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PX4-Autopilot/src/drivers/px4fmu/fmu.cpp
Lorenz Meier 85ccecea9c FMU driver: stricter init
2014-07-16 09:05:15 +02:00

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/****************************************************************************
*
* Copyright (C) 2012-2013 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 fmu.cpp
*
* Driver/configurator for the PX4 FMU multi-purpose port on v1 and v2 boards.
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <nuttx/arch.h>
#include <drivers/device/device.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_gpio.h>
#include <drivers/drv_hrt.h>
#include <board_config.h>
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
#include <systemlib/mixer/mixer.h>
#include <systemlib/pwm_limit/pwm_limit.h>
#include <systemlib/board_serial.h>
#include <drivers/drv_mixer.h>
#include <drivers/drv_rc_input.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#ifdef HRT_PPM_CHANNEL
# include <systemlib/ppm_decode.h>
#endif
/*
* This is the analog to FMU_INPUT_DROP_LIMIT_US on the IO side
*/
#define CONTROL_INPUT_DROP_LIMIT_MS 20
class PX4FMU : public device::CDev
{
public:
enum Mode {
MODE_NONE,
MODE_2PWM,
MODE_4PWM,
MODE_6PWM,
MODE_8PWM,
};
PX4FMU();
virtual ~PX4FMU();
virtual int ioctl(file *filp, int cmd, unsigned long arg);
virtual ssize_t write(file *filp, const char *buffer, size_t len);
virtual int init();
int set_mode(Mode mode);
int set_pwm_alt_rate(unsigned rate);
int set_pwm_alt_channels(uint32_t channels);
private:
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
static const unsigned _max_actuators = 4;
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
static const unsigned _max_actuators = 6;
#endif
#if defined(CONFIG_ARCH_BOARD_AEROCORE)
static const unsigned _max_actuators = 8;
#endif
Mode _mode;
unsigned _pwm_default_rate;
unsigned _pwm_alt_rate;
uint32_t _pwm_alt_rate_channels;
unsigned _current_update_rate;
int _task;
int _armed_sub;
orb_advert_t _outputs_pub;
actuator_armed_s _armed;
unsigned _num_outputs;
bool _primary_pwm_device;
volatile bool _task_should_exit;
bool _servo_armed;
bool _pwm_on;
MixerGroup *_mixers;
uint32_t _groups_required;
uint32_t _groups_subscribed;
int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS];
actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS];
orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS];
pollfd _poll_fds[NUM_ACTUATOR_CONTROL_GROUPS];
unsigned _poll_fds_num;
pwm_limit_t _pwm_limit;
uint16_t _failsafe_pwm[_max_actuators];
uint16_t _disarmed_pwm[_max_actuators];
uint16_t _min_pwm[_max_actuators];
uint16_t _max_pwm[_max_actuators];
unsigned _num_failsafe_set;
unsigned _num_disarmed_set;
static void task_main_trampoline(int argc, char *argv[]);
void task_main();
static int control_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input);
void subscribe();
int set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate);
int pwm_ioctl(file *filp, int cmd, unsigned long arg);
struct GPIOConfig {
uint32_t input;
uint32_t output;
uint32_t alt;
};
static const GPIOConfig _gpio_tab[];
static const unsigned _ngpio;
void gpio_reset(void);
void sensor_reset(int ms);
void gpio_set_function(uint32_t gpios, int function);
void gpio_write(uint32_t gpios, int function);
uint32_t gpio_read(void);
int gpio_ioctl(file *filp, int cmd, unsigned long arg);
/* do not allow to copy due to ptr data members */
PX4FMU(const PX4FMU&);
PX4FMU operator=(const PX4FMU&);
};
const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1},
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1},
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1},
{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0},
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0},
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0},
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0},
{0, GPIO_VDD_5V_PERIPH_EN, 0},
{0, GPIO_VDD_3V3_SENSORS_EN, 0},
{GPIO_VDD_BRICK_VALID, 0, 0},
{GPIO_VDD_SERVO_VALID, 0, 0},
{GPIO_VDD_5V_HIPOWER_OC, 0, 0},
{GPIO_VDD_5V_PERIPH_OC, 0, 0},
#endif
#if defined(CONFIG_ARCH_BOARD_AEROCORE)
/* AeroCore breaks out User GPIOs on J11 */
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0},
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0},
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0},
{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, 0},
{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, 0},
{GPIO_GPIO8_INPUT, GPIO_GPIO8_OUTPUT, 0},
{GPIO_GPIO9_INPUT, GPIO_GPIO9_OUTPUT, 0},
{GPIO_GPIO10_INPUT, GPIO_GPIO10_OUTPUT, 0},
{GPIO_GPIO11_INPUT, GPIO_GPIO11_OUTPUT, 0},
#endif
};
const unsigned PX4FMU::_ngpio = sizeof(PX4FMU::_gpio_tab) / sizeof(PX4FMU::_gpio_tab[0]);
namespace
{
PX4FMU *g_fmu;
} // namespace
PX4FMU::PX4FMU() :
CDev("fmuservo", PX4FMU_DEVICE_PATH),
_mode(MODE_NONE),
