
+		int frame_len = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_DATA);
 		printf("RC data (PPM frame len) %u us\n", frame_len);

 		if ((frame_len - raw_inputs * 2000 - 3000) < 0) {
@@ -1836,7 +1893,13 @@ PX4IO::print_status()
 	printf("\n");

 	/* setup and state */
-	printf("features 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES));
+	uint16_t features = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES);
+	printf("features 0x%04x%s%s%s%s\n", features,
+		((features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) ? " S.BUS1_OUT" : ""),
+		((features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) ? " S.BUS2_OUT" : ""),
+		((features & PX4IO_P_SETUP_FEATURES_PWM_RSSI) ? " RSSI_PWM" : ""),
+		((features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) ? " RSSI_ADC" : "")
+		);
 	uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
 	printf("arming 0x%04x%s%s%s%s%s%s%s\n",
 	       arming,
@@ -2267,6 +2330,38 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)

 		break;

+	case RC_INPUT_ENABLE_RSSI_ANALOG:
+
+		if (arg) {
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_ADC_RSSI);
+		} else {
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, PX4IO_P_SETUP_FEATURES_ADC_RSSI, 0);
+		}
+
+		break;
+
+	case RC_INPUT_ENABLE_RSSI_PWM:
+
+		if (arg) {
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_PWM_RSSI);
+		} else {
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, PX4IO_P_SETUP_FEATURES_PWM_RSSI, 0);
+		}
+
+		break;
+
+	case SBUS_SET_PROTO_VERSION:
+
+		if (arg == 1) {
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS1_OUT);
+		} else if (arg == 2) {
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS2_OUT);
+		} else {
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT), 0);
+		}
+
+		break;
+
 	default:
 		/* not a recognized value */
 		ret = -ENOTTY;
@@ -2375,8 +2470,10 @@ start(int argc, char *argv[])
 	/* create the driver - it will set g_dev */
 	(void)new PX4IO(interface);

-	if (g_dev == nullptr)
+	if (g_dev == nullptr) {
+		delete interface;
 		errx(1, "driver alloc failed");
+	}

 	if (OK != g_dev->init()) {
 		delete g_dev;
@@ -2638,7 +2735,7 @@ monitor(void)
 	/* clear screen */
 	printf("\033[2J");

-	unsigned cancels = 3;
+	unsigned cancels = 2;

 	for (;;) {
 		pollfd fds[1];
@@ -2652,17 +2749,17 @@ monitor(void)
 			read(0, &c, 1);

 			if (cancels-- == 0) {
-				printf("\033[H"); /* move cursor home and clear screen */
+				printf("\033[2J\033[H"); /* move cursor home and clear screen */
 				exit(0);
 			}
 		}

 		if (g_dev != nullptr) {

-			printf("\033[H"); /* move cursor home and clear screen */
+			printf("\033[2J\033[H"); /* move cursor home and clear screen */
 			(void)g_dev->print_status();
 			(void)g_dev->print_debug();
-			printf("[ Use 'px4io debug <N>' for more output. Hit <enter> three times to exit monitor mode ]\n");
+			printf("\n\n\n[ Use 'px4io debug <N>' for more output. Hit <enter> three times to exit monitor mode ]\n");

 		} else {
 			errx(1, "driver not loaded, exiting");
@@ -2764,6 +2861,7 @@ px4io_main(int argc, char *argv[])
 			printf("[px4io] loaded, detaching first\n");
 			/* stop the driver */
 			delete g_dev;
+			g_dev = nullptr;
 		}

 		PX4IO_Uploader *up;
@@ -2836,18 +2934,30 @@ px4io_main(int argc, char *argv[])
 		}
 		if (g_dev == nullptr) {
 			warnx("px4io is not started, still attempting upgrade");
-		} else {
-			uint16_t arg = atol(argv[2]);
-			int ret = g_dev->ioctl(nullptr, PX4IO_REBOOT_BOOTLOADER, arg);
-			if (ret != OK) {
-				printf("reboot failed - %d\n", ret);
-				exit(1);
-			}

-			// tear down the px4io instance
-			delete g_dev;
+			/* allocate the interface */
+			device::Device *interface = get_interface();
+
+			/* create the driver - it will set g_dev */
+			(void)new PX4IO(interface);
+
+			if (g_dev == nullptr) {
+				delete interface;
+				errx(1, "driver alloc failed");
+			}
 		}

+		uint16_t arg = atol(argv[2]);
+		int ret = g_dev->ioctl(nullptr, PX4IO_REBOOT_BOOTLOADER, arg);
+		if (ret != OK) {
+			printf("reboot failed - %d\n", ret);
+			exit(1);
+		}
+
+		// tear down the px4io instance
+		delete g_dev;
+		g_dev = nullptr;
+
 		// upload the specified firmware
 		const char *fn[2];
 		fn[0] = argv[3];
@@ -2905,6 +3015,7 @@ px4io_main(int argc, char *argv[])

 		/* stop the driver */
 		delete g_dev;
+		g_dev = nullptr;
 		exit(0);
 	}

@@ -2962,6 +3073,60 @@ px4io_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "lockdown"))
 		lockdown(argc, argv);

+	if (!strcmp(argv[1], "sbus1_out")) {
+		/* we can cheat and call the driver directly, as it
+		 * doesn't reference filp in ioctl()
+		 */
+		int ret = g_dev->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 1);
+
+		if (ret != 0) {
+			errx(ret, "S.BUS v1 failed");
+		}
+
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "sbus2_out")) {
+		/* we can cheat and call the driver directly, as it
+		 * doesn't reference filp in ioctl()
+		 */
+		int ret = g_dev->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 2);
+
+		if (ret != 0) {
+			errx(ret, "S.BUS v2 failed");
+		}
+
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "rssi_analog")) {
+		/* we can cheat and call the driver directly, as it
+		 * doesn't reference filp in ioctl()
+		 */
+		int ret = g_dev->ioctl(nullptr, RC_INPUT_ENABLE_RSSI_ANALOG, 1);
+
+		if (ret != 0) {
+			errx(ret, "RSSI analog failed");
+		}
+
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "rssi_pwm")) {
+		/* we can cheat and call the driver directly, as it
+		 * doesn't reference filp in ioctl()
+		 */
+		int ret = g_dev->ioctl(nullptr, RC_INPUT_ENABLE_RSSI_PWM, 1);
+
+		if (ret != 0) {
+			errx(ret, "RSSI PWM failed");
+		}
+
+		exit(0);
+	}
+
 out:
-	errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug',\n 'recovery', 'limit', 'current', 'bind', 'checkcrc', 'forceupdate' or 'update'");
+	errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug <level>',\n"
+	        "'recovery', 'limit <rate>', 'current', 'bind', 'checkcrc',\n"
+	        "'forceupdate', 'update', 'sbus1_out', 'sbus2_out', 'rssi_analog' or 'rssi_pwm'");
 }