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PX4-Autopilot/src/drivers/px4fmu/fmu.cpp
Julian Oes 78b0d1a01f tap: add landing gear capability 
This configures the PWM output for the landing gear.
2016-10-20 23:17:05 +02:00

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/****************************************************************************
*
* Copyright (c) 2012-2015 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 <px4_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/device/i2c.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_input_capture.h>
#include <drivers/drv_gpio.h>
#include <drivers/drv_hrt.h>
#include <board_config.h>
#include <systemlib/px4_macros.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 <systemlib/param/param.h>
#include <drivers/drv_mixer.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_input_capture.h>
#include <lib/rc/sbus.h>
#include <lib/rc/dsm.h>
#include <lib/rc/st24.h>
#include <lib/rc/sumd.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/adc_report.h>
#ifdef HRT_PPM_CHANNEL
# include <systemlib/ppm_decode.h>
#endif
#include <systemlib/circuit_breaker.h>
#define SCHEDULE_INTERVAL 2000 /**< The schedule interval in usec (500 Hz) */
#define NAN_VALUE (0.0f/0.0f) /**< NaN value for throttle lock mode */
#define BUTTON_SAFETY px4_arch_gpioread(GPIO_BTN_SAFETY)
#define CYCLE_COUNT 10 /* safety switch must be held for 1 second to activate */
/*
* Define the various LED flash sequences for each system state.
*/
#define LED_PATTERN_FMU_OK_TO_ARM 0x0003 /**< slow blinking */
#define LED_PATTERN_FMU_REFUSE_TO_ARM 0x5555 /**< fast blinking */
#define LED_PATTERN_IO_ARMED 0x5050 /**< long off, then double blink */
#define LED_PATTERN_FMU_ARMED 0x5500 /**< long off, then quad blink */
#define LED_PATTERN_IO_FMU_ARMED 0xffff /**< constantly on */
#if !defined(BOARD_HAS_PWM)
# error "board_config.h needs to define BOARD_HAS_PWM"
#endif
class PX4FMU : public device::CDev
{
public:
enum Mode {
MODE_NONE,
MODE_1PWM,
MODE_2PWM,
MODE_2PWM2CAP,
MODE_3PWM,
MODE_3PWM1CAP,
MODE_4PWM,
MODE_6PWM,
MODE_8PWM,
MODE_4CAP,
MODE_5CAP,
MODE_6CAP,
};
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();
void dsm_bind_ioctl();
int set_mode(Mode mode);
Mode get_mode() { return _mode; }
int set_pwm_alt_rate(unsigned rate);
int set_pwm_alt_channels(uint32_t channels);
static int set_i2c_bus_clock(unsigned bus, unsigned clock_hz);
static void capture_trampoline(void *context, uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state,
uint32_t overflow);
private:
enum RC_SCAN {
RC_SCAN_PPM = 0,
RC_SCAN_SBUS,
RC_SCAN_DSM,
RC_SCAN_SUMD,
RC_SCAN_ST24
};
enum RC_SCAN _rc_scan_state = RC_SCAN_SBUS;
char const *RC_SCAN_STRING[5] = {
"PPM",
"SBUS",
"DSM",
"SUMD",
"ST24"
};
hrt_abstime _rc_scan_begin = 0;
bool _rc_scan_locked = false;
bool _report_lock = true;
hrt_abstime _cycle_timestamp = 0;
hrt_abstime _last_safety_check = 0;
hrt_abstime _time_last_mix = 0;
static const unsigned _max_actuators = DIRECT_PWM_OUTPUT_CHANNELS;
Mode _mode;
unsigned _pwm_default_rate;
unsigned _pwm_alt_rate;
uint32_t _pwm_alt_rate_channels;
unsigned _current_update_rate;
struct work_s _work;
int _vehicle_cmd_sub;
int _armed_sub;
int _param_sub;
int _adc_sub;
struct rc_input_values _rc_in;
float _analog_rc_rssi_volt;
bool _analog_rc_rssi_stable;
orb_advert_t _to_input_rc;
orb_advert_t _outputs_pub;
unsigned _num_outputs;
int _class_instance;
int _rcs_fd;
uint8_t _rcs_buf[SBUS_BUFFER_SIZE];
volatile bool _initialized;
bool _throttle_armed;
bool _pwm_on;
uint32_t _pwm_mask;
bool _pwm_initialized;
MixerGroup *_mixers;
uint32_t _groups_required;
uint32_t _groups_subscribed;
int _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
orb_id_t _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
pollfd _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
unsigned _poll_fds_num;
static pwm_limit_t _pwm_limit;
static actuator_armed_s _armed;
uint16_t _failsafe_pwm[_max_actuators];
uint16_t _disarmed_pwm[_max_actuators];
uint16_t _min_pwm[_max_actuators];
uint16_t _max_pwm[_max_actuators];
uint16_t _reverse_pwm_mask;
unsigned _num_failsafe_set;
unsigned _num_disarmed_set;
bool _safety_off;
bool _safety_disabled;
orb_advert_t _to_safety;
float _mot_t_max; // maximum rise time for motor (slew rate limiting)
static bool arm_nothrottle()
{
return ((_armed.prearmed && !_armed.armed) || _armed.in_esc_calibration_mode);
}
static void cycle_trampoline(void *arg);
void cycle();
void work_start();
void work_stop();
static int control_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input);
void capture_callback(uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
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);
void update_pwm_rev_mask();
void publish_pwm_outputs(uint16_t *values, size_t numvalues);
void update_pwm_out_state(bool on);
void pwm_output_set(unsigned i, unsigned value);
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 peripheral_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);
int capture_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 &);
void fill_rc_in(uint16_t raw_rc_count,
uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS],
hrt_abstime now, bool frame_drop, bool failsafe,
unsigned frame_drops, int rssi);
void dsm_bind_ioctl(int dsmMode);
void set_rc_scan_state(RC_SCAN _rc_scan_state);
void rc_io_invert();
void rc_io_invert(bool invert);
void safety_check_button(void);
void flash_safety_button(void);
};
const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = BOARD_FMU_GPIO_TAB;
const unsigned PX4FMU::_ngpio = arraySize(PX4FMU::_gpio_tab);
pwm_limit_t PX4FMU::_pwm_limit;
actuator_armed_s PX4FMU::_armed = {};
namespace
{
PX4FMU *g_fmu;
} // namespace
PX4FMU::PX4FMU() :
CDev("fmu", PX4FMU_DEVICE_PATH),
_mode(MODE_NONE),
_pwm_default_rate(50),
_pwm_alt_rate(50),
_pwm_alt_rate_channels(0),
_current_update_rate(0),
_work{},
_armed_sub(-1),
_param_sub(-1),
_adc_sub(-1),
_rc_in{},
_analog_rc_rssi_volt(-1.0f),
_analog_rc_rssi_stable(false),
_to_input_rc(nullptr),
_outputs_pub(nullptr),
_num_outputs(0),
_class_instance(0),
_rcs_fd(-1),
_initialized(false),
_throttle_armed(false),
_pwm_on(false),
_pwm_mask(0),
_pwm_initialized(false),
_mixers(nullptr),
_groups_required(0),
_groups_subscribed(0),
_control_subs{ -1},
_poll_fds_num(0),
_failsafe_pwm{0},
_disarmed_pwm{0},
_reverse_pwm_mask(0),
_num_failsafe_set(0),
_num_disarmed_set(0),
_safety_off(false),
_safety_disabled(false),
_to_safety(nullptr),
_mot_t_max(0.0f)
{
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));
// Safely initialize armed flags.