_pwm_default_rate(50),
_pwm_alt_rate(50),
_pwm_alt_rate_channels(0),
_current_update_rate(0),
_task(-1),
_armed_sub(-1),
_outputs_pub(-1),
_armed{},
_num_outputs(0),
_primary_pwm_device(false),
_task_should_exit(false),
_servo_armed(false),
_pwm_on(false),
_mixers(nullptr),
_groups_required(0),
_groups_subscribed(0),
_control_subs{-1},
_poll_fds_num(0),
_pwm_limit{},
_failsafe_pwm{0},
_disarmed_pwm{0},
_num_failsafe_set(0),
_num_disarmed_set(0)
{
for (unsigned i = 0; i < _max_actuators; i++) {
_min_pwm[i] = PWM_DEFAULT_MIN;
_max_pwm[i] = PWM_DEFAULT_MAX;
}
_control_topics[0] = ORB_ID(actuator_controls_0);
_control_topics[1] = ORB_ID(actuator_controls_1);
_control_topics[2] = ORB_ID(actuator_controls_2);
_control_topics[3] = ORB_ID(actuator_controls_3);
memset(_controls, 0, sizeof(_controls));
memset(_poll_fds, 0, sizeof(_poll_fds));
_debug_enabled = true;
}
PX4FMU::~PX4FMU()
{
if (_task != -1) {
/* tell the task we want it to go away */
_task_should_exit = true;
unsigned i = 10;
do {
/* wait 50ms - it should wake every 100ms or so worst-case */
usleep(50000);
/* if we have given up, kill it */
if (--i == 0) {
task_delete(_task);
break;
}
} while (_task != -1);
}
/* clean up the alternate device node */
if (_primary_pwm_device)
unregister_driver(PWM_OUTPUT_DEVICE_PATH);
g_fmu = nullptr;
}
int
PX4FMU::init()
{
int ret;
ASSERT(_task == -1);
/* do regular cdev init */
ret = CDev::init();
if (ret != OK)
return ret;
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
if (ret == OK) {
log("default PWM output device");
_primary_pwm_device = true;
}
/* reset GPIOs */
gpio_reset();
/* start the IO interface task */
_task = task_spawn_cmd("fmuservo",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
1600,
(main_t)&PX4FMU::task_main_trampoline,
nullptr);
if (_task < 0) {
debug("task start failed: %d", errno);
return -errno;
}
return OK;
}
void
PX4FMU::task_main_trampoline(int argc, char *argv[])
{
g_fmu->task_main();
}
int
PX4FMU::set_mode(Mode mode)
{
/*
* Configure for PWM output.
*
* Note that regardless of the configured mode, the task is always
* listening and mixing; the mode just selects which of the channels
* are presented on the output pins.
*/
switch (mode) {
case MODE_2PWM: // v1 multi-port with flow control lines as PWM
debug("MODE_2PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
/* XXX magic numbers */
up_pwm_servo_init(0x3);
set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
break;
case MODE_4PWM: // v1 multi-port as 4 PWM outs
debug("MODE_4PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
/* XXX magic numbers */
up_pwm_servo_init(0xf);
set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
break;
case MODE_6PWM: // v2 PWMs as 6 PWM outs
debug("MODE_6PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
/* XXX magic numbers */
up_pwm_servo_init(0x3f);
set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
break;
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case MODE_8PWM: // AeroCore PWMs as 8 PWM outs
debug("MODE_8PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
/* XXX magic numbers */
up_pwm_servo_init(0xff);
set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
break;
#endif
case MODE_NONE:
debug("MODE_NONE");
_pwm_default_rate = 10; /* artificially reduced output rate */
_pwm_alt_rate = 10;
_pwm_alt_rate_channels = 0;
/* disable servo outputs - no need to set rates */
up_pwm_servo_deinit();
break;
default:
return -EINVAL;
}
_mode = mode;
return OK;
}
int
PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate)
{
debug("set_pwm_rate %x %u %u", rate_map, default_rate, alt_rate);
for (unsigned pass = 0; pass < 2; pass++) {
for (unsigned group = 0; group < _max_actuators; group++) {
// get the channel mask for this rate group
uint32_t mask = up_pwm_servo_get_rate_group(group);
if (mask == 0)
continue;
// all channels in the group must be either default or alt-rate
uint32_t alt = rate_map & mask;
if (pass == 0) {
// preflight
if ((alt != 0) && (alt != mask)) {
warn("rate group %u mask %x bad overlap %x", group, mask, alt);
// not a legal map, bail
return -EINVAL;
}
} else {
// set it - errors here are unexpected
if (alt != 0) {
if (up_pwm_servo_set_rate_group_update(group, _pwm_alt_rate) != OK) {
warn("rate group set alt failed");
return -EINVAL;
}
} else {
if (up_pwm_servo_set_rate_group_update(group, _pwm_default_rate) != OK) {
warn("rate group set default failed");
return -EINVAL;
}
}
}
}
}
_pwm_alt_rate_channels = rate_map;
_pwm_default_rate = default_rate;
_pwm_alt_rate = alt_rate;
return OK;
}
int
PX4FMU::set_pwm_alt_rate(unsigned rate)
{
return set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, rate);
}
int
PX4FMU::set_pwm_alt_channels(uint32_t channels)
{
return set_pwm_rate(channels, _pwm_default_rate, _pwm_alt_rate);
}
void
PX4FMU::subscribe()
{
/* subscribe/unsubscribe to required actuator control groups */
