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PX4-Autopilot/src/drivers/px4io/px4io.cpp
Daniel Agar 27f23ac290 move initial sensor priority to parameters and purge ORB_PRIORITY 
- CAL_ACCx_EN -> CAL_ACCx_PRIO
 - CAL_GYROx_EN -> CAL_GYROx_PRIO
 - CAL_MAGx_EN -> CAL_MAGx_PRIO
2020-08-21 10:12:13 -04:00

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/****************************************************************************
*
* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4io.cpp
* Driver for the PX4IO board.
*
* PX4IO is connected via DMA enabled high-speed UART.
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/sem.hpp>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <assert.h>
#include <debug.h>
#include <time.h>
#include <queue.h>
#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <math.h>
#include <crc32.h>
#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_hrt.h>
#include <drivers/drv_mixer.h>
#include <rc/dsm.h>
#include <lib/mathlib/mathlib.h>
#include <lib/mixer/MixerGroup.hpp>
#include <lib/mixer/MultirotorMixer/MultirotorMixer.hpp>
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <parameters/param.h>
#include <circuit_breaker/circuit_breaker.h>
#include <systemlib/mavlink_log.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/px4io_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/multirotor_motor_limits.h>
#include <uORB/topics/test_motor.h>
#include <debug.h>
#include <modules/px4iofirmware/protocol.h>
#include "uploader.h"
#include "modules/dataman/dataman.h"
#include "px4io_driver.h"
#define PX4IO_SET_DEBUG _IOC(0xff00, 0)
#define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1)
#define PX4IO_REBOOT_BOOTLOADER _IOC(0xff00, 2)
#define PX4IO_CHECK_CRC _IOC(0xff00, 3)
#define ORB_CHECK_INTERVAL 200000 // 200 ms -> 5 Hz
#define IO_POLL_INTERVAL 20000 // 20 ms -> 50 Hz
using namespace time_literals;
/**
* The PX4IO class.
*
* Encapsulates PX4FMU to PX4IO communications modeled as file operations.
*/
class PX4IO : public cdev::CDev
{
public:
/**
* Constructor.
*
* Initialize all class variables.
*/
PX4IO(device::Device *interface);
/**
* Destructor.
*
* Wait for worker thread to terminate.
*/
virtual ~PX4IO();
/**
* Initialize the PX4IO class.
*
* Retrieve relevant initial system parameters. Initialize PX4IO registers.
*/
virtual int init();
/**
* Initialize the PX4IO class.
*
* Retrieve relevant initial system parameters. Initialize PX4IO registers.
*
* @param disable_rc_handling set to true to forbid override / RC handling on IO
* @param hitl_mode set to suppress publication of actuator_outputs - instead defer to pwm_out_sim
*/
int init(bool disable_rc_handling, bool hitl_mode);
/**
* Detect if a PX4IO is connected.
*
* Only validate if there is a PX4IO to talk to.
*/
virtual int detect();
/**
* IO Control handler.
*
* Handle all IOCTL calls to the PX4IO file descriptor.
*
* @param[in] filp file handle (not used). This function is always called directly through object reference
* @param[in] cmd the IOCTL command
* @param[in] the IOCTL command parameter (optional)
*/
virtual int ioctl(file *filp, int cmd, unsigned long arg);
/**
* Disable RC input handling
*/
int disable_rc_handling();
/**
* Print IO status.
*
* Print all relevant IO status information
*
* @param extended_status Shows more verbose information (in particular RC config)
*/
void print_status(bool extended_status);
/**
* Fetch and print debug console output.
*/
int print_debug();
/*
* To test what happens if IO stops receiving updates from FMU.
*
* @param is_fail true for failure condition, false for normal operation.
*/
void test_fmu_fail(bool is_fail)
{
_test_fmu_fail = is_fail;
};
inline uint16_t system_status() const {return _status;}
private:
device::Device *_interface;
unsigned _hardware; ///< Hardware revision
unsigned _max_actuators; ///< Maximum # of actuators supported by PX4IO
unsigned _max_controls; ///< Maximum # of controls supported by PX4IO
unsigned _max_rc_input; ///< Maximum receiver channels supported by PX4IO
unsigned _max_relays; ///< Maximum relays supported by PX4IO
unsigned _max_transfer; ///< Maximum number of I2C transfers supported by PX4IO
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
orb_advert_t _mavlink_log_pub; ///< mavlink log pub
perf_counter_t _perf_update; ///< local performance counter for status updates
perf_counter_t _perf_write; ///< local performance counter for PWM control writes
perf_counter_t _perf_sample_latency; ///< total system latency (based on passed-through timestamp)
/* cached IO state */
uint16_t _status{0}; ///< Various IO status flags
uint16_t _alarms{0}; ///< Various IO alarms
uint16_t _setup_arming{0}; ///< last arming setup state
uint16_t _last_written_arming_s{0}; ///< the last written arming state reg
uint16_t _last_written_arming_c{0}; ///< the last written arming state reg
/* subscribed topics */
int _t_actuator_controls_0; ///< actuator controls group 0 topic
uORB::Subscription _t_actuator_controls_1{ORB_ID(actuator_controls_1)}; ///< actuator controls group 1 topic
uORB::Subscription _t_actuator_controls_2{ORB_ID(actuator_controls_2)};; ///< actuator controls group 2 topic
uORB::Subscription _t_actuator_controls_3{ORB_ID(actuator_controls_3)};; ///< actuator controls group 3 topic
uORB::Subscription _t_actuator_armed{ORB_ID(actuator_armed)}; ///< system armed control topic
uORB::Subscription _t_vehicle_control_mode{ORB_ID(vehicle_control_mode)}; ///< vehicle control mode topic
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; ///< parameter update topic
uORB::Subscription _t_vehicle_command{ORB_ID(vehicle_command)}; ///< vehicle command topic
hrt_abstime _last_status_publish{0};
bool _param_update_force; ///< force a parameter update
/* advertised topics */
uORB::PublicationMulti<input_rc_s> _to_input_rc{ORB_ID(input_rc)};
uORB::PublicationMulti<actuator_outputs_s> _to_outputs{ORB_ID(actuator_outputs)};
uORB::PublicationMulti<multirotor_motor_limits_s> _to_mixer_status{ORB_ID(multirotor_motor_limits)};
uORB::Publication<px4io_status_s> _px4io_status_pub{ORB_ID(px4io_status)};
uORB::Publication<safety_s> _to_safety{ORB_ID(safety)};
safety_s _safety{};
bool _primary_pwm_device; ///< true if we are the default PWM output
bool _lockdown_override; ///< allow to override the safety lockdown
bool _armed; ///< wether the system is armed
bool _override_available; ///< true if manual reversion mode is enabled
bool _cb_flighttermination; ///< true if the flight termination circuit breaker is enabled
bool _in_esc_calibration_mode; ///< do not send control outputs to IO (used for esc calibration)
int32_t _rssi_pwm_chan; ///< RSSI PWM input channel
int32_t _rssi_pwm_max; ///< max RSSI input on PWM channel
int32_t _rssi_pwm_min; ///< min RSSI input on PWM channel
int32_t _thermal_control; ///< thermal control state
bool _analog_rc_rssi_stable; ///< true when analog RSSI input is stable
float _analog_rc_rssi_volt; ///< analog RSSI voltage
bool _test_fmu_fail; ///< To test what happens if IO loses FMU
struct MotorTest {
uORB::Subscription test_motor_sub{ORB_ID(test_motor)};
bool in_test_mode{false};
hrt_abstime timeout{0};
};
MotorTest _motor_test;
bool _hitl_mode; ///< Hardware-in-the-loop simulation mode - don't publish actuator_outputs
/**
* Trampoline to the worker task
*/
static int task_main_trampoline(int argc, char *argv[]);
/**
* worker task
*/
void task_main();
/**
* Send controls for one group to IO
*/
int io_set_control_state(unsigned group);
/**
* Send all controls to IO
*/
int io_set_control_groups();
/**
* Update IO's arming-related state
*/
int io_set_arming_state();
/**
* Push RC channel configuration to IO.
*/
int io_set_rc_config();
/**
* Fetch status and alarms from IO
*
* Also publishes battery voltage/current.
*/
int io_get_status();
/**
* Disable RC input handling
*/
int io_disable_rc_handling();
/**
* Fetch RC inputs from IO.
*
* @param input_rc Input structure to populate.
* @return OK if data was returned.
*/
int io_get_raw_rc_input(input_rc_s &input_rc);
/**
* Fetch and publish raw RC input data.
*/
int io_publish_raw_rc();
/**
* Fetch and publish the PWM servo outputs.
*/
int io_publish_pwm_outputs();
/**
* write register(s)
*
* @param page Register page to write to.
* @param offset Register offset to start writing at.
* @param values Pointer to array of values to write.
* @param num_values The number of values to write.
* @return OK if all values were successfully written.
*/
int io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values);
/**
* write a register
*
* @param page Register page to write to.
* @param offset Register offset to write to.
* @param value Value to write.
* @return OK if the value was written successfully.
*/
int io_reg_set(uint8_t page, uint8_t offset, const uint16_t value);
/**
* read register(s)
*
* @param page Register page to read from.
* @param offset Register offset to start reading from.
* @param values Pointer to array where values should be stored.
* @param num_values The number of values to read.
* @return OK if all values were successfully read.
*/
int io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values);
/**
* read a register
*
* @param page Register page to read from.
* @param offset Register offset to start reading from.
* @return Register value that was read, or _io_reg_get_error on error.
*/
uint32_t io_reg_get(uint8_t page, uint8_t offset);
static const uint32_t _io_reg_get_error = 0x80000000;
/**
* modify a register
*
* @param page Register page to modify.
* @param offset Register offset to modify.
* @param clearbits Bits to clear in the register.
* @param setbits Bits to set in the register.
