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c906c21238
the vehicle may not have setup a control_mode. We need to check the return of orb_copy() to ensure we are getting initialised values
3398 lines
86 KiB
C++
3398 lines
86 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file px4io.cpp
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* Driver for the PX4IO board.
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*
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* PX4IO is connected via I2C or DMA enabled high-speed UART.
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*/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <assert.h>
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#include <debug.h>
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#include <time.h>
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#include <queue.h>
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#include <errno.h>
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#include <string.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <math.h>
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#include <crc32.h>
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#include <arch/board/board.h>
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#include <drivers/device/device.h>
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#include <drivers/drv_rc_input.h>
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#include <drivers/drv_pwm_output.h>
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#include <drivers/drv_sbus.h>
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#include <drivers/drv_gpio.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_mixer.h>
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#include <systemlib/mixer/mixer.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/err.h>
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#include <systemlib/systemlib.h>
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#include <systemlib/scheduling_priorities.h>
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#include <systemlib/param/param.h>
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#include <systemlib/circuit_breaker.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/safety.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/rc_channels.h>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/servorail_status.h>
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#include <uORB/topics/parameter_update.h>
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#include <debug.h>
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#include <mavlink/mavlink_log.h>
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#include <modules/px4iofirmware/protocol.h>
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#include "uploader.h"
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#include "modules/dataman/dataman.h"
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extern device::Device *PX4IO_i2c_interface() weak_function;
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extern device::Device *PX4IO_serial_interface() weak_function;
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#define PX4IO_SET_DEBUG _IOC(0xff00, 0)
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#define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1)
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#define PX4IO_REBOOT_BOOTLOADER _IOC(0xff00, 2)
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#define PX4IO_CHECK_CRC _IOC(0xff00, 3)
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#define UPDATE_INTERVAL_MIN 2 // 2 ms -> 500 Hz
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#define ORB_CHECK_INTERVAL 200000 // 200 ms -> 5 Hz
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#define IO_POLL_INTERVAL 20000 // 20 ms -> 50 Hz
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/**
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* The PX4IO class.
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*
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* Encapsulates PX4FMU to PX4IO communications modeled as file operations.
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*/
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class PX4IO : public device::CDev
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{
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public:
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/**
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* Constructor.
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*
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* Initialize all class variables.
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*/
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PX4IO(device::Device *interface);
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/**
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* Destructor.
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*
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* Wait for worker thread to terminate.
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*/
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virtual ~PX4IO();
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/**
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* Initialize the PX4IO class.
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*
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* Retrieve relevant initial system parameters. Initialize PX4IO registers.
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*/
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virtual int init();
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/**
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* Initialize the PX4IO class.
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*
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* Retrieve relevant initial system parameters. Initialize PX4IO registers.
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*
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* @param disable_rc_handling set to true to forbid override / RC handling on IO
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*/
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int init(bool disable_rc_handling);
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/**
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* Detect if a PX4IO is connected.
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*
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* Only validate if there is a PX4IO to talk to.
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*/
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virtual int detect();
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/**
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* IO Control handler.
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*
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* Handle all IOCTL calls to the PX4IO file descriptor.
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*
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* @param[in] filp file handle (not used). This function is always called directly through object reference
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* @param[in] cmd the IOCTL command
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* @param[in] the IOCTL command parameter (optional)
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*/
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virtual int ioctl(file *filp, int cmd, unsigned long arg);
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/**
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* write handler.
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*
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* Handle writes to the PX4IO file descriptor.
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*
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* @param[in] filp file handle (not used). This function is always called directly through object reference
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* @param[in] buffer pointer to the data buffer to be written
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* @param[in] len size in bytes to be written
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* @return number of bytes written
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*/
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virtual ssize_t write(file *filp, const char *buffer, size_t len);
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/**
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* Set the update rate for actuator outputs from FMU to IO.
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*
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* @param[in] rate The rate in Hz actuator outpus are sent to IO.