uint32_t sub_groups = _groups_required & ~_groups_subscribed;
uint32_t unsub_groups = _groups_subscribed & ~_groups_required;
_poll_fds_num = 0;
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (sub_groups & (1 << i)) {
warnx("subscribe to actuator_controls_%d", i);
_control_subs[i] = orb_subscribe(_control_topics[i]);
}
if (unsub_groups & (1 << i)) {
warnx("unsubscribe from actuator_controls_%d", i);
::close(_control_subs[i]);
_control_subs[i] = -1;
}
if (_control_subs[i] > 0) {
_poll_fds[_poll_fds_num].fd = _control_subs[i];
_poll_fds[_poll_fds_num].events = POLLIN;
_poll_fds_num++;
}
}
}
void
PX4FMU::task_main()
{
/* force a reset of the update rate */
_current_update_rate = 0;
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
/* advertise the mixed control outputs */
actuator_outputs_s outputs;
memset(&outputs, 0, sizeof(outputs));
#ifdef HRT_PPM_CHANNEL
// rc input, published to ORB
struct rc_input_values rc_in;
orb_advert_t to_input_rc = 0;
memset(&rc_in, 0, sizeof(rc_in));
rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM;
#endif
/* initialize PWM limit lib */
pwm_limit_init(&_pwm_limit);
log("starting");
/* loop until killed */
while (!_task_should_exit) {
if (_groups_subscribed != _groups_required) {
subscribe();
_groups_subscribed = _groups_required;
/* force setting update rate */
_current_update_rate = 0;
}
/*
* Adjust actuator topic update rate to keep up with
* the highest servo update rate configured.
*
* We always mix at max rate; some channels may update slower.
*/
unsigned max_rate = (_pwm_default_rate > _pwm_alt_rate) ? _pwm_default_rate : _pwm_alt_rate;
if (_current_update_rate != max_rate) {
_current_update_rate = max_rate;
int update_rate_in_ms = int(1000 / _current_update_rate);
/* reject faster than 500 Hz updates */
if (update_rate_in_ms < 2) {
update_rate_in_ms = 2;
}
/* reject slower than 10 Hz updates */
if (update_rate_in_ms > 100) {
update_rate_in_ms = 100;
}
debug("adjusted actuator update interval to %ums", update_rate_in_ms);
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
orb_set_interval(_control_subs[i], update_rate_in_ms);
}
}
// set to current max rate, even if we are actually checking slower/faster
_current_update_rate = max_rate;
}
/* sleep waiting for data, stopping to check for PPM
* input at 50Hz */
int ret = ::poll(_poll_fds, _poll_fds_num, CONTROL_INPUT_DROP_LIMIT_MS);
/* this would be bad... */
if (ret < 0) {
log("poll error %d", errno);
continue;
} else if (ret == 0) {
/* timeout: no control data, switch to failsafe values */
// warnx("no PWM: failsafe");
} else {
/* get controls for required topics */
unsigned poll_id = 0;
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
if (_poll_fds[poll_id].revents & POLLIN) {
orb_copy(_control_topics[i], _control_subs[i], &_controls[i]);
}
poll_id++;
}
}
/* can we mix? */
if (_mixers != nullptr) {
unsigned num_outputs;
switch (_mode) {
case MODE_2PWM:
num_outputs = 2;
break;
case MODE_4PWM:
num_outputs = 4;
break;
case MODE_6PWM:
num_outputs = 6;
break;
case MODE_8PWM:
num_outputs = 8;
break;
default:
num_outputs = 0;
break;
}
/* do mixing */
outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs);
outputs.timestamp = hrt_absolute_time();
/* iterate actuators */
for (unsigned i = 0; i < num_outputs; i++) {
/* last resort: catch NaN and INF */
if ((i >= outputs.noutputs) ||
!isfinite(outputs.output[i])) {
/*
* Value is NaN, INF or out of band - set to the minimum value.
* This will be clearly visible on the servo status and will limit the risk of accidentally
* spinning motors. It would be deadly in flight.
*/
outputs.output[i] = -1.0f;
}
}
uint16_t pwm_limited[num_outputs];
/* the PWM limit call takes care of out of band errors and constrains */
pwm_limit_calc(_servo_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
/* output to the servos */
for (unsigned i = 0; i < num_outputs; i++) {
up_pwm_servo_set(i, pwm_limited[i]);
}
/* publish mixed control outputs */
if (_outputs_pub < 0) {
_outputs_pub = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), &outputs);
} else {
orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _outputs_pub, &outputs);
}
}
}
/* check arming state */
bool updated = false;
orb_check(_armed_sub, &updated);
if (updated) {
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
/* update the armed status and check that we're not locked down */
bool set_armed = _armed.armed && !_armed.lockdown;
if (_servo_armed != set_armed)
_servo_armed = set_armed;
/* update PWM status if armed or if disarmed PWM values are set */
bool pwm_on = (_armed.armed || _num_disarmed_set > 0);
if (_pwm_on != pwm_on) {
_pwm_on = pwm_on;
up_pwm_servo_arm(pwm_on);
}
}
#ifdef HRT_PPM_CHANNEL
// see if we have new PPM input data
if (ppm_last_valid_decode != rc_in.timestamp_last_signal) {
// we have a new PPM frame. Publish it.