*/
int io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits);
/**
* Send mixer definition text to IO
*/
int mixer_send(const char *buf, unsigned buflen, unsigned retries = 3);
/**
* Handle a status update from IO.
*
* Publish IO status information if necessary.
*
* @param status The status register
*/
int io_handle_status(uint16_t status);
/**
* Handle issuing dsm bind ioctl to px4io.
*
* @param dsmMode 0:dsm2, 1:dsmx
*/
void dsm_bind_ioctl(int dsmMode);
/**
* check and handle test_motor topic updates
*/
void handle_motor_test();
/* do not allow to copy this class due to ptr data members */
PX4IO(const PX4IO &);
PX4IO operator=(const PX4IO &);
};
namespace
{
PX4IO *g_dev = nullptr;
}
#define PX4IO_DEVICE_PATH "/dev/px4io"
PX4IO::PX4IO(device::Device *interface) :
CDev(PX4IO_DEVICE_PATH),
_interface(interface),
_hardware(0),
_max_actuators(0),
_max_controls(0),
_max_rc_input(0),
_max_relays(0),
_max_transfer(16), /* sensible default */
_rc_handling_disabled(false),
_rc_chan_count(0),
_rc_last_valid(0),
_task(-1),
_task_should_exit(false),
_mavlink_log_pub(nullptr),
_perf_update(perf_alloc(PC_ELAPSED, "io update")),
_perf_write(perf_alloc(PC_ELAPSED, "io write")),
_perf_sample_latency(perf_alloc(PC_ELAPSED, "io control latency")),
_t_actuator_controls_0(-1),
_param_update_force(false),
_primary_pwm_device(false),
_lockdown_override(false),
_armed(false),
_override_available(false),
_cb_flighttermination(true),
_in_esc_calibration_mode(false),
_rssi_pwm_chan(0),
_rssi_pwm_max(0),
_rssi_pwm_min(0),
_thermal_control(-1),
_analog_rc_rssi_stable(false),
_analog_rc_rssi_volt(-1.0f),
_test_fmu_fail(false),
_hitl_mode(false)
{
/* we need this potentially before it could be set in task_main */
g_dev = this;
}
PX4IO::~PX4IO()
{
/* tell the task we want it to go away */
_task_should_exit = true;
/* spin waiting for the task to stop */
for (unsigned i = 0; (i < 10) && (_task != -1); i++) {
/* give it another 100ms */
px4_usleep(100000);
}
/* well, kill it anyway, though this will probably crash */
if (_task != -1) {
task_delete(_task);
}
if (_interface != nullptr) {
delete _interface;
}
/* deallocate perfs */
perf_free(_perf_update);
perf_free(_perf_write);
perf_free(_perf_sample_latency);
g_dev = nullptr;
}
int
PX4IO::detect()
{
int ret;
if (_task == -1) {
/* do regular cdev init */
ret = CDev::init();
if (ret != OK) {
return ret;
}
/* get some parameters */
unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
if (protocol != PX4IO_PROTOCOL_VERSION) {
if (protocol == _io_reg_get_error) {
PX4_ERR("IO not installed");
} else {
PX4_ERR("IO version error");
mavlink_log_emergency(&_mavlink_log_pub, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!");
}
return -1;
}
}
PX4_INFO("IO found");
return 0;
}
int
PX4IO::init(bool rc_handling_disabled, bool hitl_mode)
{
_rc_handling_disabled = rc_handling_disabled;
_hitl_mode = hitl_mode;
return init();
}
int
PX4IO::init()
{
int ret;
param_t sys_restart_param;
int32_t sys_restart_val = DM_INIT_REASON_VOLATILE;
sys_restart_param = param_find("SYS_RESTART_TYPE");
if (sys_restart_param != PARAM_INVALID) {
/* Indicate restart type is unknown */
int32_t prev_val;
param_get(sys_restart_param, &prev_val);
if (prev_val != DM_INIT_REASON_POWER_ON) {
param_set_no_notification(sys_restart_param, &sys_restart_val);
}
}
/* do regular cdev init */
ret = CDev::init();
if (ret != OK) {
return ret;
}
/* get some parameters */
unsigned protocol;
hrt_abstime start_try_time = hrt_absolute_time();
do {
px4_usleep(2000);
protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
} while (protocol == _io_reg_get_error && (hrt_elapsed_time(&start_try_time) < 700U * 1000U));
/* if the error still persists after timing out, we give up */
if (protocol == _io_reg_get_error) {
mavlink_log_emergency(&_mavlink_log_pub, "Failed to communicate with IO, abort.");
return -1;
}
if (protocol != PX4IO_PROTOCOL_VERSION) {
mavlink_log_emergency(&_mavlink_log_pub, "IO protocol/firmware mismatch, abort.");
return -1;
}
_hardware = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_HARDWARE_VERSION);
_max_actuators = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT);
_max_controls = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT);
_max_relays = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT);
_max_transfer = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER) - 2;
_max_rc_input = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT);
if ((_max_actuators < 1) || (_max_actuators > 16) ||
(_max_relays > 32) ||
(_max_transfer < 16) || (_max_transfer > 255) ||
(_max_rc_input < 1) || (_max_rc_input > 255)) {
PX4_ERR("config read error");
mavlink_log_emergency(&_mavlink_log_pub, "[IO] config read fail, abort.");
// ask IO to reboot into bootloader as the failure may
// be due to mismatched firmware versions and we want
// the startup script to be able to load a new IO
// firmware
// If IO has already safety off it won't accept going into bootloader mode,
// therefore we need to set safety on first.
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
// Now the reboot into bootloader mode should succeed.
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_REBOOT_BL, PX4IO_REBOOT_BL_MAGIC);
return -1;
}
if (_max_rc_input > input_rc_s::RC_INPUT_MAX_CHANNELS) {
_max_rc_input = input_rc_s::RC_INPUT_MAX_CHANNELS;
}
param_get(param_find("RC_RSSI_PWM_CHAN"), &_rssi_pwm_chan);
param_get(param_find("RC_RSSI_PWM_MAX"), &_rssi_pwm_max);
param_get(param_find("RC_RSSI_PWM_MIN"), &_rssi_pwm_min);
/*
* Check for IO flight state - if FMU was flagged to be in
* armed state, FMU is recovering from an in-air reset.
* Read back status and request the commander to arm
* in this case.
*/
uint16_t reg;
/* get IO's last seen FMU state */
ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, &reg, sizeof(reg));
if (ret != OK) {
return ret;
}
/*
* in-air restart is only tried if the IO board reports it is
* already armed, and has been configured for in-air restart
*/
if ((reg & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) &&
(reg & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
/* get a status update from IO */
io_get_status();
mavlink_log_emergency(&_mavlink_log_pub, "RECOVERING FROM FMU IN-AIR RESTART");
/* WARNING: COMMANDER app/vehicle status must be initialized.
* If this fails (or the app is not started), worst-case IO
* remains untouched (so manual override is still available).
*/
uORB::Subscription actuator_armed_sub{ORB_ID(actuator_armed)};
/* fill with initial values, clear updated flag */
actuator_armed_s actuator_armed{};
uint64_t try_start_time = hrt_absolute_time();
/* keep checking for an update, ensure we got a arming information,
not something that was published a long time ago. */
do {
if (actuator_armed_sub.update(&actuator_armed)) {
// updated data, exit loop
break;
}
/* wait 10 ms */
px4_usleep(10000);
/* abort after 5s */
if ((hrt_absolute_time() - try_start_time) / 1000 > 3000) {
mavlink_log_emergency(&_mavlink_log_pub, "Failed to recover from in-air restart (1), abort");
return 1;
}
} while (true);
/* send this to itself */
param_t sys_id_param = param_find("MAV_SYS_ID");
param_t comp_id_param = param_find("MAV_COMP_ID");
int32_t sys_id;
int32_t comp_id;
if (param_get(sys_id_param, &sys_id)) {
errx(1, "PRM SYSID");
}
if (param_get(comp_id_param, &comp_id)) {
errx(1, "PRM CMPID");
}
/* prepare vehicle command */
vehicle_command_s vcmd = {};
vcmd.target_system = (uint8_t)sys_id;
vcmd.target_component = (uint8_t)comp_id;
vcmd.source_system = (uint8_t)sys_id;
vcmd.source_component = (uint8_t)comp_id;
vcmd.confirmation = true; /* ask to confirm command */
if (reg & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) {
mavlink_log_emergency(&_mavlink_log_pub, "IO is in failsafe, force failsafe");
/* send command to terminate flight via command API */
vcmd.timestamp = hrt_absolute_time();
vcmd.param1 = 1.0f; /* request flight termination */
vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION;
/* send command once */
uORB::PublicationQueued<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
vcmd_pub.publish(vcmd);
/* spin here until IO's state has propagated into the system */
do {
actuator_armed_sub.update(&actuator_armed);
/* wait 50 ms */
px4_usleep(50000);
/* abort after 5s */
if ((hrt_absolute_time() - try_start_time) / 1000 > 2000) {
mavlink_log_emergency(&_mavlink_log_pub, "Failed to recover from in-air restart (3), abort");
return 1;
}
/* re-send if necessary */
if (!actuator_armed.force_failsafe) {
vcmd_pub.publish(vcmd);
PX4_WARN("re-sending flight termination cmd");
}
/* keep waiting for state change for 2 s */
} while (!actuator_armed.force_failsafe);
}
/* send command to arm system via command API */
vcmd.timestamp = hrt_absolute_time();
vcmd.param1 = 1.0f; /* request arming */
vcmd.param3 = 1234.f; /* mark the command coming from IO (for in-air restoring) */
vcmd.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM;
/* send command once */
uORB::PublicationQueued<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
vcmd_pub.publish(vcmd);
/* spin here until IO's state has propagated into the system */
do {
actuator_armed_sub.update(&actuator_armed);
/* wait 50 ms */
px4_usleep(50000);
/* abort after 5s */
if ((hrt_absolute_time() - try_start_time) / 1000 > 2000) {
mavlink_log_emergency(&_mavlink_log_pub, "Failed to recover from in-air restart (2), abort");
return 1;
}
/* re-send if necessary */
if (!actuator_armed.armed) {
vcmd_pub.publish(vcmd);
PX4_WARN("re-sending arm cmd");
}
/* keep waiting for state change for 2 s */
} while (!actuator_armed.armed);
/* Indicate restart type is in-flight */
sys_restart_val = DM_INIT_REASON_IN_FLIGHT;
int32_t prev_val;
param_get(sys_restart_param, &prev_val);
if (prev_val != sys_restart_val) {
param_set(sys_restart_param, &sys_restart_val);
}
/* regular boot, no in-air restart, init IO */
} else {
/* dis-arm IO before touching anything */
io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING,
PX4IO_P_SETUP_ARMING_FMU_ARMED |
PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK |
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK |
PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE |
PX4IO_P_SETUP_ARMING_LOCKDOWN, 0);
if (_rc_handling_disabled) {
ret = io_disable_rc_handling();
if (ret != OK) {
PX4_ERR("failed disabling RC handling");
return ret;
}
} else {
/* publish RC config to IO */
ret = io_set_rc_config();
if (ret != OK) {
mavlink_log_critical(&_mavlink_log_pub, "IO RC config upload fail");
return ret;
}
}
/* Indicate restart type is power on */
sys_restart_val = DM_INIT_REASON_POWER_ON;
int32_t prev_val;
param_get(sys_restart_param, &prev_val);
if (prev_val != sys_restart_val) {
param_set(sys_restart_param, &sys_restart_val);
}
}
/* set safety to off if circuit breaker enabled */
if (circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY)) {
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
}
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
ret = register_driver(PWM_OUTPUT0_DEVICE_PATH, &fops, 0666, (void *)this);
if (ret == OK) {
PX4_INFO("default PWM output device");
_primary_pwm_device = true;
}
/* start the IO interface task */
_task = px4_task_spawn_cmd("px4io",
SCHED_DEFAULT,
SCHED_PRIORITY_ACTUATOR_OUTPUTS,
1500,
(px4_main_t)&PX4IO::task_main_trampoline,
nullptr);
if (_task < 0) {
PX4_ERR("task start failed: %d", errno);
return -errno;
}
return OK;
}
int
PX4IO::task_main_trampoline(int argc, char *argv[])
{
g_dev->task_main();
return 0;
}
void
PX4IO::task_main()
{
hrt_abstime poll_last = 0;
hrt_abstime orb_check_last = 0;
/*
* Subscribe to the appropriate PWM output topic based on whether we are the
* primary PWM output or not.