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* Min 10 Hz, max 400 Hz
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*/
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int set_update_rate(int rate);
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/**
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* Set the battery current scaling and bias
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*
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* @param[in] amp_per_volt
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* @param[in] amp_bias
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*/
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void set_battery_current_scaling(float amp_per_volt, float amp_bias);
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/**
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* Push failsafe values to IO.
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*
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* @param[in] vals Failsafe control inputs: in us PPM (900 for zero, 1500 for centered, 2100 for full)
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* @param[in] len Number of channels, could up to 8
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*/
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int set_failsafe_values(const uint16_t *vals, unsigned len);
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/**
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* Disable RC input handling
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*/
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int disable_rc_handling();
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/**
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* Print IO status.
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*
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* Print all relevant IO status information
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*
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* @param extended_status Shows more verbose information (in particular RC config)
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*/
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void print_status(bool extended_status);
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/**
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* Fetch and print debug console output.
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*/
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int print_debug();
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
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/**
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* Set the DSM VCC is controlled by relay one flag
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*
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* @param[in] enable true=DSM satellite VCC is controlled by relay1, false=DSM satellite VCC not controlled
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*/
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inline void set_dsm_vcc_ctl(bool enable) {
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_dsm_vcc_ctl = enable;
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};
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/**
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* Get the DSM VCC is controlled by relay one flag
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*
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* @return true=DSM satellite VCC is controlled by relay1, false=DSM satellite VCC not controlled
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*/
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inline bool get_dsm_vcc_ctl() {
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return _dsm_vcc_ctl;
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};
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#endif
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inline uint16_t system_status() const {return _status;}
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private:
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device::Device *_interface;
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// XXX
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unsigned _hardware; ///< Hardware revision
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unsigned _max_actuators; ///< Maximum # of actuators supported by PX4IO
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unsigned _max_controls; ///< Maximum # of controls supported by PX4IO
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unsigned _max_rc_input; ///< Maximum receiver channels supported by PX4IO
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unsigned _max_relays; ///< Maximum relays supported by PX4IO
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unsigned _max_transfer; ///< Maximum number of I2C transfers supported by PX4IO
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unsigned _update_interval; ///< Subscription interval limiting send rate
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bool _rc_handling_disabled; ///< If set, IO does not evaluate, but only forward the RC values
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unsigned _rc_chan_count; ///< Internal copy of the last seen number of RC channels
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uint64_t _rc_last_valid; ///< last valid timestamp
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volatile int _task; ///< worker task id
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volatile bool _task_should_exit; ///< worker terminate flag
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int _mavlink_fd; ///< mavlink file descriptor.
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perf_counter_t _perf_update; ///<local performance counter for status updates
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perf_counter_t _perf_write; ///<local performance counter for PWM control writes
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perf_counter_t _perf_chan_count; ///<local performance counter for channel number changes
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/* cached IO state */
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uint16_t _status; ///< Various IO status flags
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uint16_t _alarms; ///< Various IO alarms
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/* subscribed topics */
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int _t_actuator_controls_0; ///< actuator controls group 0 topic
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int _t_actuator_controls_1; ///< actuator controls group 1 topic
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int _t_actuator_controls_2; ///< actuator controls group 2 topic
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int _t_actuator_controls_3; ///< actuator controls group 3 topic
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int _t_actuator_armed; ///< system armed control topic
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int _t_vehicle_control_mode;///< vehicle control mode topic
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int _t_param; ///< parameter update topic
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int _t_vehicle_command; ///< vehicle command topic
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/* advertised topics */
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orb_advert_t _to_input_rc; ///< rc inputs from io
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orb_advert_t _to_outputs; ///< mixed servo outputs topic
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orb_advert_t _to_battery; ///< battery status / voltage
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orb_advert_t _to_servorail; ///< servorail status
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orb_advert_t _to_safety; ///< status of safety
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actuator_outputs_s _outputs; ///< mixed outputs
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servorail_status_s _servorail_status; ///< servorail status
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bool _primary_pwm_device; ///< true if we are the default PWM output
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bool _lockdown_override; ///< allow to override the safety lockdown
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float _battery_amp_per_volt; ///< current sensor amps/volt
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float _battery_amp_bias; ///< current sensor bias
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float _battery_mamphour_total;///< amp hours consumed so far
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uint64_t _battery_last_timestamp;///< last amp hour calculation timestamp
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bool _cb_flighttermination; ///< true if the flight termination circuit breaker is enabled
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
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bool _dsm_vcc_ctl; ///< true if relay 1 controls DSM satellite RX power
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#endif
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/**
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* Trampoline to the worker task
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*/
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static void task_main_trampoline(int argc, char *argv[]);
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/**
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* worker task
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*/
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void task_main();
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/**
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* Send controls for one group to IO
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*/
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int io_set_control_state(unsigned group);
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/**
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* Send all controls to IO
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*/
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int io_set_control_groups();
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/**
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* Update IO's arming-related state
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*/
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int io_set_arming_state();
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/**
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* Push RC channel configuration to IO.