rc_in.channel_count = ppm_decoded_channels;
if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) {
rc_in.channel_count = RC_INPUT_MAX_CHANNELS;
}
for (uint8_t i = 0; i < rc_in.channel_count; i++) {
rc_in.values[i] = ppm_buffer[i];
}
rc_in.timestamp_publication = ppm_last_valid_decode;
rc_in.timestamp_last_signal = ppm_last_valid_decode;
rc_in.rc_ppm_frame_length = ppm_frame_length;
rc_in.rssi = RC_INPUT_RSSI_MAX;
rc_in.rc_failsafe = false;
rc_in.rc_lost = false;
rc_in.rc_lost_frame_count = 0;
rc_in.rc_total_frame_count = 0;
/* lazily advertise on first publication */
if (to_input_rc == 0) {
to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_in);
} else {
orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in);
}
}
#endif
}
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
::close(_control_subs[i]);
_control_subs[i] = -1;
}
}
::close(_armed_sub);
/* make sure servos are off */
up_pwm_servo_deinit();
log("stopping");
/* note - someone else is responsible for restoring the GPIO config */
/* tell the dtor that we are exiting */
_task = -1;
_exit(0);
}
int
PX4FMU::control_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input)
{
const actuator_controls_s *controls = (actuator_controls_s *)handle;
input = controls[control_group].control[control_index];
return 0;
}
int
PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
{
int ret;
// XXX disabled, confusing users
//debug("ioctl 0x%04x 0x%08x", cmd, arg);
/* try it as a GPIO ioctl first */
ret = gpio_ioctl(filp, cmd, arg);
if (ret != -ENOTTY)
return ret;
/* if we are in valid PWM mode, try it as a PWM ioctl as well */
switch (_mode) {
case MODE_2PWM:
case MODE_4PWM:
case MODE_6PWM:
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case MODE_8PWM:
#endif
ret = pwm_ioctl(filp, cmd, arg);
break;
default:
debug("not in a PWM mode");
break;
}
/* if nobody wants it, let CDev have it */
if (ret == -ENOTTY)
ret = CDev::ioctl(filp, cmd, arg);
return ret;
}
int
PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
{
int ret = OK;
lock();
switch (cmd) {
case PWM_SERVO_ARM:
up_pwm_servo_arm(true);
break;
case PWM_SERVO_SET_ARM_OK:
case PWM_SERVO_CLEAR_ARM_OK:
case PWM_SERVO_SET_FORCE_SAFETY_OFF:
// these are no-ops, as no safety switch
break;
case PWM_SERVO_DISARM:
up_pwm_servo_arm(false);
break;
case PWM_SERVO_GET_DEFAULT_UPDATE_RATE:
*(uint32_t *)arg = _pwm_default_rate;
break;
case PWM_SERVO_SET_UPDATE_RATE:
ret = set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, arg);
break;
case PWM_SERVO_GET_UPDATE_RATE:
*(uint32_t *)arg = _pwm_alt_rate;
break;
case PWM_SERVO_SET_SELECT_UPDATE_RATE:
ret = set_pwm_rate(arg, _pwm_default_rate, _pwm_alt_rate);
break;
case PWM_SERVO_GET_SELECT_UPDATE_RATE:
*(uint32_t *)arg = _pwm_alt_rate_channels;
break;
case PWM_SERVO_SET_FAILSAFE_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
/* discard if too many values are sent */
if (pwm->channel_count > _max_actuators) {
ret = -EINVAL;
break;
}
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] == 0) {
/* ignore 0 */
} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
_failsafe_pwm[i] = PWM_HIGHEST_MAX;
} else if (pwm->values[i] < PWM_LOWEST_MIN) {
_failsafe_pwm[i] = PWM_LOWEST_MIN;
} else {
_failsafe_pwm[i] = pwm->values[i];
}
}
/*
* update the counter
* this is needed to decide if disarmed PWM output should be turned on or not
*/
_num_failsafe_set = 0;
for (unsigned i = 0; i < _max_actuators; i++) {
if (_failsafe_pwm[i] > 0)
_num_failsafe_set++;
}
break;
}
case PWM_SERVO_GET_FAILSAFE_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < _max_actuators; i++) {
pwm->values[i] = _failsafe_pwm[i];
}
pwm->channel_count = _max_actuators;
break;
}
case PWM_SERVO_SET_DISARMED_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
/* discard if too many values are sent */
if (pwm->channel_count > _max_actuators) {
ret = -EINVAL;
break;
}
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] == 0) {
/* ignore 0 */
} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
_disarmed_pwm[i] = PWM_HIGHEST_MAX;
} else if (pwm->values[i] < PWM_LOWEST_MIN) {
_disarmed_pwm[i] = PWM_LOWEST_MIN;
} else {
_disarmed_pwm[i] = pwm->values[i];
}
}
/*
* update the counter
* this is needed to decide if disarmed PWM output should be turned on or not