*/
_t_actuator_controls_0 = orb_subscribe(ORB_ID(actuator_controls_0));
orb_set_interval(_t_actuator_controls_0, 2); /* default to 500Hz */
if (_t_actuator_controls_0 < 0) {
PX4_ERR("actuator subscription failed");
goto out;
}
/* Fetch initial flight termination circuit breaker state */
_cb_flighttermination = circuit_breaker_enabled("CBRK_FLIGHTTERM", CBRK_FLIGHTTERM_KEY);
/* poll descriptor */
pollfd fds[1];
fds[0].fd = _t_actuator_controls_0;
fds[0].events = POLLIN;
_param_update_force = true;
/* lock against the ioctl handler */
lock();
/* loop talking to IO */
while (!_task_should_exit) {
/* sleep waiting for topic updates, but no more than 20ms */
unlock();
int ret = ::poll(fds, 1, 20);
lock();
/* this would be bad... */
if (ret < 0) {
warnx("poll error %d", errno);
continue;
}
perf_begin(_perf_update);
hrt_abstime now = hrt_absolute_time();
/* if we have new control data from the ORB, handle it */
if (fds[0].revents & POLLIN) {
/* we're not nice to the lower-priority control groups and only check them
when the primary group updated (which is now). */
(void)io_set_control_groups();
}
if (!_armed && !_lockdown_override) {
handle_motor_test();
} else {
_motor_test.in_test_mode = false;
}
if (now >= poll_last + IO_POLL_INTERVAL) {
/* run at 50-250Hz */
poll_last = now;
/* pull status and alarms from IO */
io_get_status();
/* get raw R/C input from IO */
io_publish_raw_rc();
/* fetch PWM outputs from IO */
io_publish_pwm_outputs();
/* check updates on uORB topics and handle it */
bool updated = false;
/* arming state */
updated = _t_actuator_armed.updated();
if (!updated) {
updated = _t_vehicle_control_mode.updated();
}
if (updated) {
io_set_arming_state();
}
}
if (!_armed && (now >= orb_check_last + ORB_CHECK_INTERVAL)) {
/* run at 5Hz */
orb_check_last = now;
/* vehicle command */
if (_t_vehicle_command.updated()) {
vehicle_command_s cmd{};
_t_vehicle_command.copy(&cmd);
// Check for a DSM pairing command
if (((unsigned int)cmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) {
dsm_bind_ioctl((int)cmd.param2);
}
}
/*
* If parameters have changed, re-send RC mappings to IO
*
* XXX this may be a bit spammy
*/
// check for parameter updates
if (_parameter_update_sub.updated() || _param_update_force) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
_param_update_force = false;
if (!_rc_handling_disabled) {
/* re-upload RC input config as it may have changed */
io_set_rc_config();
}
/* send RC throttle failsafe value to IO */
int32_t failsafe_param_val;
param_t failsafe_param = param_find("RC_FAILS_THR");
if (failsafe_param != PARAM_INVALID) {
param_get(failsafe_param, &failsafe_param_val);
if (failsafe_param_val > 0) {
uint16_t failsafe_thr = failsafe_param_val;
int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1);
if (pret != OK) {
mavlink_log_critical(&_mavlink_log_pub, "failsafe upload failed, FS: %d us", (int)failsafe_thr);
}
}
}
/* Check if the IO safety circuit breaker has been updated */
bool circuit_breaker_io_safety_enabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY);
/* Bypass IO safety switch logic by setting FORCE_SAFETY_OFF */
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, circuit_breaker_io_safety_enabled);
/* Check if the flight termination circuit breaker has been updated */
_cb_flighttermination = circuit_breaker_enabled("CBRK_FLIGHTTERM", CBRK_FLIGHTTERM_KEY);
/* Tell IO that it can terminate the flight if FMU is not responding or if a failure has been reported by the FailureDetector logic */
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION, !_cb_flighttermination);
param_get(param_find("RC_RSSI_PWM_CHAN"), &_rssi_pwm_chan);
param_get(param_find("RC_RSSI_PWM_MAX"), &_rssi_pwm_max);
param_get(param_find("RC_RSSI_PWM_MIN"), &_rssi_pwm_min);
param_t thermal_param = param_find("SENS_EN_THERMAL");
if (thermal_param != PARAM_INVALID) {
int32_t thermal_p;
param_get(thermal_param, &thermal_p);
if (thermal_p != _thermal_control || _param_update_force) {
_thermal_control = thermal_p;
/* set power management state for thermal */
uint16_t tctrl;
if (_thermal_control < 0) {
tctrl = PX4IO_THERMAL_IGNORE;
} else {
tctrl = PX4IO_THERMAL_OFF;
}
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_THERMAL, tctrl);
}
}
/*
* Set invert mask for PWM outputs (does not apply to S.Bus)
*/
int16_t pwm_invert_mask = 0;
for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
int32_t ival;
/* fill the channel reverse mask from parameters */
sprintf(pname, "PWM_MAIN_REV%u", i + 1);
param_t param_h = param_find(pname);
if (param_h != PARAM_INVALID) {
param_get(param_h, &ival);
pwm_invert_mask |= ((int16_t)(ival != 0)) << i;
}
}
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE, pwm_invert_mask);
// update trim values
struct pwm_output_values pwm_values;
// memset(&pwm_values, 0, sizeof(pwm_values));
// ret = io_reg_get(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, (uint16_t *)pwm_values.values, _max_actuators);
for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
float pval;
/* fetch the trim values from parameters */
sprintf(pname, "PWM_MAIN_TRIM%u", i + 1);
param_t param_h = param_find(pname);
if (param_h != PARAM_INVALID) {
param_get(param_h, &pval);
pwm_values.values[i] = (int16_t)(10000 * pval);
}
}
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, pwm_values.values, _max_actuators);
float param_val;
param_t parm_handle;
parm_handle = param_find("TRIM_ROLL");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &param_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_ROLL, FLOAT_TO_REG(param_val));
}
parm_handle = param_find("TRIM_PITCH");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &param_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_PITCH, FLOAT_TO_REG(param_val));
}
parm_handle = param_find("TRIM_YAW");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &param_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_YAW, FLOAT_TO_REG(param_val));
}
parm_handle = param_find("FW_MAN_R_SC");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &param_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SCALE_ROLL, FLOAT_TO_REG(param_val));
}
parm_handle = param_find("FW_MAN_P_SC");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &param_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SCALE_PITCH, FLOAT_TO_REG(param_val));
}
parm_handle = param_find("FW_MAN_Y_SC");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &param_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SCALE_YAW, FLOAT_TO_REG(param_val));
}
/* S.BUS output */
int sbus_mode;
parm_handle = param_find("PWM_SBUS_MODE");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &sbus_mode);
if (sbus_mode == 1) {
/* enable S.BUS 1 */
(void)io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS1_OUT);
} else if (sbus_mode == 2) {
/* enable S.BUS 2 */
(void)io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS2_OUT);
} else {
/* disable S.BUS */
(void)io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES,
(PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT), 0);
}
}
/* thrust to pwm modelling factor */
parm_handle = param_find("THR_MDL_FAC");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &param_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_THR_MDL_FAC, FLOAT_TO_REG(param_val));
}
/* maximum motor pwm slew rate */
parm_handle = param_find("MOT_SLEW_MAX");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &param_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_MOTOR_SLEW_MAX, FLOAT_TO_REG(param_val));
}
/* air-mode */
parm_handle = param_find("MC_AIRMODE");
if (parm_handle != PARAM_INVALID) {
int32_t param_val_int;
param_get(parm_handle, &param_val_int);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_AIRMODE, SIGNED_TO_REG(param_val_int));
}
}
}
perf_end(_perf_update);
}
unlock();
out:
PX4_DEBUG("exiting");
/* clean up the alternate device node */
if (_primary_pwm_device) {
unregister_driver(PWM_OUTPUT0_DEVICE_PATH);
}
/* tell the dtor that we are exiting */
_task = -1;
_exit(0);
}
int
PX4IO::io_set_control_groups()
{
int ret = io_set_control_state(0);
/* send auxiliary control groups */
(void)io_set_control_state(1);
(void)io_set_control_state(2);
(void)io_set_control_state(3);
return ret;
}
int
PX4IO::io_set_control_state(unsigned group)
{
actuator_controls_s controls{}; ///< actuator outputs
/* get controls */
bool changed = false;
switch (group) {
case 0: {
orb_check(_t_actuator_controls_0, &changed);
if (changed) {
orb_copy(ORB_ID(actuator_controls_0), _t_actuator_controls_0, &controls);