_armed.armed = false;
_armed.prearmed = false;
_armed.ready_to_arm = false;
_armed.lockdown = false;
_armed.force_failsafe = false;
_armed.in_esc_calibration_mode = false;
// rc input, published to ORB
memset(&_rc_in, 0, sizeof(_rc_in));
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
#ifdef GPIO_SBUS_INV
// this board has a GPIO to control SBUS inversion
px4_arch_configgpio(GPIO_SBUS_INV);
#endif
// If there is no safety button, disable it on boot.
#ifndef GPIO_BTN_SAFETY
_safety_off = true;
#endif
/* only enable this during development */
_debug_enabled = false;
}
PX4FMU::~PX4FMU()
{
if (_initialized) {
/* tell the task we want it to go away */
work_stop();
int i = 10;
do {
/* wait 50ms - it should wake every 100ms or so worst-case */
usleep(50000);
i--;
} while (_initialized && i > 0);
}
/* clean up the alternate device node */
unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
g_fmu = nullptr;
}
int
PX4FMU::init()
{
int ret;
ASSERT(!_initialized);
/* do regular cdev init */
ret = CDev::init();
if (ret != OK) {
return ret;
}
// XXX best would be to register / de-register the device depending on modes
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
_class_instance = register_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* lets not be too verbose */
} else if (_class_instance < 0) {
warnx("FAILED registering class device");
}
_safety_disabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY);
work_start();
return OK;
}
void
PX4FMU::safety_check_button(void)
{
#ifdef GPIO_BTN_SAFETY
static int counter = 0;
/*
* Debounce the safety button, change state if it has been held for long enough.
*
*/
bool safety_button_pressed = BUTTON_SAFETY;
/*
* Keep pressed for a while to arm.
*
* Note that the counting sequence has to be same length
* for arming / disarming in order to end up as proper
* state machine, keep ARM_COUNTER_THRESHOLD the same
* length in all cases of the if/else struct below.
*/
if (safety_button_pressed && !_safety_off) {
if (counter < CYCLE_COUNT) {
counter++;
} else if (counter == CYCLE_COUNT) {
/* switch to armed state */
_safety_off = true;
counter++;
}
} else if (safety_button_pressed && _safety_off) {
if (counter < CYCLE_COUNT) {
counter++;
} else if (counter == CYCLE_COUNT) {
/* change to disarmed state and notify the FMU */
_safety_off = false;
counter++;
}
} else {
counter = 0;
}
#endif
}
void
PX4FMU::flash_safety_button()
{
#ifdef GPIO_BTN_SAFETY
/* Select the appropriate LED flash pattern depending on the current arm state */
uint16_t pattern = LED_PATTERN_FMU_REFUSE_TO_ARM;
/* cycle the blink state machine at 10Hz */
static int blink_counter = 0;
if (_safety_off) {
if (_armed.armed) {
pattern = LED_PATTERN_IO_FMU_ARMED;
} else {
pattern = LED_PATTERN_IO_ARMED;
}
} else if (_armed.armed) {
pattern = LED_PATTERN_FMU_ARMED;
} else {
pattern = LED_PATTERN_FMU_OK_TO_ARM;
}
/* Turn the LED on if we have a 1 at the current bit position */
px4_arch_gpiowrite(GPIO_LED_SAFETY, !(pattern & (1 << blink_counter++)));
if (blink_counter > 15) {
blink_counter = 0;
}
#endif
}
int
PX4FMU::set_mode(Mode mode)
{
unsigned old_mask = _pwm_mask;
/*
* 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_1PWM:
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0x1;
_pwm_initialized = false;
break;
case MODE_2PWM2CAP: // v1 multi-port with flow control lines as PWM
up_input_capture_set(2, Rising, 0, NULL, NULL);
up_input_capture_set(3, Rising, 0, NULL, NULL);
DEVICE_DEBUG("MODE_2PWM2CAP");
// no break
case MODE_2PWM: // v1 multi-port with flow control lines as PWM
DEVICE_DEBUG("MODE_2PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0x3;
_pwm_initialized = false;
break;
case MODE_3PWM1CAP: // v1 multi-port with flow control lines as PWM
DEVICE_DEBUG("MODE_3PWM1CAP");
up_input_capture_set(3, Rising, 0, NULL, NULL);
// no break
case MODE_3PWM: // v1 multi-port with flow control lines as PWM
DEVICE_DEBUG("MODE_3PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0x7;
_pwm_initialized = false;
break;
case MODE_4PWM: // v1 or v2 multi-port as 4 PWM outs
DEVICE_DEBUG("MODE_4PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0xf;
_pwm_initialized = false;
break;
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
case MODE_6PWM:
DEVICE_DEBUG("MODE_6PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0x3f;
_pwm_initialized = false;
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case MODE_8PWM: // AeroCore PWMs as 8 PWM outs
DEVICE_DEBUG("MODE_8PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0xff;
_pwm_initialized = false;
break;
#endif
case MODE_NONE:
DEVICE_DEBUG("MODE_NONE");
_pwm_default_rate = 10; /* artificially reduced output rate */
_pwm_alt_rate = 10;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0x0;
_pwm_initialized = false;
if (old_mask != _pwm_mask) {
/* 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)
{
DEVICE_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);
}
int
PX4FMU::set_i2c_bus_clock(unsigned bus, unsigned clock_hz)
{
return device::I2C::set_bus_clock(bus, clock_hz);
}
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 < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (sub_groups & (1 << i)) {
DEVICE_DEBUG("subscribe to actuator_controls_%d", i);
_control_subs[i] = orb_subscribe(_control_topics[i]);
}
if (unsub_groups & (1 << i)) {
DEVICE_DEBUG("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::update_pwm_rev_mask()
{
_reverse_pwm_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_AUX_REV%d", i + 1);
param_t param_h = param_find(pname);
if (param_h != PARAM_INVALID) {
param_get(param_h, &ival);
_reverse_pwm_mask |= ((int16_t)(ival != 0)) << i;
}
}
}
void
PX4FMU::publish_pwm_outputs(uint16_t *values, size_t numvalues)
{
actuator_outputs_s outputs = {};
outputs.noutputs = numvalues;
outputs.timestamp = hrt_absolute_time();
for (size_t i = 0; i < _max_actuators; ++i) {
outputs.output[i] = i < numvalues ? (float)values[i] : 0;
}
if (_outputs_pub == nullptr) {
int instance = -1;
_outputs_pub = orb_advertise_multi(ORB_ID(actuator_outputs), &outputs, &instance, ORB_PRIO_DEFAULT);
} else {
orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &outputs);
}
}
void
PX4FMU::work_start()
{
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&PX4FMU::cycle_trampoline, this, 0);
}
void
PX4FMU::cycle_trampoline(void *arg)
{
PX4FMU *dev = reinterpret_cast<PX4FMU *>(arg);
dev->cycle();
}
void
PX4FMU::capture_trampoline(void *context, uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
{
PX4FMU *dev = reinterpret_cast<PX4FMU *>(context);
dev->capture_callback(chan_index, edge_time, edge_state, overflow);
}
void
PX4FMU::capture_callback(uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
{