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*/
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int io_set_rc_config();
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/**
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* Fetch status and alarms from IO
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*
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* Also publishes battery voltage/current.
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*/
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int io_get_status();
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/**
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* Disable RC input handling
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*/
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int io_disable_rc_handling();
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/**
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* Fetch RC inputs from IO.
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*
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* @param input_rc Input structure to populate.
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* @return OK if data was returned.
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*/
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int io_get_raw_rc_input(rc_input_values &input_rc);
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/**
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* Fetch and publish raw RC input data.
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*/
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int io_publish_raw_rc();
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/**
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* Fetch and publish the PWM servo outputs.
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*/
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int io_publish_pwm_outputs();
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/**
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* write register(s)
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*
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* @param page Register page to write to.
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* @param offset Register offset to start writing at.
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* @param values Pointer to array of values to write.
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* @param num_values The number of values to write.
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* @return OK if all values were successfully written.
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*/
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int io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values);
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/**
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* write a register
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*
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* @param page Register page to write to.
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* @param offset Register offset to write to.
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* @param value Value to write.
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* @return OK if the value was written successfully.
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*/
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int io_reg_set(uint8_t page, uint8_t offset, const uint16_t value);
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/**
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* read register(s)
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*
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* @param page Register page to read from.
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* @param offset Register offset to start reading from.
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* @param values Pointer to array where values should be stored.
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* @param num_values The number of values to read.
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* @return OK if all values were successfully read.
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*/
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int io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values);
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/**
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* read a register
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*
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* @param page Register page to read from.
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* @param offset Register offset to start reading from.
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* @return Register value that was read, or _io_reg_get_error on error.
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*/
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uint32_t io_reg_get(uint8_t page, uint8_t offset);
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static const uint32_t _io_reg_get_error = 0x80000000;
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/**
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* modify a register
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*
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* @param page Register page to modify.
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* @param offset Register offset to modify.
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* @param clearbits Bits to clear in the register.
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* @param setbits Bits to set in the register.
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*/
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int io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits);
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/**
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* Send mixer definition text to IO
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*/
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int mixer_send(const char *buf, unsigned buflen, unsigned retries = 3);
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/**
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* Handle a status update from IO.
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*
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* Publish IO status information if necessary.
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*
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* @param status The status register
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*/
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int io_handle_status(uint16_t status);
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/**
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* Handle an alarm update from IO.
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*
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* Publish IO alarm information if necessary.
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*
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* @param alarm The status register
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*/
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int io_handle_alarms(uint16_t alarms);
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/**
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* Handle issuing dsm bind ioctl to px4io.
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*
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* @param dsmMode 0:dsm2, 1:dsmx
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*/
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void dsm_bind_ioctl(int dsmMode);
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/**
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* Handle a battery update from IO.
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*
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* Publish IO battery information if necessary.
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*
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* @param vbatt vbatt register
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* @param ibatt ibatt register
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*/
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void io_handle_battery(uint16_t vbatt, uint16_t ibatt);
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/**
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* Handle a servorail update from IO.
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*
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* Publish servo rail information if necessary.