perf_set_elapsed(_perf_sample_latency, hrt_elapsed_time(&controls.timestamp_sample));
}
}
break;
case 1:
changed = _t_actuator_controls_1.update(&controls);
break;
case 2:
changed = _t_actuator_controls_2.update(&controls);
break;
case 3:
changed = _t_actuator_controls_3.update(&controls);
break;
}
if (!changed && (!_in_esc_calibration_mode || group != 0)) {
return -1;
} else if (_in_esc_calibration_mode && group == 0) {
/* modify controls to get max pwm (full thrust) on every esc */
memset(&controls, 0, sizeof(controls));
/* set maximum thrust */
controls.control[3] = 1.0f;
}
uint16_t regs[sizeof(controls.control) / sizeof(controls.control[0])] = {};
for (unsigned i = 0; (i < _max_controls) && (i < sizeof(controls.control) / sizeof(controls.control[0])); i++) {
/* ensure FLOAT_TO_REG does not produce an integer overflow */
const float ctrl = math::constrain(controls.control[i], -1.0f, 1.0f);
if (!isfinite(ctrl)) {
regs[i] = INT16_MAX;
} else {
regs[i] = FLOAT_TO_REG(ctrl);
}
}
if (!_test_fmu_fail && !_motor_test.in_test_mode) {
/* copy values to registers in IO */
return io_reg_set(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT, regs, math::min(_max_controls,
sizeof(controls.control) / sizeof(controls.control[0])));
} else {
return OK;
}
}
void
PX4IO::handle_motor_test()
{
test_motor_s test_motor;
while (_motor_test.test_motor_sub.update(&test_motor)) {
if (test_motor.driver_instance != 0 ||
hrt_elapsed_time(&test_motor.timestamp) > 100_ms) {
continue;
}
bool in_test_mode = test_motor.action == test_motor_s::ACTION_RUN;
if (in_test_mode != _motor_test.in_test_mode) {
// reset all outputs to disarmed on state change
pwm_output_values pwm_disarmed;
if (io_reg_get(PX4IO_PAGE_DISARMED_PWM, 0, pwm_disarmed.values, _max_actuators) == 0) {
for (unsigned i = 0; i < _max_actuators; ++i) {
io_reg_set(PX4IO_PAGE_DIRECT_PWM, i, pwm_disarmed.values[i]);
}
}
}
if (in_test_mode) {
unsigned idx = test_motor.motor_number;
if (idx < _max_actuators) {
if (test_motor.value < 0.f) {
pwm_output_values pwm_disarmed;
if (io_reg_get(PX4IO_PAGE_DISARMED_PWM, 0, pwm_disarmed.values, _max_actuators) == 0) {
io_reg_set(PX4IO_PAGE_DIRECT_PWM, idx, pwm_disarmed.values[idx]);
}
} else {
pwm_output_values pwm_min;
pwm_output_values pwm_max;
if (io_reg_get(PX4IO_PAGE_CONTROL_MIN_PWM, 0, pwm_min.values, _max_actuators) == 0 &&
io_reg_get(PX4IO_PAGE_CONTROL_MAX_PWM, 0, pwm_max.values, _max_actuators) == 0) {
uint16_t value = math::constrain<uint16_t>(pwm_min.values[idx] +
(uint16_t)((pwm_max.values[idx] - pwm_min.values[idx]) * test_motor.value),
pwm_min.values[idx], pwm_max.values[idx]);
io_reg_set(PX4IO_PAGE_DIRECT_PWM, idx, value);
}
}
}
if (test_motor.timeout_ms > 0) {
_motor_test.timeout = test_motor.timestamp + test_motor.timeout_ms * 1000;
} else {
_motor_test.timeout = 0;
}
}
_motor_test.in_test_mode = in_test_mode;
}
// check for timeouts
if (_motor_test.timeout != 0 && hrt_absolute_time() > _motor_test.timeout) {
_motor_test.in_test_mode = false;
_motor_test.timeout = 0;
}
}
int
PX4IO::io_set_arming_state()
{
uint16_t set = 0;
uint16_t clear = 0;
actuator_armed_s armed;
if (_t_actuator_armed.copy(&armed)) {
_in_esc_calibration_mode = armed.in_esc_calibration_mode;
if (armed.armed || _in_esc_calibration_mode) {
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
} else {
clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
}
_armed = armed.armed;
if (armed.prearmed) {
set |= PX4IO_P_SETUP_ARMING_FMU_PREARMED;
} else {
clear |= PX4IO_P_SETUP_ARMING_FMU_PREARMED;
}
if ((armed.lockdown || armed.manual_lockdown) && !_lockdown_override) {
set |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
_lockdown_override = true;
} else if (!(armed.lockdown || armed.manual_lockdown) && _lockdown_override) {
clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
_lockdown_override = false;
}
if (armed.force_failsafe) {
set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
} else {
clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
}
// XXX this is for future support in the commander
// but can be removed if unneeded
// if (armed.termination_failsafe) {
// set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// } else {
// clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// }
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
}
}
vehicle_control_mode_s control_mode;
if (_t_vehicle_control_mode.copy(&control_mode)) {
if (control_mode.flag_external_manual_override_ok) {
set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
_override_available = true;
} else {
clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
_override_available = false;
}
}
if (_last_written_arming_s != set || _last_written_arming_c != clear) {
_last_written_arming_s = set;
_last_written_arming_c = clear;
return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
}
return 0;
}
int
PX4IO::disable_rc_handling()
{
_rc_handling_disabled = true;
return io_disable_rc_handling();
}
int
PX4IO::io_disable_rc_handling()
{
uint16_t set = PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED;
uint16_t clear = 0;
return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
}
int
PX4IO::io_set_rc_config()
{
unsigned offset = 0;
int input_map[_max_rc_input];
int32_t ichan;
int ret = OK;
/*
* Generate the input channel -> control channel mapping table;
* assign RC_MAP_ROLL/PITCH/YAW/THROTTLE to the canonical
* controls.
*/
/* fill the mapping with an error condition triggering value */
for (unsigned i = 0; i < _max_rc_input; i++) {
input_map[i] = UINT8_MAX;
}
/*
* NOTE: The indices for mapped channels are 1-based
* for compatibility reasons with existing
* autopilots / GCS'.
*/
/* ROLL */
param_get(param_find("RC_MAP_ROLL"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 0;
}
/* PITCH */
param_get(param_find("RC_MAP_PITCH"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 1;
}
/* YAW */
param_get(param_find("RC_MAP_YAW"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 2;
}
/* THROTTLE */
param_get(param_find("RC_MAP_THROTTLE"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 3;
}
/* FLAPS */
param_get(param_find("RC_MAP_FLAPS"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 4;
}
/* AUX 1*/
param_get(param_find("RC_MAP_AUX1"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 5;
}
/* AUX 2*/
param_get(param_find("RC_MAP_AUX2"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 6;
}
/* AUX 3*/
param_get(param_find("RC_MAP_AUX3"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 7;
}
/* MAIN MODE SWITCH */
param_get(param_find("RC_MAP_MODE_SW"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
/* use out of normal bounds index to indicate special channel */
input_map[ichan - 1] = PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH;
}
/*
* Iterate all possible RC inputs.
*/
for (unsigned i = 0; i < _max_rc_input; i++) {
uint16_t regs[PX4IO_P_RC_CONFIG_STRIDE];
char pname[16];
float fval;
/*
* RC params are floats, but do only
* contain integer values. Do not scale
* or cast them, let the auto-typeconversion
* do its job here.
* Channels: 500 - 2500
* Inverted flag: -1 (inverted) or 1 (normal)
*/
sprintf(pname, "RC%u_MIN", i + 1);
param_get(param_find(pname), &fval);
regs[PX4IO_P_RC_CONFIG_MIN] = fval;
sprintf(pname, "RC%u_TRIM", i + 1);
param_get(param_find(pname), &fval);
regs[PX4IO_P_RC_CONFIG_CENTER] = fval;
sprintf(pname, "RC%u_MAX", i + 1);
param_get(param_find(pname), &fval);
regs[PX4IO_P_RC_CONFIG_MAX] = fval;
sprintf(pname, "RC%u_DZ", i + 1);
param_get(param_find(pname), &fval);
regs[PX4IO_P_RC_CONFIG_DEADZONE] = fval;
regs[PX4IO_P_RC_CONFIG_ASSIGNMENT] = input_map[i];
regs[PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
sprintf(pname, "RC%u_REV", i + 1);
param_get(param_find(pname), &fval);
/*
* This has been taken for the sake of compatibility
* with APM's setup / mission planner: normal: 1,
* inverted: -1
*/
if (fval < 0) {
regs[PX4IO_P_RC_CONFIG_OPTIONS] |= PX4IO_P_RC_CONFIG_OPTIONS_REVERSE;
}
/* send channel config to IO */
ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE);
if (ret != OK) {
PX4_ERR("rc config upload failed");
break;
}
/* check the IO initialisation flag */
if (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_INIT_OK)) {
mavlink_log_critical(&_mavlink_log_pub, "config for RC%u rejected by IO", i + 1);
break;
}
offset += PX4IO_P_RC_CONFIG_STRIDE;
}
return ret;
}
int
PX4IO::io_handle_status(uint16_t status)
{
int ret = 1;
/**
* WARNING: This section handles in-air resets.