*/
_num_disarmed_set = 0;
for (unsigned i = 0; i < _max_actuators; i++) {
if (_disarmed_pwm[i] > 0)
_num_disarmed_set++;
}
break;
}
case PWM_SERVO_GET_DISARMED_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < _max_actuators; i++) {
pwm->values[i] = _disarmed_pwm[i];
}
pwm->channel_count = _max_actuators;
break;
}
case PWM_SERVO_SET_MIN_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
/* discard if too many values are sent */
if (pwm->channel_count > _max_actuators) {
ret = -EINVAL;
break;
}
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] == 0) {
/* ignore 0 */
} else if (pwm->values[i] > PWM_HIGHEST_MIN) {
_min_pwm[i] = PWM_HIGHEST_MIN;
} else if (pwm->values[i] < PWM_LOWEST_MIN) {
_min_pwm[i] = PWM_LOWEST_MIN;
} else {
_min_pwm[i] = pwm->values[i];
}
}
break;
}
case PWM_SERVO_GET_MIN_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < _max_actuators; i++) {
pwm->values[i] = _min_pwm[i];
}
pwm->channel_count = _max_actuators;
arg = (unsigned long)&pwm;
break;
}
case PWM_SERVO_SET_MAX_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
/* discard if too many values are sent */
if (pwm->channel_count > _max_actuators) {
ret = -EINVAL;
break;
}
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] == 0) {
/* ignore 0 */
} else if (pwm->values[i] < PWM_LOWEST_MAX) {
_max_pwm[i] = PWM_LOWEST_MAX;
} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
_max_pwm[i] = PWM_HIGHEST_MAX;
} else {
_max_pwm[i] = pwm->values[i];
}
}
break;
}
case PWM_SERVO_GET_MAX_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < _max_actuators; i++) {
pwm->values[i] = _max_pwm[i];
}
pwm->channel_count = _max_actuators;
arg = (unsigned long)&pwm;
break;
}
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case PWM_SERVO_SET(7):
case PWM_SERVO_SET(6):
if (_mode < MODE_8PWM) {
ret = -EINVAL;
break;
}
#endif
case PWM_SERVO_SET(5):
case PWM_SERVO_SET(4):
if (_mode < MODE_6PWM) {
ret = -EINVAL;
break;
}
/* FALLTHROUGH */
case PWM_SERVO_SET(3):
case PWM_SERVO_SET(2):
if (_mode < MODE_4PWM) {
ret = -EINVAL;
break;
}
/* FALLTHROUGH */
case PWM_SERVO_SET(1):
case PWM_SERVO_SET(0):
if (arg <= 2100) {
up_pwm_servo_set(cmd - PWM_SERVO_SET(0), arg);
} else {
ret = -EINVAL;
}
break;
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case PWM_SERVO_GET(7):
case PWM_SERVO_GET(6):
if (_mode < MODE_8PWM) {
ret = -EINVAL;
break;
}
#endif
case PWM_SERVO_GET(5):
case PWM_SERVO_GET(4):
if (_mode < MODE_6PWM) {
ret = -EINVAL;
break;
}
/* FALLTHROUGH */
case PWM_SERVO_GET(3):
case PWM_SERVO_GET(2):
if (_mode < MODE_4PWM) {
ret = -EINVAL;
break;
}
/* FALLTHROUGH */
case PWM_SERVO_GET(1):
case PWM_SERVO_GET(0):
*(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0));
break;
case PWM_SERVO_GET_RATEGROUP(0):
case PWM_SERVO_GET_RATEGROUP(1):
case PWM_SERVO_GET_RATEGROUP(2):
case PWM_SERVO_GET_RATEGROUP(3):
case PWM_SERVO_GET_RATEGROUP(4):
case PWM_SERVO_GET_RATEGROUP(5):
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case PWM_SERVO_GET_RATEGROUP(6):
case PWM_SERVO_GET_RATEGROUP(7):
#endif
*(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0));
break;
case PWM_SERVO_GET_COUNT:
case MIXERIOCGETOUTPUTCOUNT:
switch (_mode) {
#ifdef CONFIG_ARCH_BOARD_AEROCORE
case MODE_8PWM:
*(unsigned *)arg = 8;
break;
#endif
case MODE_6PWM:
*(unsigned *)arg = 6;
break;
case MODE_4PWM:
*(unsigned *)arg = 4;
break;
case MODE_2PWM:
*(unsigned *)arg = 2;
break;
default:
ret = -EINVAL;
break;
}
break;
case PWM_SERVO_SET_COUNT: {
/* change the number of outputs that are enabled for
* PWM. This is used to change the split between GPIO
* and PWM under control of the flight config
* parameters. Note that this does not allow for
* changing a set of pins to be used for serial on
* FMUv1
*/
switch (arg) {
case 0:
set_mode(MODE_NONE);
break;
case 2:
set_mode(MODE_2PWM);
break;
case 4:
set_mode(MODE_4PWM);
break;
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
case 6:
set_mode(MODE_6PWM);
break;
#endif
#if defined(CONFIG_ARCH_BOARD_AEROCORE)
case 8:
set_mode(MODE_8PWM);
break;
#endif
default:
ret = -EINVAL;
break;
}
break;
}
case MIXERIOCRESET:
if (_mixers != nullptr) {
delete _mixers;
_mixers = nullptr;
_groups_required = 0;
}
break;