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*
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* @param vservo vservo register
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* @param vrssi vrssi register
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*/
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void io_handle_vservo(uint16_t vservo, uint16_t vrssi);
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/* do not allow to copy this class due to ptr data members */
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PX4IO(const PX4IO&);
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PX4IO operator=(const PX4IO&);
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};
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namespace
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{
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PX4IO *g_dev = nullptr;
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}
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PX4IO::PX4IO(device::Device *interface) :
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CDev("px4io", PX4IO_DEVICE_PATH),
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_interface(interface),
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_hardware(0),
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_max_actuators(0),
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_max_controls(0),
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_max_rc_input(0),
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_max_relays(0),
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_max_transfer(16), /* sensible default */
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_update_interval(0),
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_rc_handling_disabled(false),
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_rc_chan_count(0),
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_rc_last_valid(0),
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_task(-1),
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_task_should_exit(false),
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_mavlink_fd(-1),
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_perf_update(perf_alloc(PC_ELAPSED, "io update")),
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_perf_write(perf_alloc(PC_ELAPSED, "io write")),
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_perf_chan_count(perf_alloc(PC_COUNT, "io rc #")),
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_status(0),
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_alarms(0),
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_t_actuator_controls_0(-1),
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_t_actuator_controls_1(-1),
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_t_actuator_controls_2(-1),
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_t_actuator_controls_3(-1),
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_t_actuator_armed(-1),
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_t_vehicle_control_mode(-1),
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_t_param(-1),
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_t_vehicle_command(-1),
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_to_input_rc(0),
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_to_outputs(0),
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_to_battery(0),
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_to_servorail(0),
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_to_safety(0),
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_outputs{},
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_servorail_status{},
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_primary_pwm_device(false),
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_lockdown_override(false),
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_battery_amp_per_volt(90.0f / 5.0f), // this matches the 3DR current sensor
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|
_battery_amp_bias(0),
|
|
_battery_mamphour_total(0),
|
|
_battery_last_timestamp(0),
|
|
_cb_flighttermination(true)
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
|
|
, _dsm_vcc_ctl(false)
|
|
#endif
|
|
|
|
{
|
|
/* we need this potentially before it could be set in task_main */