*/
/* check for IO reset - force it back to armed if necessary */
if (_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF && !(status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
&& !(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
/* set the arming flag */
ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0,
PX4IO_P_STATUS_FLAGS_SAFETY_OFF | PX4IO_P_STATUS_FLAGS_ARM_SYNC);
/* set new status */
_status = status;
_status &= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
} else if (!(_status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
/* set the sync flag */
ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARM_SYNC);
/* set new status */
_status = status;
} else {
ret = 0;
/* set new status */
_status = status;
}
/**
* Get and handle the safety status
*/
const bool safety_off = status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
const bool override_enabled = status & PX4IO_P_STATUS_FLAGS_OVERRIDE;
// publish immediately on change, otherwise at 1 Hz
if ((hrt_elapsed_time(&_safety.timestamp) >= 1_s)
|| (_safety.safety_off != safety_off)
|| (_safety.override_available != _override_available)
|| (_safety.override_enabled != override_enabled)) {
_safety.safety_switch_available = true;
_safety.safety_off = safety_off;
_safety.override_available = _override_available;
_safety.override_enabled = override_enabled;
_safety.timestamp = hrt_absolute_time();
_to_safety.publish(_safety);
}
return ret;
}
void
PX4IO::dsm_bind_ioctl(int dsmMode)
{
if (!(_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) {
mavlink_log_info(&_mavlink_log_pub, "[IO] binding DSM%s RX", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "-X" : "-X8"));
int ret = ioctl(nullptr, DSM_BIND_START,
(dsmMode == 0) ? DSM2_BIND_PULSES : ((dsmMode == 1) ? DSMX_BIND_PULSES : DSMX8_BIND_PULSES));
if (ret) {
mavlink_log_critical(&_mavlink_log_pub, "binding failed.");
}
} else {
mavlink_log_info(&_mavlink_log_pub, "[IO] safety off, bind request rejected");
}
}
int
PX4IO::io_get_status()
{
/* get
* STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT,
* STATUS_VSERVO, STATUS_VRSSI
* in that order */
uint16_t regs[6] {};
int ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &regs[0], sizeof(regs) / sizeof(regs[0]));
if (ret != OK) {
return ret;
}
const uint16_t STATUS_FLAGS = regs[0];
const uint16_t STATUS_ALARMS = regs[1];
const uint16_t STATUS_VSERVO = regs[4];
const uint16_t STATUS_VRSSI = regs[5];
io_handle_status(STATUS_FLAGS);
const float rssi_v = STATUS_VRSSI * 0.001f; // voltage is scaled to mV
if (_analog_rc_rssi_volt < 0.f) {
_analog_rc_rssi_volt = rssi_v;
}
_analog_rc_rssi_volt = _analog_rc_rssi_volt * 0.99f + rssi_v * 0.01f;
if (_analog_rc_rssi_volt > 2.5f) {
_analog_rc_rssi_stable = true;
}
const uint16_t SETUP_ARMING = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
if ((hrt_elapsed_time(&_last_status_publish) >= 1_s)
|| (_status != STATUS_FLAGS)
|| (_alarms != STATUS_ALARMS)
|| (_setup_arming != SETUP_ARMING)
) {
px4io_status_s status{};
status.voltage_v = STATUS_VSERVO * 0.001f; // voltage is scaled to mV
status.rssi_v = rssi_v;
status.free_memory_bytes = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM);
// PX4IO_P_STATUS_FLAGS
status.status_outputs_armed = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED;
status.status_override = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_OVERRIDE;
status.status_rc_ok = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_OK;
status.status_rc_ppm = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_PPM;
status.status_rc_dsm = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_DSM;
status.status_rc_sbus = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_SBUS;
status.status_fmu_ok = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_FMU_OK;
status.status_raw_pwm = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RAW_PWM;
status.status_mixer_ok = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_MIXER_OK;
status.status_arm_sync = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_ARM_SYNC;
status.status_init_ok = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_INIT_OK;
status.status_failsafe = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_FAILSAFE;
status.status_safety_off = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
status.status_fmu_initialized = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED;
status.status_rc_st24 = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_ST24;
status.status_rc_sumd = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_SUMD;
// PX4IO_P_STATUS_ALARMS
status.alarm_vbatt_low = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_VBATT_LOW;
status.alarm_temperature = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_TEMPERATURE;
status.alarm_servo_current = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_SERVO_CURRENT;
status.alarm_acc_current = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_ACC_CURRENT;
status.alarm_fmu_lost = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_FMU_LOST;
status.alarm_rc_lost = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_RC_LOST;
status.alarm_pwm_error = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_PWM_ERROR;
status.alarm_vservo_fault = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_VSERVO_FAULT;
// PX4IO_P_SETUP_ARMING
status.arming_io_arm_ok = SETUP_ARMING & PX4IO_P_SETUP_ARMING_IO_ARM_OK;
status.arming_fmu_armed = SETUP_ARMING & PX4IO_P_SETUP_ARMING_FMU_ARMED;
status.arming_fmu_prearmed = SETUP_ARMING & PX4IO_P_SETUP_ARMING_FMU_PREARMED;
status.arming_manual_override_ok = SETUP_ARMING & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
status.arming_failsafe_custom = SETUP_ARMING & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM;
status.arming_inair_restart_ok = SETUP_ARMING & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK;
status.arming_always_pwm_enable = SETUP_ARMING & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE;
status.arming_rc_handling_disabled = SETUP_ARMING & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED;
status.arming_lockdown = SETUP_ARMING & PX4IO_P_SETUP_ARMING_LOCKDOWN;
status.arming_force_failsafe = SETUP_ARMING & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
status.arming_termination_failsafe = SETUP_ARMING & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
status.arming_override_immediate = SETUP_ARMING & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE;
for (unsigned i = 0; i < _max_actuators; i++) {
status.actuators[i] = static_cast<int16_t>(io_reg_get(PX4IO_PAGE_ACTUATORS, i));
status.servos[i] = io_reg_get(PX4IO_PAGE_SERVOS, i);
}
uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT);
for (unsigned i = 0; i < raw_inputs; i++) {
status.raw_inputs[i] = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i);
}
status.timestamp = hrt_absolute_time();
_px4io_status_pub.publish(status);
_last_status_publish = status.timestamp;
}
_alarms = STATUS_ALARMS;
_setup_arming = SETUP_ARMING;
return ret;
}
int
PX4IO::io_get_raw_rc_input(input_rc_s &input_rc)
{
uint32_t channel_count;
int ret;
/* we don't have the status bits, so input_source has to be set elsewhere */
input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT);
uint16_t regs[input_rc_s::RC_INPUT_MAX_CHANNELS + prolog];
/*
* Read the channel count and the first 9 channels.
*
* This should be the common case (9 channel R/C control being a reasonable upper bound).
*/
ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT, &regs[0], prolog + 9);
if (ret != OK) {
return ret;
}
/*
* Get the channel count any any extra channels. This is no more expensive than reading the
* channel count once.