case MIXERIOCADDSIMPLE: {
mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
SimpleMixer *mixer = new SimpleMixer(control_callback,
(uintptr_t)_controls, mixinfo);
if (mixer->check()) {
delete mixer;
_groups_required = 0;
ret = -EINVAL;
} else {
if (_mixers == nullptr)
_mixers = new MixerGroup(control_callback,
(uintptr_t)_controls);
_mixers->add_mixer(mixer);
_mixers->groups_required(_groups_required);
}
break;
}
case MIXERIOCLOADBUF: {
const char *buf = (const char *)arg;
unsigned buflen = strnlen(buf, 1024);
if (_mixers == nullptr)
_mixers = new MixerGroup(control_callback, (uintptr_t)_controls);
if (_mixers == nullptr) {
_groups_required = 0;
ret = -ENOMEM;
} else {
ret = _mixers->load_from_buf(buf, buflen);
if (ret != 0) {
debug("mixer load failed with %d", ret);
delete _mixers;
_mixers = nullptr;
_groups_required = 0;
ret = -EINVAL;
} else {
_mixers->groups_required(_groups_required);
}
}
break;
}
default:
ret = -ENOTTY;
break;
}
unlock();
return ret;
}
/*
this implements PWM output via a write() method, for compatibility
with px4io
*/
ssize_t
PX4FMU::write(file *filp, const char *buffer, size_t len)
{
unsigned count = len / 2;
uint16_t values[6];
#ifdef CONFIG_ARCH_BOARD_AEROCORE
if (count > 8) {
// we have at most 8 outputs
count = 8;
}
#else
if (count > 6) {
// we have at most 6 outputs
count = 6;
}
#endif
// allow for misaligned values
memcpy(values, buffer, count * 2);
for (uint8_t i = 0; i < count; i++) {
up_pwm_servo_set(i, values[i]);
}
return count * 2;
}
void
PX4FMU::sensor_reset(int ms)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
if (ms < 1) {
ms = 1;
}
/* disable SPI bus */
stm32_configgpio(GPIO_SPI_CS_GYRO_OFF);
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF);
stm32_configgpio(GPIO_SPI_CS_BARO_OFF);
stm32_configgpio(GPIO_SPI_CS_MPU_OFF);
stm32_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0);
stm32_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
stm32_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
stm32_configgpio(GPIO_SPI1_SCK_OFF);
stm32_configgpio(GPIO_SPI1_MISO_OFF);
stm32_configgpio(GPIO_SPI1_MOSI_OFF);
stm32_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
stm32_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
stm32_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
stm32_configgpio(GPIO_GYRO_DRDY_OFF);
stm32_configgpio(GPIO_MAG_DRDY_OFF);
stm32_configgpio(GPIO_ACCEL_DRDY_OFF);
stm32_configgpio(GPIO_EXTI_MPU_DRDY_OFF);
stm32_gpiowrite(GPIO_GYRO_DRDY_OFF, 0);
stm32_gpiowrite(GPIO_MAG_DRDY_OFF, 0);
stm32_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0);
stm32_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0);
/* set the sensor rail off */
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
warnx("reset done, %d ms", ms);
/* re-enable power */
/* switch the sensor rail back on */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
/* reconfigure the SPI pins */
#ifdef CONFIG_STM32_SPI1
stm32_configgpio(GPIO_SPI_CS_GYRO);
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
stm32_configgpio(GPIO_SPI_CS_BARO);
stm32_configgpio(GPIO_SPI_CS_MPU);
/* De-activate all peripherals,
* required for some peripheral
* state machines
*/
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
// // XXX bring up the EXTI pins again
// stm32_configgpio(GPIO_GYRO_DRDY);
// stm32_configgpio(GPIO_MAG_DRDY);
// stm32_configgpio(GPIO_ACCEL_DRDY);
// stm32_configgpio(GPIO_EXTI_MPU_DRDY);
#endif
#endif
}
void
PX4FMU::gpio_reset(void)
{
/*
* Setup default GPIO config - all pins as GPIOs, input if
* possible otherwise output if possible.
*/
for (unsigned i = 0; i < _ngpio; i++) {
if (_gpio_tab[i].input != 0) {
stm32_configgpio(_gpio_tab[i].input);
} else if (_gpio_tab[i].output != 0) {
stm32_configgpio(_gpio_tab[i].output);
}
}
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
/* if we have a GPIO direction control, set it to zero (input) */
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
stm32_configgpio(GPIO_GPIO_DIR);
#endif
}
void
PX4FMU::gpio_set_function(uint32_t gpios, int function)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
/*
* GPIOs 0 and 1 must have the same direction as they are buffered
* by a shared 2-port driver. Any attempt to set either sets both.