|
|
g_dev = this;
|
|
|
|
_debug_enabled = false;
|
|
_servorail_status.rssi_v = 0;
|
|
}
|
|
|
|
PX4IO::~PX4IO()
|
|
{
|
|
/* tell the task we want it to go away */
|
|
_task_should_exit = true;
|
|
|
|
/* spin waiting for the task to stop */
|
|
for (unsigned i = 0; (i < 10) && (_task != -1); i++) {
|
|
/* give it another 100ms */
|
|
usleep(100000);
|
|
}
|
|
|
|
/* well, kill it anyway, though this will probably crash */
|
|
if (_task != -1)
|
|
task_delete(_task);
|
|
|
|
if (_interface != nullptr)
|
|
delete _interface;
|
|
|
|
/* deallocate perfs */
|
|
perf_free(_perf_update);
|
|
perf_free(_perf_write);
|
|
perf_free(_perf_chan_count);
|
|
|
|
g_dev = nullptr;
|
|
}
|
|
|
|
int
|
|
PX4IO::detect()
|
|
{
|
|
int ret;
|
|
|
|
if (_task == -1) {
|
|
|
|
/* do regular cdev init */
|
|
ret = CDev::init();
|
|
|
|
if (ret != OK)
|
|
return ret;
|
|
|
|
/* get some parameters */
|
|
unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
|
|
|
|
if (protocol != PX4IO_PROTOCOL_VERSION) {
|
|
if (protocol == _io_reg_get_error) {
|
|
log("IO not installed");
|
|
|
|
} else {
|
|
log("IO version error");
|
|
mavlink_log_emergency(_mavlink_fd, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!");
|
|
}
|
|
|
|
return -1;
|
|
}
|
|
}
|
|
|
|
log("IO found");
|
|
|
|
return 0;
|
|
}
|
|
|
|
int
|
|
PX4IO::init(bool rc_handling_disabled) {
|
|
_rc_handling_disabled = rc_handling_disabled;
|
|
return init();
|
|
}
|
|
|
|
int
|
|
PX4IO::init()
|
|
{
|
|
int ret;
|
|
param_t sys_restart_param;
|
|
int sys_restart_val = DM_INIT_REASON_VOLATILE;
|
|
|
|
ASSERT(_task == -1);
|
|
|
|
sys_restart_param = param_find("SYS_RESTART_TYPE");
|
|
if (sys_restart_param != PARAM_INVALID) {
|
|
/* Indicate restart type is unknown */
|
|
param_set(sys_restart_param, &sys_restart_val);
|
|
}
|
|
|
|
/* do regular cdev init */
|
|
ret = CDev::init();
|
|
|
|
if (ret != OK)
|
|
return ret;
|
|
|
|
/* get some parameters */
|
|
unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
|
|
|
|
if (protocol == _io_reg_get_error) {
|
|
log("failed to communicate with IO");
|
|
mavlink_log_emergency(_mavlink_fd, "[IO] failed to communicate with IO, abort.");
|
|
return -1;
|
|
}
|
|
|
|
if (protocol != PX4IO_PROTOCOL_VERSION) {
|
|
log("protocol/firmware mismatch");
|
|
mavlink_log_emergency(_mavlink_fd, "[IO] protocol/firmware mismatch, abort.");
|
|
return -1;
|
|
}
|
|
|
|
_hardware = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_HARDWARE_VERSION);
|
|
_max_actuators = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT);
|
|
_max_controls = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT);
|
|
_max_relays = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT);
|
|
_max_transfer = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER) - 2;
|
|
_max_rc_input = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT);
|
|
|
|
if ((_max_actuators < 1) || (_max_actuators > 255) ||
|
|
(_max_relays > 32) ||
|
|
(_max_transfer < 16) || (_max_transfer > 255) ||
|
|
(_max_rc_input < 1) || (_max_rc_input > 255)) {
|
|
|
|
log("config read error");
|
|
mavlink_log_emergency(_mavlink_fd, "[IO] config read fail, abort.");
|
|
return -1;
|
|
}
|
|
|
|
if (_max_rc_input > RC_INPUT_MAX_CHANNELS)
|
|
_max_rc_input = RC_INPUT_MAX_CHANNELS;
|
|
|
|
/*
|
|
* Check for IO flight state - if FMU was flagged to be in
|
|
* armed state, FMU is recovering from an in-air reset.
|
|
* Read back status and request the commander to arm
|
|
* in this case.
|
|
*/
|
|
|
|
uint16_t reg;
|
|
|
|
/* get IO's last seen FMU state */
|
|
ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, ®, sizeof(reg));
|
|
|
|
if (ret != OK)
|
|
return ret;
|
|
|
|
/*
|
|
* in-air restart is only tried if the IO board reports it is
|
|
* already armed, and has been configured for in-air restart
|
|
*/
|
|
if ((reg & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) &&
|
|
(reg & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
|
|
|
|
/* get a status update from IO */
|
|
io_get_status();
|
|
|
|
mavlink_log_emergency(_mavlink_fd, "[IO] RECOVERING FROM FMU IN-AIR RESTART");
|
|
log("INAIR RESTART RECOVERY (needs commander app running)");
|
|
|
|
/* WARNING: COMMANDER app/vehicle status must be initialized.
|
|
* If this fails (or the app is not started), worst-case IO
|
|
* remains untouched (so manual override is still available).