*/
channel_count = regs[PX4IO_P_RAW_RC_COUNT];
/* limit the channel count */
if (channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
}
_rc_chan_count = channel_count;
input_rc.timestamp = hrt_absolute_time();
input_rc.rc_ppm_frame_length = regs[PX4IO_P_RAW_RC_DATA];
if (!_analog_rc_rssi_stable) {
input_rc.rssi = regs[PX4IO_P_RAW_RC_NRSSI];
} else {
float rssi_analog = ((_analog_rc_rssi_volt - 0.2f) / 3.0f) * 100.0f;
if (rssi_analog > 100.0f) {
rssi_analog = 100.0f;
}
if (rssi_analog < 0.0f) {
rssi_analog = 0.0f;
}
input_rc.rssi = rssi_analog;
}
input_rc.rc_failsafe = (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
input_rc.rc_lost = !(regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_RC_OK);
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];
input_rc.channel_count = channel_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;
}
input_rc.timestamp_last_signal = _rc_last_valid;
/* FIELDS NOT SET HERE */
/* input_rc.input_source is set after this call XXX we might want to mirror the flags in the RC struct */
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);
if (ret != OK) {
return ret;
}
}
/* last thing set are the actual channel values as 16 bit values */
for (unsigned i = 0; i < channel_count; i++) {
input_rc.values[i] = regs[prolog + i];
}
/* zero the remaining fields */
for (unsigned i = channel_count; i < (sizeof(input_rc.values) / sizeof(input_rc.values[0])); i++) {
input_rc.values[i] = 0;
}
/* get RSSI from input channel */
if (_rssi_pwm_chan > 0 && _rssi_pwm_chan <= input_rc_s::RC_INPUT_MAX_CHANNELS && _rssi_pwm_max - _rssi_pwm_min != 0) {
int rssi = ((input_rc.values[_rssi_pwm_chan - 1] - _rssi_pwm_min) * 100) /
(_rssi_pwm_max - _rssi_pwm_min);
rssi = rssi > 100 ? 100 : rssi;
rssi = rssi < 0 ? 0 : rssi;
input_rc.rssi = rssi;
}
return ret;
}
int
PX4IO::io_publish_raw_rc()
{
/* fetch values from IO */
input_rc_s rc_val;
/* 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);
if (ret != OK) {
return ret;
}
/* sort out the source of the values */
if (_status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SBUS;
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_ST24) {
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_ST24;
} else {
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
/* only keep publishing RC input if we ever got a valid input */
if (_rc_last_valid == 0) {
/* we have never seen valid RC signals, abort */
return OK;
}
}
_to_input_rc.publish(rc_val);
return OK;
}
int
PX4IO::io_publish_pwm_outputs()
{
if (_hitl_mode) {
return OK;
}
/* get servo values from IO */
uint16_t ctl[_max_actuators];
int ret = io_reg_get(PX4IO_PAGE_SERVOS, 0, ctl, _max_actuators);
if (ret != OK) {
return ret;
}
actuator_outputs_s outputs = {};
outputs.timestamp = hrt_absolute_time();
outputs.noutputs = _max_actuators;
/* convert from register format to float */
for (unsigned i = 0; i < _max_actuators; i++) {
outputs.output[i] = ctl[i];
}
_to_outputs.publish(outputs);
/* get mixer status flags from IO */
MultirotorMixer::saturation_status saturation_status;
ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_MIXER, &saturation_status.value, 1);
if (ret != OK) {
return ret;
}
/* publish mixer status */
if (saturation_status.flags.valid) {
multirotor_motor_limits_s motor_limits{};
motor_limits.timestamp = hrt_absolute_time();
motor_limits.saturation_status = saturation_status.value;
_to_mixer_status.publish(motor_limits);
}
return OK;
}
int
PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
{
/* range check the transfer */
if (num_values > ((_max_transfer) / sizeof(*values))) {
PX4_DEBUG("io_reg_set: too many registers (%u, max %u)", num_values, _max_transfer / 2);
return -EINVAL;
}
int ret = _interface->write((page << 8) | offset, (void *)values, num_values);
if (ret != (int)num_values) {
PX4_DEBUG("io_reg_set(%hhu,%hhu,%u): error %d", page, offset, num_values, ret);
return -1;
}
return OK;
}
int
PX4IO::io_reg_set(uint8_t page, uint8_t offset, uint16_t value)
{
return io_reg_set(page, offset, &value, 1);
}
int
PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values)
{
/* range check the transfer */
if (num_values > ((_max_transfer) / sizeof(*values))) {
PX4_DEBUG("io_reg_get: too many registers (%u, max %u)", num_values, _max_transfer / 2);
return -EINVAL;
}
int ret = _interface->read((page << 8) | offset, reinterpret_cast<void *>(values), num_values);
if (ret != (int)num_values) {
PX4_DEBUG("io_reg_get(%hhu,%hhu,%u): data error %d", page, offset, num_values, ret);
return -1;
}
return OK;
}
uint32_t
PX4IO::io_reg_get(uint8_t page, uint8_t offset)
{
uint16_t value;
if (io_reg_get(page, offset, &value, 1) != OK) {
return _io_reg_get_error;
}
return value;
}
int
PX4IO::io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits)
{
int ret;
uint16_t value;
ret = io_reg_get(page, offset, &value, 1);
if (ret != OK) {
return ret;
}
value &= ~clearbits;
value |= setbits;
return io_reg_set(page, offset, value);
}
int
PX4IO::print_debug()
{
#if defined(CONFIG_ARCH_BOARD_PX4_FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4_FMU_V3)
int io_fd = -1;
if (io_fd <= 0) {
io_fd = ::open("/dev/ttyS0", O_RDONLY | O_NONBLOCK | O_NOCTTY);
}
/* read IO's output */
if (io_fd >= 0) {
pollfd fds[1];
fds[0].fd = io_fd;
fds[0].events = POLLIN;
px4_usleep(500);
int pret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), 0);
if (pret > 0) {
int count;
char buf[65];
do {
count = ::read(io_fd, buf, sizeof(buf) - 1);
if (count > 0) {
/* enforce null termination */
buf[count] = '\0';
warnx("IO CONSOLE: %s", buf);
}
} while (count > 0);
}
::close(io_fd);
return 0;
}
#endif
return 1;
}
int
PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
{
/* get debug level */
int debuglevel = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG);
uint8_t frame[_max_transfer];
do {
px4io_mixdata *msg = (px4io_mixdata *)&frame[0];
unsigned max_len = _max_transfer - sizeof(px4io_mixdata);
msg->f2i_mixer_magic = F2I_MIXER_MAGIC;
msg->action = F2I_MIXER_ACTION_RESET;
do {
unsigned count = buflen;
if (count > max_len) {
count = max_len;
}
if (count > 0) {
memcpy(&msg->text[0], buf, count);
buf += count;
buflen -= count;
} else {
continue;
}
/*
* We have to send an even number of bytes. This
* will only happen on the very last transfer of a
* mixer, and we are guaranteed that there will be
* space left to round up as _max_transfer will be
* even.
*/
unsigned total_len = sizeof(px4io_mixdata) + count;
if (total_len % 2) {
msg->text[count] = '\0';
total_len++;
}
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) {
px4_usleep(333);
} else {
break;
}
}
/* print mixer chunk */
if (debuglevel > 5 || ret) {
warnx("fmu sent: \"%s\"", msg->text);
/* read IO's output */
print_debug();
}
if (ret) {
PX4_ERR("mixer send error %d", ret);
return ret;
}
msg->action = F2I_MIXER_ACTION_APPEND;
} while (buflen > 0);
int ret;
/* send the closing newline */
msg->text[0] = '\n';
msg->text[1] = '\0';
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) {
px4_usleep(333);
} else {
break;
}
}
if (ret == 0) {
/* success, exit */
break;
}
retries--;
} while (retries > 0);
if (retries == 0) {
mavlink_log_info(&_mavlink_log_pub, "[IO] mixer upload fail");
/* load must have failed for some reason */
return -EINVAL;
} else {
/* all went well, set the mixer ok flag */
return io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_MIXER_OK);
}
}
void
PX4IO::print_status(bool extended_status)
{
/* basic configuration */
printf("protocol %u hardware %u bootloader %u buffer %uB crc 0x%04x%04x\n",
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION),
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_HARDWARE_VERSION),
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_BOOTLOADER_VERSION),
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC + 1));
printf("%u controls %u actuators %u R/C inputs %u analog inputs %u relays\n",
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT),
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT),
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT),
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ADC_INPUT_COUNT),
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT));
/* status */
uORB::SubscriptionData<px4io_status_s> status_sub{ORB_ID(px4io_status)};
status_sub.update();
print_message(status_sub.get());
/* now clear alarms */
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, 0x0000);
uint16_t pwm_invert_mask = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE);
printf("\n");
printf("reversed outputs: [");
for (unsigned i = 0; i < _max_actuators; i++) {
printf("%s", (pwm_invert_mask & (1 << i)) ? "x" : "_");
}
printf("]");
float trim_roll = REG_TO_FLOAT(io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_ROLL));
float trim_pitch = REG_TO_FLOAT(io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_PITCH));
float trim_yaw = REG_TO_FLOAT(io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_YAW));
printf(" trims: r: %8.4f p: %8.4f y: %8.4f\n",
(double)trim_roll, (double)trim_pitch, (double)trim_yaw);
uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT);
printf("%hu raw R/C inputs", raw_inputs);
for (unsigned i = 0; i < raw_inputs; i++) {
printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i));
}
printf("\n");
uint16_t io_status_flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS);
uint16_t flags = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_FLAGS);
printf("R/C flags: 0x%04hx%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) %d us\n", frame_len);
if ((frame_len - raw_inputs * 2000 - 3000) < 0) {
printf("WARNING WARNING WARNING! This RC receiver does not allow safe frame detection.\n");
}
}
uint16_t mapped_inputs = io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_VALID);
printf("mapped R/C inputs 0x%04hx", mapped_inputs);
for (unsigned i = 0; i < _max_rc_input; i++) {
if (mapped_inputs & (1 << i)) {
printf(" %u:%hd", i, REG_TO_SIGNED(io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_BASE + i)));
}
}
printf("\n");
uint16_t adc_inputs = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ADC_INPUT_COUNT);