*/
if (gpios & 3) {
gpios |= 3;
/* flip the buffer to output mode if required */
if (GPIO_SET_OUTPUT == function)
stm32_gpiowrite(GPIO_GPIO_DIR, 1);
}
#endif
/* configure selected GPIOs as required */
for (unsigned i = 0; i < _ngpio; i++) {
if (gpios & (1 << i)) {
switch (function) {
case GPIO_SET_INPUT:
stm32_configgpio(_gpio_tab[i].input);
break;
case GPIO_SET_OUTPUT:
stm32_configgpio(_gpio_tab[i].output);
break;
case GPIO_SET_ALT_1:
if (_gpio_tab[i].alt != 0)
stm32_configgpio(_gpio_tab[i].alt);
break;
}
}
}
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
/* flip buffer to input mode if required */
if ((GPIO_SET_INPUT == function) && (gpios & 3))
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
#endif
}
void
PX4FMU::gpio_write(uint32_t gpios, int function)
{
int value = (function == GPIO_SET) ? 1 : 0;
for (unsigned i = 0; i < _ngpio; i++)
if (gpios & (1 << i))
stm32_gpiowrite(_gpio_tab[i].output, value);
}
uint32_t
PX4FMU::gpio_read(void)
{
uint32_t bits = 0;
for (unsigned i = 0; i < _ngpio; i++)
if (stm32_gpioread(_gpio_tab[i].input))
bits |= (1 << i);
return bits;
}
int
PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
{
int ret = OK;
lock();
switch (cmd) {
case GPIO_RESET:
gpio_reset();
break;
case GPIO_SENSOR_RAIL_RESET:
sensor_reset(arg);
break;
case GPIO_SET_OUTPUT:
case GPIO_SET_INPUT:
case GPIO_SET_ALT_1:
gpio_set_function(arg, cmd);
break;
case GPIO_SET_ALT_2:
case GPIO_SET_ALT_3:
case GPIO_SET_ALT_4:
ret = -EINVAL;
break;
case GPIO_SET:
case GPIO_CLEAR:
gpio_write(arg, cmd);
break;
case GPIO_GET:
*(uint32_t *)arg = gpio_read();
break;
default:
ret = -ENOTTY;
}
unlock();
return ret;
}
namespace
{
enum PortMode {
PORT_MODE_UNSET = 0,
PORT_FULL_GPIO,
PORT_FULL_SERIAL,
PORT_FULL_PWM,
PORT_GPIO_AND_SERIAL,
PORT_PWM_AND_SERIAL,
PORT_PWM_AND_GPIO,
};
PortMode g_port_mode;
int
fmu_new_mode(PortMode new_mode)
{
uint32_t gpio_bits;
PX4FMU::Mode servo_mode;
/* reset to all-inputs */
g_fmu->ioctl(0, GPIO_RESET, 0);
gpio_bits = 0;
servo_mode = PX4FMU::MODE_NONE;
switch (new_mode) {
case PORT_FULL_GPIO:
case PORT_MODE_UNSET:
/* nothing more to do here */
break;
case PORT_FULL_PWM:
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
/* select 4-pin PWM mode */
servo_mode = PX4FMU::MODE_4PWM;
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
servo_mode = PX4FMU::MODE_6PWM;
#endif
#if defined(CONFIG_ARCH_BOARD_AEROCORE)
servo_mode = PX4FMU::MODE_8PWM;
#endif
break;
/* mixed modes supported on v1 board only */
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
case PORT_FULL_SERIAL:
/* set all multi-GPIOs to serial mode */
gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4;
break;
case PORT_GPIO_AND_SERIAL:
/* set RX/TX multi-GPIOs to serial mode */
gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
break;
case PORT_PWM_AND_SERIAL:
/* select 2-pin PWM mode */
servo_mode = PX4FMU::MODE_2PWM;
/* set RX/TX multi-GPIOs to serial mode */
gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
break;
case PORT_PWM_AND_GPIO:
/* select 2-pin PWM mode */
servo_mode = PX4FMU::MODE_2PWM;
break;
#endif
default:
return -1;
}
/* adjust GPIO config for serial mode(s) */
if (gpio_bits != 0)
g_fmu->ioctl(0, GPIO_SET_ALT_1, gpio_bits);
/* (re)set the PWM output mode */
g_fmu->set_mode(servo_mode);
return OK;
}
int
fmu_start(void)
{
int ret = OK;
if (g_fmu == nullptr) {
g_fmu = new PX4FMU;
if (g_fmu == nullptr) {
ret = -ENOMEM;
} else {
ret = g_fmu->init();
if (ret != OK) {
delete g_fmu;
g_fmu = nullptr;
}
}
}
return ret;
}
int
fmu_stop(void)
{
int ret = OK;
if (g_fmu != nullptr) {
delete g_fmu;
g_fmu = nullptr;
}
return ret;
}
void
sensor_reset(int ms)
{
int fd;
fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
if (fd < 0)
errx(1, "open fail");
if (ioctl(fd, GPIO_SENSOR_RAIL_RESET, ms) < 0)
err(1, "servo arm failed");
}
void
test(void)
{
int fd;
unsigned servo_count = 0;
unsigned pwm_value = 1000;
int direction = 1;
int ret;
fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
if (fd < 0)
errx(1, "open fail");
if (ioctl(fd, PWM_SERVO_ARM, 0) < 0) err(1, "servo arm failed");
if (ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count) != 0) {