fprintf(stdout, "FMU: Capture chan:%d time:%lld state:%d overflow:%d\n", chan_index, edge_time, edge_state, overflow);
}
void
PX4FMU::fill_rc_in(uint16_t raw_rc_count,
uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS],
hrt_abstime now, bool frame_drop, bool failsafe,
unsigned frame_drops, int rssi = -1)
{
// fill rc_in struct for publishing
_rc_in.channel_count = raw_rc_count;
if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
}
unsigned valid_chans = 0;
for (unsigned i = 0; i < _rc_in.channel_count; i++) {
_rc_in.values[i] = raw_rc_values[i];
if (raw_rc_values[i] != UINT16_MAX) {
valid_chans++;
}
}
_rc_in.timestamp = now;
_rc_in.timestamp_last_signal = _rc_in.timestamp;
_rc_in.rc_ppm_frame_length = 0;
/* fake rssi if no value was provided */
if (rssi == -1) {
/* set RSSI if analog RSSI input is present */
if (_analog_rc_rssi_stable) {
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;
}
_rc_in.rssi = rssi_analog;
} else {
_rc_in.rssi = 255;
}
} else {
_rc_in.rssi = rssi;
}
if (valid_chans == 0) {
_rc_in.rssi = 0;
}
_rc_in.rc_failsafe = failsafe;
_rc_in.rc_lost = (valid_chans == 0);
_rc_in.rc_lost_frame_count = frame_drops;
_rc_in.rc_total_frame_count = 0;
}
#ifdef RC_SERIAL_PORT
void PX4FMU::set_rc_scan_state(RC_SCAN newState)
{
// warnx("RCscan: %s failed, trying %s", PX4FMU::RC_SCAN_STRING[_rc_scan_state], PX4FMU::RC_SCAN_STRING[newState]);
_rc_scan_begin = 0;
_rc_scan_state = newState;
}
void PX4FMU::rc_io_invert(bool invert)
{
INVERT_RC_INPUT(invert);
#ifdef GPIO_RC_OUT
if (!invert) {
// set FMU_RC_OUTPUT high to pull RC_INPUT up
px4_arch_gpiowrite(GPIO_RC_OUT, 1);
}
#endif
}
#endif
void
PX4FMU::pwm_output_set(unsigned i, unsigned value)
{
if (_pwm_initialized) {
up_pwm_servo_set(i, value);
}
}
void
PX4FMU::update_pwm_out_state(bool on)
{
if (on && !_pwm_initialized && _pwm_mask != 0) {
up_pwm_servo_init(_pwm_mask);
set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
_pwm_initialized = true;
}
up_pwm_servo_arm(on);
}
void
PX4FMU::cycle()
{
if (!_initialized) {
/* force a reset of the update rate */
_current_update_rate = 0;
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
_param_sub = orb_subscribe(ORB_ID(parameter_update));
_adc_sub = orb_subscribe(ORB_ID(adc_report));
/* initialize PWM limit lib */
pwm_limit_init(&_pwm_limit);
update_pwm_rev_mask();
#ifdef RC_SERIAL_PORT
#ifdef RF_RADIO_POWER_CONTROL
// power radio on
RF_RADIO_POWER_CONTROL(true);
#endif
_vehicle_cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
// dsm_init sets some file static variables and returns a file descriptor
_rcs_fd = dsm_init(RC_SERIAL_PORT);
// assume SBUS input
sbus_config(_rcs_fd, false);
#ifdef GPIO_PPM_IN
// disable CPPM input by mapping it away from the timer capture input
px4_arch_unconfiggpio(GPIO_PPM_IN);
#endif
#endif
param_find("MOT_SLEW_MAX");
_initialized = true;
}
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;
}
DEVICE_DEBUG("adjusted actuator update interval to %ums", update_rate_in_ms);
for (unsigned i = 0; i < actuator_controls_s::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;
}
/* check if anything updated */
int ret = ::poll(_poll_fds, _poll_fds_num, 0);
/* log if main actuator updated and sync */
int main_out_latency = 0;
/* this would be bad... */
if (ret < 0) {
DEVICE_LOG("poll error %d", errno);
} 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 < actuator_controls_s::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]);
/* main outputs */
if (i == 0) {
// main_out_latency = hrt_absolute_time() - _controls[i].timestamp - 250;
// warnx("lat: %llu", hrt_absolute_time() - _controls[i].timestamp);
/* do only correct within the current phase */
if (abs(main_out_latency) > SCHEDULE_INTERVAL) {
main_out_latency = SCHEDULE_INTERVAL;
}
if (main_out_latency < 250) {
main_out_latency = 0;
}
}
}
poll_id++;
}
/* During ESC calibration, we overwrite the throttle value. */
if (i == 0 && _armed.in_esc_calibration_mode) {
/* Set all controls to 0 */
memset(&_controls[i], 0, sizeof(_controls[i]));
/* except thrust to maximum. */
_controls[i].control[3] = 1.0f;
/* Switch off the PWM limit ramp for the calibration. */
_pwm_limit.state = PWM_LIMIT_STATE_ON;
}
}
/* can we mix? */
if (_mixers != nullptr) {
size_t num_outputs;
switch (_mode) {
case MODE_1PWM:
num_outputs = 1;
break;
case MODE_2PWM:
case MODE_2PWM2CAP:
num_outputs = 2;
break;
case MODE_3PWM:
case MODE_3PWM1CAP:
num_outputs = 3;
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;
}
hrt_abstime now = hrt_absolute_time();
float dt = (now - _time_last_mix) / 1e6f;
_time_last_mix = now;
if (dt < 0.0001f) {
dt = 0.0001f;
} else if (dt > 0.02f) {
dt = 0.02f;
}
if (_mot_t_max > FLT_EPSILON) {
// maximum value the ouputs of the multirotor mixer are allowed to change in this cycle
// factor 2 is needed because actuator ouputs are in the range [-1,1]
float delta_out_max = 2.0f * 1000.0f * dt / (_max_pwm[0] - _min_pwm[0]) / _mot_t_max;
_mixers->set_max_delta_out_once(delta_out_max);
}
/* do mixing */
float outputs[_max_actuators];
num_outputs = _mixers->mix(outputs, num_outputs, NULL);
/* disable unused ports by setting their output to NaN */
for (size_t i = 0; i < sizeof(outputs) / sizeof(outputs[0]); i++) {
if (i >= num_outputs) {
outputs[i] = NAN_VALUE;
}
}
uint16_t pwm_limited[_max_actuators];
/* the PWM limit call takes care of out of band errors, NaN and constrains */
pwm_limit_calc(_throttle_armed, arm_nothrottle(), num_outputs, _reverse_pwm_mask,
_disarmed_pwm, _min_pwm, _max_pwm, outputs, pwm_limited, &_pwm_limit);
/* overwrite outputs in case of lockdown with disarmed PWM values */
if (_armed.lockdown) {
for (size_t i = 0; i < num_outputs; i++) {
pwm_limited[i] = _disarmed_pwm[i];
}
}
/* output to the servos */
for (size_t i = 0; i < num_outputs; i++) {
pwm_output_set(i, pwm_limited[i]);
}
publish_pwm_outputs(pwm_limited, num_outputs);
}
}
_cycle_timestamp = hrt_absolute_time();
#ifdef GPIO_BTN_SAFETY
if (_cycle_timestamp - _last_safety_check >= (unsigned int)1e5) {
_last_safety_check = _cycle_timestamp;
/**
* Get and handle the safety status at 10Hz
*/
struct safety_s safety = {};
if (_safety_disabled) {
_safety_off = true;
} else {
/* read safety switch input and control safety switch LED at 10Hz */
safety_check_button();
}
/* Make the safety button flash anyway, no matter if it's used or not. */
flash_safety_button();
safety.timestamp = hrt_absolute_time();
if (_safety_off) {
safety.safety_off = true;
safety.safety_switch_available = true;
} else {
safety.safety_off = false;
safety.safety_switch_available = true;
}
/* lazily publish the safety status */
if (_to_safety != nullptr) {
orb_publish(ORB_ID(safety), _to_safety, &safety);
} else {
_to_safety = orb_advertise(ORB_ID(safety), &safety);
}
}
#endif
/* 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.