printf("ADC inputs");
for (unsigned i = 0; i < adc_inputs; i++) {
printf(" %u", io_reg_get(PX4IO_PAGE_RAW_ADC_INPUT, i));
}
printf("\n");
/* setup and state */
uint16_t features = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES);
printf("features 0x%04hx%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" : "")
);
printf("rates 0x%04x default %u alt %u sbus %u\n",
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SBUS_RATE));
printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG));
for (unsigned group = 0; group < 4; group++) {
printf("controls %u:", group);
for (unsigned i = 0; i < _max_controls; i++) {
printf(" %hd", (int16_t) io_reg_get(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT + i));
}
printf("\n");
}
if (extended_status) {
for (unsigned i = 0; i < _max_rc_input; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
uint16_t options = io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_OPTIONS);
printf("input %u min %u center %u max %u deadzone %u assigned %u options 0x%04hx%s%s\n",
i,
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MAX),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_DEADZONE),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_ASSIGNMENT),
options,
((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""),
((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : ""));
}
}
printf("failsafe");
for (unsigned i = 0; i < _max_actuators; i++) {
printf(" %u", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i));
}
printf("\ndisarmed values");
for (unsigned i = 0; i < _max_actuators; i++) {
printf(" %u", io_reg_get(PX4IO_PAGE_DISARMED_PWM, i));
}
/* IMU heater (Pixhawk 2.1) */
uint16_t heater_level = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_THERMAL);
if (heater_level != UINT16_MAX) {
if (heater_level == PX4IO_THERMAL_OFF) {
printf("\nIMU heater off");
} else {
printf("\nIMU heater level %d", heater_level);
}
}
if (_hitl_mode) {
printf("\nHITL Mode");
}
printf("\n");
}
int
PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
{
SmartLock lock_guard(_lock);
int ret = OK;
/* regular ioctl? */
switch (cmd) {
case PWM_SERVO_ARM:
/* set the 'armed' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FMU_ARMED);
break;
case PWM_SERVO_SET_ARM_OK:
/* set the 'OK to arm' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_IO_ARM_OK);
break;
case PWM_SERVO_CLEAR_ARM_OK:
/* clear the 'OK to arm' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_IO_ARM_OK, 0);
break;
case PWM_SERVO_DISARM:
/* clear the 'armed' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FMU_ARMED, 0);
break;
case PWM_SERVO_GET_DEFAULT_UPDATE_RATE:
/* get the default update rate */
*(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE);
break;
case PWM_SERVO_SET_UPDATE_RATE:
/* set the requested alternate rate */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg);
break;
case PWM_SERVO_GET_UPDATE_RATE:
/* get the alternative update rate */
*(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE);
break;
case PWM_SERVO_SET_SELECT_UPDATE_RATE: {
/* blindly clear the PWM update alarm - might be set for some other reason */
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR);
/* attempt to set the rate map */
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES, arg);
/* check that the changes took */
uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS);
if (alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) {
ret = -EINVAL;
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR);
}
break;
}
case PWM_SERVO_GET_SELECT_UPDATE_RATE:
*(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES);
break;
case PWM_SERVO_SET_FAILSAFE_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
{
return -E2BIG;
}
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm->values, pwm->channel_count);
break;
}
case PWM_SERVO_GET_FAILSAFE_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
ret = io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm->values, _max_actuators);
if (ret != OK) {
ret = -EIO;
}
break;
}
case PWM_SERVO_SET_DISARMED_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
{
return -E2BIG;
}
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_DISARMED_PWM, 0, pwm->values, pwm->channel_count);
break;
}
case PWM_SERVO_GET_DISARMED_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
ret = io_reg_get(PX4IO_PAGE_DISARMED_PWM, 0, pwm->values, _max_actuators);
if (ret != OK) {
ret = -EIO;
}
break;
}
case PWM_SERVO_SET_MIN_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
{
return -E2BIG;
}
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_CONTROL_MIN_PWM, 0, pwm->values, pwm->channel_count);
break;
}
case PWM_SERVO_GET_MIN_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
ret = io_reg_get(PX4IO_PAGE_CONTROL_MIN_PWM, 0, pwm->values, _max_actuators);
if (ret != OK) {
ret = -EIO;
}
break;
}
case PWM_SERVO_SET_MAX_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
{
return -E2BIG;
}
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, pwm->values, pwm->channel_count);
break;
}
case PWM_SERVO_GET_MAX_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
ret = io_reg_get(PX4IO_PAGE_CONTROL_MAX_PWM, 0, pwm->values, _max_actuators);
if (ret != OK) {
ret = -EIO;
}
}
break;
case PWM_SERVO_SET_TRIM_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
{
return -E2BIG;
}
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, pwm->values, pwm->channel_count);
break;
}
case PWM_SERVO_GET_TRIM_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
ret = io_reg_get(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, pwm->values, _max_actuators);
if (ret != OK) {
ret = -EIO;
}
}
break;
case PWM_SERVO_GET_COUNT:
*(unsigned *)arg = _max_actuators;
break;
case PWM_SERVO_SET_DISABLE_LOCKDOWN:
_lockdown_override = arg;
break;
case PWM_SERVO_GET_DISABLE_LOCKDOWN:
*(unsigned *)arg = _lockdown_override;
break;
case PWM_SERVO_SET_FORCE_SAFETY_OFF:
/* force safety swith off */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
break;
case PWM_SERVO_SET_FORCE_SAFETY_ON:
/* force safety switch on */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
break;
case PWM_SERVO_SET_FORCE_FAILSAFE:
/* force failsafe mode instantly */
if (arg == 0) {
/* clear force failsafe flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE, 0);
} else {
/* set force failsafe flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE);
}
break;
case PWM_SERVO_SET_TERMINATION_FAILSAFE:
/* if failsafe occurs, do not allow the system to recover */
if (arg == 0) {
/* clear termination failsafe flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE, 0);
} else {
/* set termination failsafe flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE);
}
break;
case PWM_SERVO_SET_OVERRIDE_IMMEDIATE:
/* control whether override on FMU failure is
immediate or waits for override threshold on mode
switch */
if (arg == 0) {
/* clear override immediate flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE, 0);
} else {
/* set override immediate flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE);
}
break;
case PWM_SERVO_SET_SBUS_RATE:
/* set the requested SBUS frame rate */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SBUS_RATE, arg);
break;
case DSM_BIND_START:
/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */
if (arg == DSM2_BIND_PULSES ||
arg == DSMX_BIND_PULSES ||
arg == DSMX8_BIND_PULSES) {
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
px4_usleep(500000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
px4_usleep(72000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
px4_usleep(50000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
ret = OK;
} else {
ret = -EINVAL;
}
break;
case DSM_BIND_POWER_UP:
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
break;
case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS - 1): {
/* TODO: we could go lower for e.g. TurboPWM */
unsigned channel = cmd - PWM_SERVO_SET(0);
/* PWM needs to be either 0 or in the valid range. */
if ((arg != 0) && ((channel >= _max_actuators) ||
(arg < PWM_LOWEST_MIN) ||
(arg > PWM_HIGHEST_MAX))) {
ret = -EINVAL;
} else {
if (!_test_fmu_fail && _motor_test.in_test_mode) {
/* send a direct PWM value */
ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, channel, arg);
} else {
/* Just silently accept the ioctl without doing anything
* in test mode. */
ret = OK;
}
}
break;
}
case PWM_SERVO_GET(0) ... PWM_SERVO_GET(PWM_OUTPUT_MAX_CHANNELS - 1): {
unsigned channel = cmd - PWM_SERVO_GET(0);
if (channel >= _max_actuators) {
ret = -EINVAL;
} else {
/* fetch a current PWM value */
uint32_t value = io_reg_get(PX4IO_PAGE_SERVOS, channel);
if (value == _io_reg_get_error) {
ret = -EIO;
} else {
*(servo_position_t *)arg = value;
}
}
break;
}
case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): {
unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0);
*(uint32_t *)arg = io_reg_get(PX4IO_PAGE_PWM_INFO, PX4IO_RATE_MAP_BASE + channel);
if (*(uint32_t *)arg == _io_reg_get_error) {
ret = -EIO;
}
break;
}
case PWM_SERVO_SET_MODE: {
// reset all channels to disarmed when entering/leaving test mode, so that we don't
// accidentially use values from previous tests
pwm_output_values pwm_disarmed;
if (io_reg_get(PX4IO_PAGE_DISARMED_PWM, 0, pwm_disarmed.values, _max_actuators) == 0) {
for (unsigned i = 0; i < _max_actuators; ++i) {
io_reg_set(PX4IO_PAGE_DIRECT_PWM, i, pwm_disarmed.values[i]);
}
}
_motor_test.in_test_mode = (arg == PWM_SERVO_ENTER_TEST_MODE);
ret = (arg == PWM_SERVO_ENTER_TEST_MODE || PWM_SERVO_EXIT_TEST_MODE) ? 0 : -EINVAL;
}
break;
case MIXERIOCRESET:
ret = 0; /* load always resets */
break;
case MIXERIOCLOADBUF: {
const char *buf = (const char *)arg;
ret = mixer_send(buf, strlen(buf));
break;
}
case PX4IO_SET_DEBUG:
/* set the debug level */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG, arg);
break;
case PX4IO_REBOOT_BOOTLOADER:
if (system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
return -EINVAL;
}
/* reboot into bootloader - arg must be PX4IO_REBOOT_BL_MAGIC */