err(1, "Unable to get servo count\n");
}
warnx("Testing %u servos", (unsigned)servo_count);
struct pollfd fds;
fds.fd = 0; /* stdin */
fds.events = POLLIN;
warnx("Press CTRL-C or 'c' to abort.");
for (;;) {
/* sweep all servos between 1000..2000 */
servo_position_t servos[servo_count];
for (unsigned i = 0; i < servo_count; i++)
servos[i] = pwm_value;
if (direction == 1) {
// use ioctl interface for one direction
for (unsigned i = 0; i < servo_count; i++) {
if (ioctl(fd, PWM_SERVO_SET(i), servos[i]) < 0) {
err(1, "servo %u set failed", i);
}
}
} else {
// and use write interface for the other direction
ret = write(fd, servos, sizeof(servos));
if (ret != (int)sizeof(servos))
err(1, "error writing PWM servo data, wrote %u got %d", sizeof(servos), ret);
}
if (direction > 0) {
if (pwm_value < 2000) {
pwm_value++;
} else {
direction = -1;
}
} else {
if (pwm_value > 1000) {
pwm_value--;
} else {
direction = 1;
}
}
/* readback servo values */
for (unsigned i = 0; i < servo_count; i++) {
servo_position_t value;
if (ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&value))
err(1, "error reading PWM servo %d", i);
if (value != servos[i])
errx(1, "servo %d readback error, got %u expected %u", i, value, servos[i]);
}
/* Check if user wants to quit */
char c;
ret = poll(&fds, 1, 0);
if (ret > 0) {
read(0, &c, 1);
if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("User abort\n");
break;
}
}
}
close(fd);
exit(0);
}
void
fake(int argc, char *argv[])
{
if (argc < 5)
errx(1, "fmu fake <roll> <pitch> <yaw> <thrust> (values -100 .. 100)");
actuator_controls_s ac;
ac.control[0] = strtol(argv[1], 0, 0) / 100.0f;
ac.control[1] = strtol(argv[2], 0, 0) / 100.0f;
ac.control[2] = strtol(argv[3], 0, 0) / 100.0f;
ac.control[3] = strtol(argv[4], 0, 0) / 100.0f;
orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac);
if (handle < 0)
errx(1, "advertise failed");
actuator_armed_s aa;
aa.armed = true;
aa.lockdown = false;
handle = orb_advertise(ORB_ID(actuator_armed), &aa);
if (handle < 0)
errx(1, "advertise failed 2");
exit(0);
}
} // namespace
extern "C" __EXPORT int fmu_main(int argc, char *argv[]);
int
fmu_main(int argc, char *argv[])
{
PortMode new_mode = PORT_MODE_UNSET;
const char *verb = argv[1];
if (!strcmp(verb, "stop")) {
fmu_stop();
errx(0, "FMU driver stopped");
}
if (!strcmp(verb, "id")) {
uint8_t id[12];
(void)get_board_serial(id);
errx(0, "Board serial:\n %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X",
(unsigned)id[0], (unsigned)id[1], (unsigned)id[2], (unsigned)id[3], (unsigned)id[4], (unsigned)id[5],
(unsigned)id[6], (unsigned)id[7], (unsigned)id[8], (unsigned)id[9], (unsigned)id[10], (unsigned)id[11]);
}
if (fmu_start() != OK)
errx(1, "failed to start the FMU driver");
/*
* Mode switches.
*/
if (!strcmp(verb, "mode_gpio")) {
new_mode = PORT_FULL_GPIO;
} else if (!strcmp(verb, "mode_pwm")) {
new_mode = PORT_FULL_PWM;
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
} else if (!strcmp(verb, "mode_serial")) {
new_mode = PORT_FULL_SERIAL;
} else if (!strcmp(verb, "mode_gpio_serial")) {
new_mode = PORT_GPIO_AND_SERIAL;
} else if (!strcmp(verb, "mode_pwm_serial")) {
new_mode = PORT_PWM_AND_SERIAL;
} else if (!strcmp(verb, "mode_pwm_gpio")) {
new_mode = PORT_PWM_AND_GPIO;
#endif
}
/* was a new mode set? */
if (new_mode != PORT_MODE_UNSET) {
/* yes but it's the same mode */
if (new_mode == g_port_mode)
return OK;
/* switch modes */
int ret = fmu_new_mode(new_mode);
exit(ret == OK ? 0 : 1);
}
if (!strcmp(verb, "test"))
test();
if (!strcmp(verb, "fake"))
fake(argc - 1, argv + 1);
if (!strcmp(verb, "sensor_reset")) {
if (argc > 2) {
int reset_time = strtol(argv[2], 0, 0);
sensor_reset(reset_time);
} else {
sensor_reset(0);
warnx("resettet default time");
}
exit(0);
}
fprintf(stderr, "FMU: unrecognised command %s, try:\n", verb);
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test\n");
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_AEROCORE)
fprintf(stderr, " mode_gpio, mode_pwm, test, sensor_reset [milliseconds]\n");
#endif
exit(1);
}
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