* We also need to arm throttle for the ESC calibration. */
_throttle_armed = (_safety_off && _armed.armed && !_armed.lockdown) ||
(_safety_off && _armed.in_esc_calibration_mode);
/* update PWM status if armed or if disarmed PWM values are set */
bool pwm_on = _armed.armed || _num_disarmed_set > 0 || _armed.in_esc_calibration_mode;
if (_pwm_on != pwm_on) {
_pwm_on = pwm_on;
update_pwm_out_state(pwm_on);
}
}
#ifdef RC_SERIAL_PORT
/* vehicle command */
orb_check(_vehicle_cmd_sub, &updated);
if (updated) {
struct vehicle_command_s cmd;
orb_copy(ORB_ID(vehicle_command), _vehicle_cmd_sub, &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);
}
}
#endif
orb_check(_param_sub, &updated);
if (updated) {
parameter_update_s pupdate;
orb_copy(ORB_ID(parameter_update), _param_sub, &pupdate);
update_pwm_rev_mask();
int32_t dsm_bind_val;
param_t param_handle;
/* see if bind parameter has been set, and reset it to -1 */
param_get(param_handle = param_find("RC_DSM_BIND"), &dsm_bind_val);
if (dsm_bind_val > -1) {
dsm_bind_ioctl(dsm_bind_val);
dsm_bind_val = -1;
param_set(param_handle, &dsm_bind_val);
}
// maximum motor slew rate parameter
param_handle = param_find("MOT_SLEW_MAX");
if (param_handle != PARAM_INVALID) {
param_get(param_handle, &_mot_t_max);
}
}
/* update ADC sampling */
#ifdef ADC_RC_RSSI_CHANNEL
orb_check(_adc_sub, &updated);
if (updated) {
struct adc_report_s adc;
orb_copy(ORB_ID(adc_report), _adc_sub, &adc);
const unsigned adc_chans = sizeof(adc.channel_id) / sizeof(adc.channel_id[0]);
for (unsigned i = 0; i < adc_chans; i++) {
if (adc.channel_id[i] == ADC_RC_RSSI_CHANNEL) {
if (_analog_rc_rssi_volt < 0.0f) {
_analog_rc_rssi_volt = adc.channel_value[i];
}
_analog_rc_rssi_volt = _analog_rc_rssi_volt * 0.995f + adc.channel_value[i] * 0.005f;
/* only allow this to be used if we see a high RSSI once */
if (_analog_rc_rssi_volt > 2.5f) {
_analog_rc_rssi_stable = true;
}
}
}
}
#endif
bool rc_updated = false;
#ifdef RC_SERIAL_PORT
// This block scans for a supported serial RC input and locks onto the first one found
// Scan for 100 msec, then switch protocol
constexpr hrt_abstime rc_scan_max = 100 * 1000;
bool sbus_failsafe, sbus_frame_drop;
uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
uint16_t raw_rc_count;
unsigned frame_drops;
bool dsm_11_bit;
if (_report_lock && _rc_scan_locked) {
_report_lock = false;
//warnx("RCscan: %s RC input locked", RC_SCAN_STRING[_rc_scan_state]);
}
// read all available data from the serial RC input UART
int newBytes = ::read(_rcs_fd, &_rcs_buf[0], SBUS_BUFFER_SIZE);
switch (_rc_scan_state) {
case RC_SCAN_SBUS:
if (_rc_scan_begin == 0) {
_rc_scan_begin = _cycle_timestamp;
// Configure serial port for SBUS
sbus_config(_rcs_fd, false);
rc_io_invert(true);
} else if (_rc_scan_locked
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
// parse new data
if (newBytes > 0) {
rc_updated = sbus_parse(_cycle_timestamp, &_rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count, &sbus_failsafe,
&sbus_frame_drop, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
if (rc_updated) {
// we have a new SBUS frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SBUS;
fill_rc_in(raw_rc_count, raw_rc_values, _cycle_timestamp,
sbus_frame_drop, sbus_failsafe, frame_drops);
_rc_scan_locked = true;
}
}
} else {
// Scan the next protocol
set_rc_scan_state(RC_SCAN_DSM);
}
break;
case RC_SCAN_DSM:
if (_rc_scan_begin == 0) {
_rc_scan_begin = _cycle_timestamp;
// // Configure serial port for DSM
dsm_config(_rcs_fd);
rc_io_invert(false);
} else if (_rc_scan_locked
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
if (newBytes > 0) {
// parse new data
rc_updated = dsm_parse(_cycle_timestamp, &_rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count,
&dsm_11_bit, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
if (rc_updated) {
// we have a new DSM frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_DSM;
fill_rc_in(raw_rc_count, raw_rc_values, _cycle_timestamp,
false, false, frame_drops);
_rc_scan_locked = true;
}
}
} else {
// Scan the next protocol
set_rc_scan_state(RC_SCAN_ST24);
}
break;
case RC_SCAN_ST24:
if (_rc_scan_begin == 0) {
_rc_scan_begin = _cycle_timestamp;
// Configure serial port for DSM
dsm_config(_rcs_fd);
rc_io_invert(false);
} else if (_rc_scan_locked
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
if (newBytes > 0) {
// parse new data
uint8_t st24_rssi, lost_count;
rc_updated = false;
for (unsigned i = 0; i < (unsigned)newBytes; i++) {
/* set updated flag if one complete packet was parsed */
st24_rssi = RC_INPUT_RSSI_MAX;
rc_updated = (OK == st24_decode(_rcs_buf[i], &st24_rssi, &lost_count,
&raw_rc_count, raw_rc_values, input_rc_s::RC_INPUT_MAX_CHANNELS));
}
// The st24 will keep outputting RC channels and RSSI even if RC has been lost.