|
|
*/
|
|
|
|
int safety_sub = orb_subscribe(ORB_ID(actuator_armed));
|
|
/* fill with initial values, clear updated flag */
|
|
struct actuator_armed_s safety;
|
|
uint64_t try_start_time = hrt_absolute_time();
|
|
bool updated = false;
|
|
|
|
/* keep checking for an update, ensure we got a arming information,
|
|
not something that was published a long time ago. */
|
|
do {
|
|
orb_check(safety_sub, &updated);
|
|
|
|
if (updated) {
|
|
/* got data, copy and exit loop */
|
|
orb_copy(ORB_ID(actuator_armed), safety_sub, &safety);
|
|
break;
|
|
}
|
|
|
|
/* wait 10 ms */
|
|
usleep(10000);
|
|
|
|
/* abort after 5s */
|
|
if ((hrt_absolute_time() - try_start_time) / 1000 > 3000) {
|
|
log("failed to recover from in-air restart (1), aborting IO driver init.");
|
|
return 1;
|
|
}
|
|
|
|
} while (true);
|
|
|
|
/* send command to arm system via command API */
|
|
vehicle_command_s cmd;
|
|
/* send this to itself */
|
|
param_t sys_id_param = param_find("MAV_SYS_ID");
|
|
param_t comp_id_param = param_find("MAV_COMP_ID");
|
|
|
|
int32_t sys_id;
|
|
int32_t comp_id;
|
|
|
|
if (param_get(sys_id_param, &sys_id)) {
|
|
errx(1, "PRM SYSID");
|
|
}
|
|
|
|
if (param_get(comp_id_param, &comp_id)) {
|
|
errx(1, "PRM CMPID");
|
|
}
|
|
|
|
cmd.target_system = sys_id;
|
|
cmd.target_component = comp_id;
|
|
cmd.source_system = sys_id;
|
|
cmd.source_component = comp_id;
|
|
/* request arming */
|
|
cmd.param1 = 1.0f;
|
|
cmd.param2 = 0;
|
|
cmd.param3 = 0;
|
|
cmd.param4 = 0;
|
|
cmd.param5 = 0;
|
|
cmd.param6 = 0;
|
|
cmd.param7 = 0;
|
|
cmd.command = VEHICLE_CMD_COMPONENT_ARM_DISARM;
|
|
|
|
/* ask to confirm command */
|
|
cmd.confirmation = 1;
|
|
|
|
/* send command once */
|
|
orb_advert_t pub = orb_advertise(ORB_ID(vehicle_command), &cmd);
|
|
|
|
/* spin here until IO's state has propagated into the system */
|
|
do {
|
|
orb_check(safety_sub, &updated);
|
|
|
|
if (updated) {
|
|
orb_copy(ORB_ID(actuator_armed), safety_sub, &safety);
|
|
}
|
|
|
|
/* wait 50 ms */
|
|
usleep(50000);
|
|
|
|
/* abort after 5s */
|
|
if ((hrt_absolute_time() - try_start_time) / 1000 > 2000) {
|
|
log("failed to recover from in-air restart (2), aborting IO driver init.");
|
|
return 1;
|
|
}
|
|
|
|
/* re-send if necessary */
|
|
if (!safety.armed) {
|
|
orb_publish(ORB_ID(vehicle_command), pub, &cmd);
|
|
log("re-sending arm cmd");
|
|
}
|
|
|
|
/* keep waiting for state change for 2 s */
|
|
} while (!safety.armed);
|
|
|
|
/* Indicate restart type is in-flight */
|
|
sys_restart_val = DM_INIT_REASON_IN_FLIGHT;
|
|
param_set(sys_restart_param, &sys_restart_val);
|
|
|
|
|
|
/* regular boot, no in-air restart, init IO */
|
|
|
|
} else {
|
|
|
|
/* dis-arm IO before touching anything */
|
|
io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING,
|
|
PX4IO_P_SETUP_ARMING_FMU_ARMED |
|
|
PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK |
|
|
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK |
|
|
PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE, 0);
|
|
|
|
if (_rc_handling_disabled) {
|
|
ret = io_disable_rc_handling();
|
|
|
|
if (ret != OK) {
|
|
log("failed disabling RC handling");
|
|
return ret;
|
|
}
|
|
|
|
} else {
|
|
/* publish RC config to IO */
|
|