usleep(1);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_REBOOT_BL, arg);
// we don't expect a reply from this operation
ret = OK;
break;
case PX4IO_CHECK_CRC: {
/* check IO firmware CRC against passed value */
uint32_t io_crc = 0;
ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC, (uint16_t *)&io_crc, 2);
if (ret != OK) {
return ret;
}
if (io_crc != arg) {
PX4_DEBUG("crc mismatch 0x%08x 0x%08lx", io_crc, arg);
return -EINVAL;
}
break;
}
case PX4IO_INAIR_RESTART_ENABLE:
/* set/clear the 'in-air restart' bit */
if (arg) {
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK);
} else {
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK, 0);
}
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:
/* see if the parent class can make any use of it */
ret = CDev::ioctl(filep, cmd, arg);
break;
}
return ret;
}
extern "C" __EXPORT int px4io_main(int argc, char *argv[]);
namespace
{
device::Device *
get_interface()
{
device::Device *interface = nullptr;
#ifdef PX4IO_SERIAL_BASE
interface = PX4IO_serial_interface();
#endif
if (interface != nullptr) {
goto got;
}
errx(1, "cannot alloc interface");
got:
if (interface->init() != OK) {
delete interface;
errx(1, "interface init failed");
}
return interface;
}
void
start(int argc, char *argv[])
{
if (g_dev != nullptr) {
errx(0, "already loaded");
}
/* 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 allocation failed");
}
bool rc_handling_disabled = false;
bool hitl_mode = false;
/* disable RC handling and/or actuator_output publication on request */
for (int extra_args = 1; extra_args < argc; extra_args++) {
if (!strcmp(argv[extra_args], "norc")) {
rc_handling_disabled = true;
} else if (!strcmp(argv[extra_args], "hil")) {
hitl_mode = true;
} else if (argv[extra_args][0] != '\0') {
PX4_WARN("unknown argument: %s", argv[extra_args]);
}
}
if (OK != g_dev->init(rc_handling_disabled, hitl_mode)) {
delete g_dev;
g_dev = nullptr;
errx(1, "driver init failed");
}
exit(0);
}
void
detect(int argc, char *argv[])
{
if (g_dev != nullptr) {
errx(0, "already loaded");
}
/* allocate the interface */
device::Device *interface = get_interface();
/* create the driver - it will set g_dev */
(void)new PX4IO(interface);
if (g_dev == nullptr) {
errx(1, "driver allocation failed");
}
int ret = g_dev->detect();
delete g_dev;
g_dev = nullptr;
if (ret) {
/* nonzero, error */
exit(1);
} else {
exit(0);
}
}
void
checkcrc(int argc, char *argv[])
{
bool keep_running = false;
if (g_dev == nullptr) {
/* allocate the interface */
device::Device *interface = get_interface();
/* create the driver - it will set g_dev */
(void)new PX4IO(interface);
if (g_dev == nullptr) {
errx(1, "driver allocation failed");
}
} else {
/* its already running, don't kill the driver */
keep_running = true;
}
/*
check IO CRC against CRC of a file
*/
if (argc < 2) {
warnx("usage: px4io checkcrc filename");
exit(1);
}
int fd = open(argv[1], O_RDONLY);
if (fd == -1) {
warnx("open of %s failed: %d", argv[1], errno);
exit(1);
}
const uint32_t app_size_max = 0xf000;
uint32_t fw_crc = 0;
uint32_t nbytes = 0;
while (true) {
uint8_t buf[16];
int n = read(fd, buf, sizeof(buf));
if (n <= 0) { break; }
fw_crc = crc32part(buf, n, fw_crc);
nbytes += n;
}
close(fd);
while (nbytes < app_size_max) {
uint8_t b = 0xff;
fw_crc = crc32part(&b, 1, fw_crc);
nbytes++;
}
int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc);
if (!keep_running) {
delete g_dev;
g_dev = nullptr;
}
if (ret != OK) {
warn("check CRC failed: %d", ret);
exit(1);
}
exit(0);
}
void
bind(int argc, char *argv[])
{
int pulses;
if (g_dev == nullptr) {
errx(1, "px4io must be started first");
}
if (argc < 3) {
errx(0, "needs argument, use dsm2, dsmx or dsmx8");
}
if (!strcmp(argv[2], "dsm2")) {
pulses = DSM2_BIND_PULSES;
} else if (!strcmp(argv[2], "dsmx")) {
pulses = DSMX_BIND_PULSES;
} else if (!strcmp(argv[2], "dsmx8")) {
pulses = DSMX8_BIND_PULSES;
} else {
errx(1, "unknown parameter %s, use dsm2, dsmx or dsmx8", argv[2]);
}
// Test for custom pulse parameter
if (argc > 3) {
pulses = atoi(argv[3]);
}
if (g_dev->system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
errx(1, "system must not be armed");
}
g_dev->ioctl(nullptr, DSM_BIND_START, pulses);
exit(0);
}
void
monitor(void)
{
/* clear screen */
printf("\033[2J");
unsigned cancels = 2;
for (;;) {
pollfd fds[1];
fds[0].fd = 0;
fds[0].events = POLLIN;
if (poll(fds, 1, 2000) < 0) {
errx(1, "poll fail");
}
if (fds[0].revents == POLLIN) {
/* control logic is to cancel with any key */
char c;
(void)read(0, &c, 1);
if (cancels-- == 0) {
printf("\033[2J\033[H"); /* move cursor home and clear screen */
exit(0);
}
}
if (g_dev != nullptr) {
printf("\033[2J\033[H"); /* move cursor home and clear screen */
(void)g_dev->print_status(false);
(void)g_dev->print_debug();
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");
}
}
}
void
lockdown(int argc, char *argv[])
{
if (g_dev != nullptr) {
if (argc > 2 && !strcmp(argv[2], "disable")) {
warnx("WARNING: ACTUATORS WILL BE LIVE IN HIL! PROCEED?");
warnx("Press 'y' to enable, any other key to abort.");
/* check if user wants to abort */
char c;
struct pollfd fds;
int ret;
hrt_abstime start = hrt_absolute_time();
const unsigned long timeout = 5000000;
while (hrt_elapsed_time(&start) < timeout) {
fds.fd = 0; /* stdin */
fds.events = POLLIN;
ret = poll(&fds, 1, 0);
if (ret > 0) {
if (read(0, &c, 1) > 0) {
if (c != 'y') {
exit(0);
} else if (c == 'y') {
break;
}
}
}
px4_usleep(10000);
}
if (hrt_elapsed_time(&start) > timeout) {
errx(1, "TIMEOUT! ABORTED WITHOUT CHANGES.");
}
(void)g_dev->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 1);
warnx("WARNING: ACTUATORS ARE NOW LIVE IN HIL!");
} else {
(void)g_dev->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 0);
warnx("ACTUATORS ARE NOW SAFE IN HIL.");
}
} else {
errx(1, "driver not loaded, exiting");
}
exit(0);
}
} /* namespace */
int
px4io_main(int argc, char *argv[])
{
/* check for sufficient number of arguments */
if (argc < 2) {
goto out;
}
if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_PX4IO)) {
errx(1, "PX4IO Not Supported");
}
if (!strcmp(argv[1], "start")) {
start(argc - 1, argv + 1);
}
if (!strcmp(argv[1], "detect")) {
detect(argc - 1, argv + 1);
}
if (!strcmp(argv[1], "checkcrc")) {
checkcrc(argc - 1, argv + 1);
}
if (!strcmp(argv[1], "update")) {
if (g_dev != nullptr) {
warnx("loaded, detaching first");
/* stop the driver */
delete g_dev;
g_dev = nullptr;
}
PX4IO_Uploader *up;
/* Assume we are using default paths */
const char *fn[4] = PX4IO_FW_SEARCH_PATHS;
/* Override defaults if a path is passed on command line */
if (argc > 2) {
fn[0] = argv[2];
fn[1] = nullptr;
}
up = new PX4IO_Uploader;
int ret = up->upload(&fn[0]);
delete up;
switch (ret) {
case OK:
break;
case -ENOENT:
errx(1, "PX4IO firmware file not found");
case -EEXIST:
case -EIO:
errx(1, "error updating PX4IO - check that bootloader mode is enabled");
case -EINVAL:
errx(1, "verify failed - retry the update");
case -ETIMEDOUT:
errx(1, "timed out waiting for bootloader - power-cycle and try again");
default:
errx(1, "unexpected error %d", ret);
}
return ret;
}
if (!strcmp(argv[1], "forceupdate")) {
/*
force update of the IO firmware without requiring
the user to hold the safety switch down
*/
if (argc <= 3) {
warnx("usage: px4io forceupdate MAGIC filename");
exit(1);
}
if (g_dev == nullptr) {
warnx("px4io is not started, still attempting upgrade");
/* 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 allocation failed");
}
}
uint16_t arg = atol(argv[2]);
int ret = g_dev->ioctl(nullptr, PX4IO_REBOOT_BOOTLOADER, arg);
if (ret != OK) {
warnx("reboot failed - %d", 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];
fn[1] = nullptr;
PX4IO_Uploader *up = new PX4IO_Uploader;
up->upload(&fn[0]);
delete up;
exit(0);
}
/* commands below here require a started driver */
if (g_dev == nullptr) {
errx(1, "not started");
}
if (!strcmp(argv[1], "safety_off")) {
int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);
if (ret != OK) {
warnx("failed to disable safety");
exit(1);
}
exit(0);
}
if (!strcmp(argv[1], "safety_on")) {
int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_ON, 0);
if (ret != OK) {
warnx("failed to enable safety");
exit(1);
}
exit(0);
}
if (!strcmp(argv[1], "recovery")) {
/*
* Enable in-air restart support.
* We can cheat and call the driver directly, as it
* doesn't reference filp in ioctl()
*/
g_dev->ioctl(NULL, PX4IO_INAIR_RESTART_ENABLE, 1);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
/* stop the driver */
delete g_dev;
g_dev = nullptr;
exit(0);
}
if (!strcmp(argv[1], "status")) {
warnx("loaded");
g_dev->print_status(true);
exit(0);
}
if (!strcmp(argv[1], "debug")) {
if (argc <= 2) {
warnx("usage: px4io debug LEVEL");
exit(1);
}
if (g_dev == nullptr) {
warnx("not started");
exit(1);
}
uint8_t level = atoi(argv[2]);
/* we can cheat and call the driver directly, as it
* doesn't reference filp in ioctl()
*/
int ret = g_dev->ioctl(nullptr, PX4IO_SET_DEBUG, level);
if (ret != 0) {
warnx("SET_DEBUG failed: %d", ret);
exit(1);
}
warnx("SET_DEBUG %hhu OK", level);
exit(0);
}
if (!strcmp(argv[1], "rx_dsm") ||
!strcmp(argv[1], "rx_dsm_10bit") ||
!strcmp(argv[1], "rx_dsm_11bit") ||
!strcmp(argv[1], "rx_sbus") ||
!strcmp(argv[1], "rx_ppm")) {
errx(0, "receiver type is automatically detected, option '%s' is deprecated", argv[1]);
}
if (!strcmp(argv[1], "monitor")) {
monitor();
}
if (!strcmp(argv[1], "bind")) {
bind(argc, 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);
}
if (!strcmp(argv[1], "test_fmu_fail")) {
if (g_dev != nullptr) {
g_dev->test_fmu_fail(true);
exit(0);
} else {
errx(1, "px4io must be started first");
}
}
if (!strcmp(argv[1], "test_fmu_ok")) {
if (g_dev != nullptr) {
g_dev->test_fmu_fail(false);
exit(0);
} else {
errx(1, "px4io must be started first");
}
}
out:
errx(1, "need a command, try 'start', 'stop', 'status', 'monitor', 'debug <level>',\n"
"'recovery', 'bind', 'checkcrc', 'safety_on', 'safety_off',\n"
"'forceupdate', 'update', 'sbus1_out', 'sbus2_out', 'rssi_analog' or 'rssi_pwm',\n"
"'test_fmu_fail', 'test_fmu_ok'");
}
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