// The only way to detect RC loss is therefore to look at the lost_count.
if (rc_updated && lost_count == 0) {
// we have a new ST24 frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_ST24;
fill_rc_in(raw_rc_count, raw_rc_values, _cycle_timestamp,
false, false, frame_drops, st24_rssi);
_rc_scan_locked = true;
}
}
} else {
// Scan the next protocol
set_rc_scan_state(RC_SCAN_SUMD);
}
break;
case RC_SCAN_SUMD:
if (_rc_scan_begin == 0) {
_rc_scan_begin = _cycle_timestamp;
// Configure serial port for DSM
dsm_config(_rcs_fd);
rc_io_invert(false);
} else if (_rc_scan_locked
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
if (newBytes > 0) {
// parse new data
uint8_t sumd_rssi, rx_count;
rc_updated = false;
for (unsigned i = 0; i < (unsigned)newBytes; i++) {
/* set updated flag if one complete packet was parsed */
sumd_rssi = RC_INPUT_RSSI_MAX;
rc_updated = (OK == sumd_decode(_rcs_buf[i], &sumd_rssi, &rx_count,
&raw_rc_count, raw_rc_values, input_rc_s::RC_INPUT_MAX_CHANNELS));
}
if (rc_updated) {
// we have a new SUMD frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SUMD;
fill_rc_in(raw_rc_count, raw_rc_values, _cycle_timestamp,
false, false, frame_drops, sumd_rssi);
_rc_scan_locked = true;
}
}
} else {
// Scan the next protocol
set_rc_scan_state(RC_SCAN_PPM);
}
break;
case RC_SCAN_PPM:
// skip PPM if it's not supported
#ifdef HRT_PPM_CHANNEL
if (_rc_scan_begin == 0) {
_rc_scan_begin = _cycle_timestamp;
// Configure timer input pin for CPPM
px4_arch_configgpio(GPIO_PPM_IN);
rc_io_invert(false);
} else if (_rc_scan_locked
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
// see if we have new PPM input data
if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal)
&& ppm_decoded_channels > 3) {
// we have a new PPM frame. Publish it.
rc_updated = true;
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
fill_rc_in(ppm_decoded_channels, ppm_buffer, _cycle_timestamp,
false, false, 0);
_rc_scan_locked = true;
_rc_in.rc_ppm_frame_length = ppm_frame_length;
_rc_in.timestamp_last_signal = ppm_last_valid_decode;
}
} else {
// disable CPPM input by mapping it away from the timer capture input
px4_arch_unconfiggpio(GPIO_PPM_IN);
// Scan the next protocol
set_rc_scan_state(RC_SCAN_SBUS);
}
#else // skip PPM if it's not supported
set_rc_scan_state(RC_SCAN_SBUS);
#endif // HRT_PPM_CHANNEL
break;
}
#else // RC_SERIAL_PORT not defined
#ifdef HRT_PPM_CHANNEL
// see if we have new PPM input data
if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal)
&& ppm_decoded_channels > 3) {
// we have a new PPM frame. Publish it.
rc_updated = true;
fill_rc_in(ppm_decoded_channels, ppm_buffer, hrt_absolute_time(),
false, false, 0);
}
#endif // HRT_PPM_CHANNEL
#endif // RC_SERIAL_PORT
if (rc_updated) {
/* lazily advertise on first publication */
if (_to_input_rc == nullptr) {
_to_input_rc = orb_advertise(ORB_ID(input_rc), &_rc_in);
} else {
orb_publish(ORB_ID(input_rc), _to_input_rc, &_rc_in);
}
} else if (!rc_updated && ((hrt_absolute_time() - _rc_in.timestamp_last_signal) > 1000 * 1000)) {
_rc_scan_locked = false;
}
work_queue(HPWORK, &_work, (worker_t)&PX4FMU::cycle_trampoline, this,
USEC2TICK(SCHEDULE_INTERVAL - main_out_latency));
}
void PX4FMU::work_stop()
{
work_cancel(HPWORK, &_work);
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
::close(_control_subs[i]);
_control_subs[i] = -1;
}
}
::close(_armed_sub);
::close(_param_sub);
/* make sure servos are off */
up_pwm_servo_deinit();
DEVICE_LOG("stopping");
/* note - someone else is responsible for restoring the GPIO config */
/* tell the dtor that we are exiting */
_initialized = false;
}
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];
/* limit control input */
if (input > 1.0f) {
input = 1.0f;
} else if (input < -1.0f) {
input = -1.0f;
}
/* motor spinup phase - lock throttle to zero */
if (_pwm_limit.state == PWM_LIMIT_STATE_RAMP) {
if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) {
/* limit the throttle output to zero during motor spinup,
* as the motors cannot follow any demand yet
*/
input = 0.0f;
}
}
/* throttle not arming - mark throttle input as invalid */
if (arm_nothrottle() && !_armed.in_esc_calibration_mode) {
if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) {
/* set the throttle to an invalid value */
input = NAN_VALUE;
}
}
return 0;
}
int
PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
{
int ret;
/* try it as a GPIO ioctl first */
ret = gpio_ioctl(filp, cmd, arg);
if (ret != -ENOTTY) {
return ret;
}
/* try it as a Capture ioctl next */
ret = capture_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_1PWM:
case MODE_2PWM:
case MODE_3PWM:
case MODE_4PWM:
case MODE_2PWM2CAP:
case MODE_3PWM1CAP:
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
case MODE_6PWM:
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case MODE_8PWM:
#endif
ret = pwm_ioctl(filp, cmd, arg);
break;
default:
DEVICE_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:
update_pwm_out_state(true);
break;
case PWM_SERVO_SET_ARM_OK:
case PWM_SERVO_CLEAR_ARM_OK:
break;
case PWM_SERVO_SET_FORCE_SAFETY_OFF:
/* force safety switch off */
_safety_off = true;
break;
case PWM_SERVO_SET_FORCE_SAFETY_ON:
/* force safety switch on */
_safety_off = false;
break;
case PWM_SERVO_DISARM:
/* Ignore disarm if disarmed PWM is set already. */
if (_num_disarmed_set == 0) {
update_pwm_out_state(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;
}
#if PWM_LOWEST_MIN > 0
else if (pwm->values[i] < PWM_LOWEST_MIN) {
_failsafe_pwm[i] = PWM_LOWEST_MIN;