ret = io_set_rc_config();
|
|
|
|
if (ret != OK) {
|
|
log("failed to update RC input config");
|
|
mavlink_log_info(_mavlink_fd, "[IO] RC config upload fail");
|
|
return ret;
|
|
}
|
|
}
|
|
|
|
/* Indicate restart type is power on */
|
|
sys_restart_val = DM_INIT_REASON_POWER_ON;
|
|
param_set(sys_restart_param, &sys_restart_val);
|
|
|
|
}
|
|
|
|
/* set safety to off if circuit breaker enabled */
|
|
if (circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY)) {
|
|
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
|
|
}
|
|
|
|
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
|
|
ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
|
|
|
|
if (ret == OK) {
|
|
log("default PWM output device");
|
|
_primary_pwm_device = true;
|
|
}
|
|
|
|
/* start the IO interface task */
|
|
_task = task_spawn_cmd("px4io",
|
|
SCHED_DEFAULT,
|
|
SCHED_PRIORITY_ACTUATOR_OUTPUTS,
|
|
2000,
|
|
(main_t)&PX4IO::task_main_trampoline,
|
|
nullptr);
|
|
|
|
if (_task < 0) {
|
|
debug("task start failed: %d", errno);
|
|
return -errno;
|
|
}
|
|
|
|
mavlink_log_info(_mavlink_fd, "[IO] init ok");
|
|
|
|
return OK;
|
|
}
|
|
|
|
void
|
|
PX4IO::task_main_trampoline(int argc, char *argv[])
|
|
{
|
|
g_dev->task_main();
|
|
}
|
|
|
|
void
|
|
PX4IO::task_main()
|
|
{
|
|
hrt_abstime poll_last = 0;
|
|
hrt_abstime orb_check_last = 0;
|
|
|
|
_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
|
|
|
|
/*
|
|
* Subscribe to the appropriate PWM output topic based on whether we are the
|
|
* primary PWM output or not.
|
|
*/
|
|
_t_actuator_controls_0 = orb_subscribe(ORB_ID(actuator_controls_0));
|
|
orb_set_interval(_t_actuator_controls_0, 20); /* default to 50Hz */
|
|
_t_actuator_controls_1 = orb_subscribe(ORB_ID(actuator_controls_1));
|
|
orb_set_interval(_t_actuator_controls_1, 33); /* default to 30Hz */
|
|
_t_actuator_controls_2 = orb_subscribe(ORB_ID(actuator_controls_2));
|
|
orb_set_interval(_t_actuator_controls_2, 33); /* default to 30Hz */
|
|
_t_actuator_controls_3 = orb_subscribe(ORB_ID(actuator_controls_3));
|
|
orb_set_interval(_t_actuator_controls_3, 33); /* default to 30Hz */
|
|
_t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed));
|
|
_t_vehicle_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode));
|
|
_t_param = orb_subscribe(ORB_ID(parameter_update));
|
|
_t_vehicle_command = orb_subscribe(ORB_ID(vehicle_command));
|
|
|
|
if ((_t_actuator_controls_0 < 0) ||
|
|
(_t_actuator_armed < 0) ||
|
|
(_t_vehicle_control_mode < 0) ||
|
|
(_t_param < 0) ||
|
|
(_t_vehicle_command < 0)) {
|
|
log("subscription(s) failed");
|
|
goto out;
|
|
}
|
|
|
|
/* poll descriptor */
|
|
pollfd fds[1];
|
|
fds[0].fd = _t_actuator_controls_0;
|
|
fds[0].events = POLLIN;
|
|
|
|
/* lock against the ioctl handler */
|
|
lock();
|
|
|
|
/* loop talking to IO */
|
|
while (!_task_should_exit) {
|
|
|
|
/* adjust update interval */
|
|
if (_update_interval != 0) {
|
|
if (_update_interval < UPDATE_INTERVAL_MIN)
|
|
_update_interval = UPDATE_INTERVAL_MIN;
|
|
|
|
if (_update_interval > 100)
|
|
_update_interval = 100;
|
|
|
|
orb_set_interval(_t_actuator_controls_0, _update_interval);
|
|
/*
|
|
* NOT changing the rate of groups 1-3 here, because only attitude
|
|
* really needs to run fast.