}
#endif
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;
}
#if PWM_LOWEST_MIN > 0
else if (pwm->values[i] < PWM_LOWEST_MIN) {
_disarmed_pwm[i] = PWM_LOWEST_MIN;
}
#endif
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;
}
#if PWM_LOWEST_MIN > 0
else if (pwm->values[i] < PWM_LOWEST_MIN) {
_min_pwm[i] = PWM_LOWEST_MIN;
}
#endif
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;
}
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case PWM_SERVO_SET(7):
case PWM_SERVO_SET(6):
if (_mode < MODE_8PWM) {
ret = -EINVAL;
break;
}
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
case PWM_SERVO_SET(5):
case PWM_SERVO_SET(4):
if (_mode < MODE_6PWM) {
ret = -EINVAL;
break;
}
#endif
/* FALLTHROUGH */
case PWM_SERVO_SET(3):
if (_mode < MODE_4PWM) {
ret = -EINVAL;
break;
}
/* FALLTHROUGH */
case PWM_SERVO_SET(2):
if (_mode < MODE_3PWM) {
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;
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case PWM_SERVO_GET(7):
case PWM_SERVO_GET(6):
if (_mode < MODE_8PWM) {
ret = -EINVAL;
break;
}
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
case PWM_SERVO_GET(5):
case PWM_SERVO_GET(4):
if (_mode < MODE_6PWM) {
ret = -EINVAL;
break;
}
#endif
/* FALLTHROUGH */
case PWM_SERVO_GET(3):
if (_mode < MODE_4PWM) {
ret = -EINVAL;
break;
}
/* FALLTHROUGH */
case PWM_SERVO_GET(2):
if (_mode < MODE_3PWM) {
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):
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
case PWM_SERVO_GET_RATEGROUP(4):
case PWM_SERVO_GET_RATEGROUP(5):
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
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) {
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case MODE_8PWM:
*(unsigned *)arg = 8;
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
case MODE_6PWM:
*(unsigned *)arg = 6;
break;
#endif
case MODE_4PWM:
*(unsigned *)arg = 4;
break;
case MODE_3PWM:
case MODE_3PWM1CAP:
*(unsigned *)arg = 3;
break;
case MODE_2PWM:
case MODE_2PWM2CAP:
*(unsigned *)arg = 2;
break;
case MODE_1PWM:
*(unsigned *)arg = 1;
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 1:
set_mode(MODE_1PWM);
break;
case 2:
set_mode(MODE_2PWM);
break;
case 3:
set_mode(MODE_3PWM);
break;
case 4:
set_mode(MODE_4PWM);
break;
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >=6
case 6:
set_mode(MODE_6PWM);
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >=8
case 8:
set_mode(MODE_8PWM);
break;
#endif
default:
ret = -EINVAL;
break;
}
break;
}
case PWM_SERVO_SET_MODE: {
switch (arg) {
case PWM_SERVO_MODE_NONE:
ret = set_mode(MODE_NONE);
break;
case PWM_SERVO_MODE_1PWM:
ret = set_mode(MODE_1PWM);
break;
case PWM_SERVO_MODE_2PWM:
ret = set_mode(MODE_2PWM);
break;
case PWM_SERVO_MODE_2PWM2CAP:
ret = set_mode(MODE_2PWM2CAP);
break;
case PWM_SERVO_MODE_3PWM:
ret = set_mode(MODE_3PWM);
break;
case PWM_SERVO_MODE_3PWM1CAP:
ret = set_mode(MODE_3PWM1CAP);
break;
case PWM_SERVO_MODE_4PWM:
ret = set_mode(MODE_4PWM);
break;
case PWM_SERVO_MODE_6PWM:
ret = set_mode(MODE_6PWM);
break;
case PWM_SERVO_MODE_8PWM:
ret = set_mode(MODE_8PWM);
break;
case PWM_SERVO_MODE_4CAP:
ret = set_mode(MODE_4CAP);
break;
case PWM_SERVO_MODE_5CAP:
ret = set_mode(MODE_5CAP);
break;
case PWM_SERVO_MODE_6CAP:
ret = set_mode(MODE_6CAP);
break;
default:
ret = -EINVAL;
}
break;
}
#ifdef GPIO_SPEKTRUM_PWR_EN
case DSM_BIND_START:
/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */
PX4_INFO("pwm_ioctl: DSM_BIND_START, arg: %lu", arg);
if (arg == DSM2_BIND_PULSES ||
arg == DSMX_BIND_PULSES ||
arg == DSMX8_BIND_PULSES) {
dsm_bind(DSM_CMD_BIND_POWER_DOWN, 0);
dsm_bind(DSM_CMD_BIND_SET_RX_OUT, 0);
usleep(500000);
dsm_bind(DSM_CMD_BIND_POWER_UP, 0);
usleep(72000);
irqstate_t flags = px4_enter_critical_section();
dsm_bind(DSM_CMD_BIND_SEND_PULSES, arg);
px4_leave_critical_section(flags);
usleep(50000);
dsm_bind(DSM_CMD_BIND_REINIT_UART, 0);
ret = OK;
} else {
ret = -EINVAL;
}
break;
#endif
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) {
DEVICE_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[8];
if (count > BOARD_HAS_PWM) {
// we have at most BOARD_HAS_PWM outputs
count = BOARD_HAS_PWM;
}
// allow for misaligned values
memcpy(values, buffer, count * 2);
for (uint8_t i = 0; i < count; i++) {
if (values[i] != PWM_IGNORE_THIS_CHANNEL) {
up_pwm_servo_set(i, values[i]);
}
}
return count * 2;
}
void
PX4FMU::sensor_reset(int ms)
{
if (ms < 1) {
ms = 1;
}
board_spi_reset(ms);
}
void
PX4FMU::peripheral_reset(int ms)
{
if (ms < 1) {
ms = 10;
}
board_peripheral_reset(ms);
}
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) {
px4_arch_configgpio(_gpio_tab[i].input);
} else if (_gpio_tab[i].output != 0) {
px4_arch_configgpio(_gpio_tab[i].output);
}
}
#if defined(GPIO_GPIO_DIR)
/* if we have a GPIO direction control, set it to zero (input) */
px4_arch_gpiowrite(GPIO_GPIO_DIR, 0);
px4_arch_configgpio(GPIO_GPIO_DIR);
#endif
}
void
PX4FMU::gpio_set_function(uint32_t gpios, int function)
{
#if defined(BOARD_GPIO_SHARED_BUFFERED_BITS) && defined(GPIO_GPIO_DIR)
/*
* 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 & BOARD_GPIO_SHARED_BUFFERED_BITS) {
gpios |= BOARD_GPIO_SHARED_BUFFERED_BITS;
/* flip the buffer to output mode if required */
if (GPIO_SET_OUTPUT == function ||
GPIO_SET_OUTPUT_LOW == function ||
GPIO_SET_OUTPUT_HIGH == function) {
px4_arch_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:
px4_arch_configgpio(_gpio_tab[i].input);
break;
case GPIO_SET_OUTPUT:
px4_arch_configgpio(_gpio_tab[i].output);
break;
case GPIO_SET_OUTPUT_LOW:
px4_arch_configgpio((_gpio_tab[i].output & ~(GPIO_OUTPUT_SET)) | GPIO_OUTPUT_CLEAR);
break;
case GPIO_SET_OUTPUT_HIGH:
px4_arch_configgpio((_gpio_tab[i].output & ~(GPIO_OUTPUT_CLEAR)) | GPIO_OUTPUT_SET);
break;
case GPIO_SET_ALT_1:
if (_gpio_tab[i].alt != 0) {
px4_arch_configgpio(_gpio_tab[i].alt);
}
break;
}
}
}
#if defined(BOARD_GPIO_SHARED_BUFFERED_BITS) && defined(GPIO_GPIO_DIR)
/* flip buffer to input mode if required */
if ((GPIO_SET_INPUT == function) && (gpios & BOARD_GPIO_SHARED_BUFFERED_BITS)) {
px4_arch_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)) {
px4_arch_gpiowrite(_gpio_tab[i].output, value);
}
}
uint32_t
PX4FMU::gpio_read(void)
{
uint32_t bits = 0;
for (unsigned i = 0; i < _ngpio; i++)
if (px4_arch_gpioread(_gpio_tab[i].input)) {
bits |= (1 << i);
}
return bits;
}
int
PX4FMU::capture_ioctl(struct file *filp, int cmd, unsigned long arg)
{
int ret = -EINVAL;
lock();
input_capture_config_t *pconfig = 0;
input_capture_stats_t *stats = (input_capture_stats_t *)arg;
if (_mode == MODE_3PWM1CAP || _mode == MODE_2PWM2CAP) {
pconfig = (input_capture_config_t *)arg;
}
switch (cmd) {
case INPUT_CAP_SET:
if (pconfig) {
ret = up_input_capture_set(pconfig->channel, pconfig->edge, pconfig->filter,
pconfig->callback, pconfig->context);
}
break;
case INPUT_CAP_SET_CALLBACK:
if (pconfig) {
ret = up_input_capture_set_callback(pconfig->channel, pconfig->callback, pconfig->context);
}
break;
case INPUT_CAP_GET_CALLBACK:
if (pconfig) {
ret = up_input_capture_get_callback(pconfig->channel, &pconfig->callback, &pconfig->context);
}
break;
case INPUT_CAP_GET_STATS:
if (arg) {
ret = up_input_capture_get_stats(stats->chan_in_edges_out, stats, false);
}
break;
case INPUT_CAP_GET_CLR_STATS:
if (arg) {
ret = up_input_capture_get_stats(stats->chan_in_edges_out, stats, true);
}
break;
case INPUT_CAP_SET_EDGE:
if (pconfig) {
ret = up_input_capture_set_trigger(pconfig->channel, pconfig->edge);
}
break;
case INPUT_CAP_GET_EDGE:
if (pconfig) {
ret = up_input_capture_get_trigger(pconfig->channel, &pconfig->edge);
}
break;
case INPUT_CAP_SET_FILTER:
if (pconfig) {
ret = up_input_capture_set_filter(pconfig->channel, pconfig->filter);
}
break;
case INPUT_CAP_GET_FILTER:
if (pconfig) {
ret = up_input_capture_get_filter(pconfig->channel, &pconfig->filter);
}
break;
case INPUT_CAP_GET_COUNT:
ret = OK;
switch (_mode) {
case MODE_3PWM1CAP:
*(unsigned *)arg = 1;
break;
case MODE_2PWM2CAP:
*(unsigned *)arg = 2;
break;
default:
ret = -EINVAL;
break;
}
break;
case INPUT_CAP_SET_COUNT:
ret = OK;
switch (_mode) {
case MODE_3PWM1CAP:
set_mode(MODE_3PWM1CAP);
break;
case MODE_2PWM2CAP:
set_mode(MODE_2PWM2CAP);
break;
default:
ret = -EINVAL;
break;
}
break;
default:
ret = -ENOTTY;
break;
}
unlock();
return ret;
}
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_PERIPHERAL_RAIL_RESET:
peripheral_reset(arg);
break;
case GPIO_SET_OUTPUT:
case GPIO_SET_OUTPUT_LOW:
case GPIO_SET_OUTPUT_HIGH:
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;
}
void
PX4FMU::dsm_bind_ioctl(int dsmMode)
{
if (!_armed.armed) {
// mavlink_log_info(&_mavlink_log_pub, "[FMU] binding DSM%s RX", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "-X" : "-X8"));
warnx("[FMU] 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.");
warnx("binding failed.");
}
} else {
// mavlink_log_info(&_mavlink_log_pub, "[FMU] system armed, bind request rejected");
warnx("[FMU] system armed, bind request rejected");
}
}
namespace
{
void
bind_spektrum()
{
int fd;
fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
if (fd < 0) {
errx(1, "open fail");
}
if (true) {
PX4_INFO("bind_Spektrum RX");
/* specify 11ms DSMX. RX will automatically fall back to 22ms or DSM2 if necessary */
if (ioctl(fd, DSM_BIND_START, DSMX8_BIND_PULSES)) {
PX4_ERR("binding failed.");
}
} else {
PX4_WARN("system armed, bind request rejected");
}
close(fd);
}
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,
PORT_PWM4,
PORT_PWM3,
PORT_PWM2,
PORT_PWM1,
PORT_PWM3CAP1,
PORT_PWM2CAP2,
PORT_CAPTURE,
};
PortMode g_port_mode;
int
fmu_new_mode(PortMode new_mode)
{
uint32_t gpio_bits;
PX4FMU::Mode servo_mode;
bool mode_with_input = false;
gpio_bits = 0;
servo_mode = PX4FMU::MODE_NONE;
switch (new_mode) {
case PORT_FULL_GPIO:
case PORT_MODE_UNSET:
break;
case PORT_FULL_PWM:
case PORT_PWM1:
/* select 2-pin PWM mode */
servo_mode = PX4FMU::MODE_1PWM;
break;
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 4
/* select 4-pin PWM mode */
servo_mode = PX4FMU::MODE_4PWM;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 6
servo_mode = PX4FMU::MODE_6PWM;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM == 8
servo_mode = PX4FMU::MODE_8PWM;
#endif
break;
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
case PORT_PWM4:
/* select 4-pin PWM mode */
servo_mode = PX4FMU::MODE_4PWM;
break;
case PORT_PWM3:
/* select 3-pin PWM mode */
servo_mode = PX4FMU::MODE_3PWM;
break;
case PORT_PWM3CAP1:
/* select 3-pin PWM mode 1 capture */
servo_mode = PX4FMU::MODE_3PWM1CAP;
mode_with_input = true;
break;
case PORT_PWM2:
/* select 2-pin PWM mode */
servo_mode = PX4FMU::MODE_2PWM;
break;
case PORT_PWM2CAP2:
/* select 2-pin PWM mode 2 capture */
servo_mode = PX4FMU::MODE_2PWM2CAP;
mode_with_input = true;
break;
#endif
/* mixed modes supported on v1 board only */
#if defined(BOARD_HAS_MULTI_PURPOSE_GPIO)
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;
mode_with_input = true;
break;
case PORT_GPIO_AND_SERIAL:
/* set RX/TX multi-GPIOs to serial mode */
gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
mode_with_input = true;
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;
mode_with_input = true;
break;
case PORT_PWM_AND_GPIO:
/* select 2-pin PWM mode */
servo_mode = PX4FMU::MODE_2PWM;
mode_with_input = true;
break;
#endif
default:
return -1;
}
if (servo_mode != g_fmu->get_mode()) {
/* reset to all-inputs */
if (mode_with_input) {
g_fmu->ioctl(0, GPIO_RESET, 0);
/* 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_new_i2c_speed(unsigned bus, unsigned clock_hz)
{
return PX4FMU::set_i2c_bus_clock(bus, clock_hz);
}
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) {
warnx("sensor rail reset failed");
}
close(fd);
}
void
peripheral_reset(int ms)
{
int fd;
fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
if (fd < 0) {
errx(1, "open fail");
}
if (ioctl(fd, GPIO_PERIPHERAL_RAIL_RESET, ms) < 0) {
warnx("peripheral rail reset failed");
}
close(fd);
}
void
test(void)
{
int fd;
unsigned servo_count = 0;
unsigned capture_count = 0;
unsigned pwm_value = 1000;
int direction = 1;
int ret;
uint32_t rate_limit = 0;
struct input_capture_t {
bool valid;
input_capture_config_t chan;
} capture_conf[INPUT_CAPTURE_MAX_CHANNELS];
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");
}
if (ioctl(fd, INPUT_CAP_GET_COUNT, (unsigned long)&capture_count) != 0) {
fprintf(stdout, "Not in a capture mode\n");
}
warnx("Testing %u servos and %u input captures", (unsigned)servo_count, capture_count);
memset(capture_conf, 0, sizeof(capture_conf));
if (capture_count != 0) {
for (unsigned i = 0; i < capture_count; i++) {
// Map to channel number
capture_conf[i].chan.channel = i + servo_count;
/* Save handler */
if (ioctl(fd, INPUT_CAP_GET_CALLBACK, (unsigned long)&capture_conf[i].chan.channel) != 0) {
err(1, "Unable to get capture callback for chan %u\n", capture_conf[i].chan.channel);
} else {
input_capture_config_t conf = capture_conf[i].chan;
conf.callback = &PX4FMU::capture_trampoline;
conf.context = g_fmu;
if (ioctl(fd, INPUT_CAP_SET_CALLBACK, (unsigned long)&conf) == 0) {
capture_conf[i].valid = true;
} else {
err(1, "Unable to set capture callback for chan %u\n", capture_conf[i].chan.channel);
}
}
}
}
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]);
}
}
if (capture_count != 0 && (++rate_limit % 500 == 0)) {
for (unsigned i = 0; i < capture_count; i++) {
if (capture_conf[i].valid) {
input_capture_stats_t stats;
stats.chan_in_edges_out = capture_conf[i].chan.channel;
if (ioctl(fd, INPUT_CAP_GET_STATS, (unsigned long)&stats) != 0) {
err(1, "Unable to get stats for chan %u\n", capture_conf[i].chan.channel);
} else {
fprintf(stdout, "FMU: Status chan:%u edges: %d last time:%lld last state:%d overflows:%d lantency:%u\n",
capture_conf[i].chan.channel,
stats.chan_in_edges_out,
stats.last_time,
stats.last_edge,
stats.overflows,
stats.latnecy);
}
}
}
}
/* 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;
}
}
}
if (capture_count != 0) {
for (unsigned i = 0; i < capture_count; i++) {
// Map to channel number
if (capture_conf[i].valid) {
/* Save handler */
if (ioctl(fd, INPUT_CAP_SET_CALLBACK, (unsigned long)&capture_conf[i].chan) != 0) {
err(1, "Unable to set capture callback for chan %u\n", capture_conf[i].chan.channel);
}
}
}
}
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 == nullptr) {
errx(1, "advertise failed");
}
actuator_armed_s aa;
aa.armed = true;
aa.lockdown = false;
handle = orb_advertise(ORB_ID(actuator_armed), &aa);
if (handle == nullptr) {
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, "bind")) {
bind_spektrum();
exit(0);
}
/* does not operate on a FMU instance */
if (!strcmp(verb, "i2c")) {
if (argc > 3) {
int bus = strtol(argv[2], 0, 0);
int clock_hz = strtol(argv[3], 0, 0);
int ret = fmu_new_i2c_speed(bus, clock_hz);
if (ret) {
errx(ret, "setting I2C clock failed");
}
exit(0);
} else {
warnx("i2c cmd args: <bus id> <clock Hz>");
}
}
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_rcin")) {
exit(0);
} else if (!strcmp(verb, "mode_pwm")) {
new_mode = PORT_FULL_PWM;
#if defined(BOARD_HAS_PWM)
} else if (!strcmp(verb, "mode_pwm1")) {
new_mode = PORT_PWM1;
#elif defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
} else if (!strcmp(verb, "mode_pwm4")) {
new_mode = PORT_PWM4;
} else if (!strcmp(verb, "mode_pwm2")) {
new_mode = PORT_PWM2;
} else if (!strcmp(verb, "mode_pwm3")) {
new_mode = PORT_PWM3;
} else if (!strcmp(verb, "mode_pwm3cap1")) {
new_mode = PORT_PWM3CAP1;
} else if (!strcmp(verb, "mode_pwm2cap2")) {
new_mode = PORT_PWM2CAP2;
#endif
#if defined(BOARD_HAS_MULTI_PURPOSE_GPIO)
} 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, "info")) {
#ifdef RC_SERIAL_PORT
warnx("frame drops: %u", sbus_dropped_frames());
#endif
return 0;
}
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);
}
if (!strcmp(verb, "peripheral_reset")) {
if (argc > 2) {
int reset_time = strtol(argv[2], 0, 0);
peripheral_reset(reset_time);
} else {
peripheral_reset(0);
warnx("resettet default time");
}
exit(0);
}
fprintf(stderr, "FMU: unrecognized command %s, try:\n", verb);
#if defined(RC_SERIAL_PORT)
fprintf(stderr, " mode_rcin");
#endif
#if defined(BOARD_HAS_MULTI_PURPOSE_GPIO)
fprintf(stderr,
" , mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test, fake, sensor_reset, id\n");
#elif defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
fprintf(stderr, " mode_gpio, mode_pwm, mode_pwm4, test, sensor_reset [milliseconds], i2c <bus> <hz>, bind\n");
#endif
fprintf(stderr, "\n");
exit(1);
}
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