|
|
*/
|
|
_update_interval = 0;
|
|
}
|
|
|
|
/* sleep waiting for topic updates, but no more than 20ms */
|
|
unlock();
|
|
int ret = ::poll(fds, 1, 20);
|
|
lock();
|
|
|
|
/* this would be bad... */
|
|
if (ret < 0) {
|
|
log("poll error %d", errno);
|
|
continue;
|
|
}
|
|
|
|
perf_begin(_perf_update);
|
|
hrt_abstime now = hrt_absolute_time();
|
|
|
|
/* if we have new control data from the ORB, handle it */
|
|
if (fds[0].revents & POLLIN) {
|
|
|
|
/* we're not nice to the lower-priority control groups and only check them
|
|
when the primary group updated (which is now). */
|
|
(void)io_set_control_groups();
|
|
}
|
|
|
|
if (now >= poll_last + IO_POLL_INTERVAL) {
|
|
/* run at 50Hz */
|
|
poll_last = now;
|
|
|
|
/* pull status and alarms from IO */
|
|
io_get_status();
|
|
|
|
/* get raw R/C input from IO */
|
|
io_publish_raw_rc();
|
|
|
|
/* fetch PWM outputs from IO */
|
|
io_publish_pwm_outputs();
|
|
}
|
|
|
|
if (now >= orb_check_last + ORB_CHECK_INTERVAL) {
|
|
/* run at 5Hz */
|
|
orb_check_last = now;
|
|
|
|
/* try to claim the MAVLink log FD */
|
|
if (_mavlink_fd < 0)
|
|
_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
|
|
|
|
/* check updates on uORB topics and handle it */
|
|
bool updated = false;
|
|
|
|
/* arming state */
|
|
orb_check(_t_actuator_armed, &updated);
|
|
|
|
if (!updated) {
|
|
orb_check(_t_vehicle_control_mode, &updated);
|
|
}
|
|
|
|
if (updated) {
|
|
io_set_arming_state();
|
|
}
|
|
|
|
/* vehicle command */
|
|
orb_check(_t_vehicle_command, &updated);
|
|
|
|
if (updated) {
|
|
struct vehicle_command_s cmd;
|
|
orb_copy(ORB_ID(vehicle_command), _t_vehicle_command, &cmd);
|
|
|
|
// Check for a DSM pairing command
|
|
if (((int)cmd.command == VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) {
|
|
dsm_bind_ioctl((int)cmd.param2);
|
|
}
|
|
}
|
|
|
|
/*
|
|
* If parameters have changed, re-send RC mappings to IO
|
|
*
|
|
* XXX this may be a bit spammy
|
|
*/
|
|
orb_check(_t_param, &updated);
|
|
|
|
if (updated) {
|
|
parameter_update_s pupdate;
|
|
orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
|
|
|
|
int32_t dsm_bind_val;
|
|
param_t dsm_bind_param;
|
|
|
|
/* see if bind parameter has been set, and reset it to -1 */
|
|
param_get(dsm_bind_param = 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(dsm_bind_param, &dsm_bind_val);
|
|
}
|
|
|
|
/* re-upload RC input config as it may have changed */
|
|
io_set_rc_config();
|
|
|
|
/* re-set the battery scaling */
|
|
int32_t voltage_scaling_val;
|
|
param_t voltage_scaling_param;
|
|
|
|
/* set battery voltage scaling */
|
|
param_get(voltage_scaling_param = param_find("BAT_V_SCALE_IO"), &voltage_scaling_val);
|
|
|
|
/* send scaling voltage to IO */
|
|
uint16_t scaling = voltage_scaling_val;
|
|
int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE, &scaling, 1);
|
|
|
|
if (pret != OK) {
|
|
log("vscale upload failed");
|
|
}
|
|
|
|
/* send RC throttle failsafe value to IO */
|
|
int32_t failsafe_param_val;
|
|
param_t failsafe_param = param_find("RC_FAILS_THR");
|
|
|
|
if (failsafe_param != PARAM_INVALID) {
|
|
|
|
param_get(failsafe_param, &failsafe_param_val);
|
|
|
|
if (failsafe_param_val > 0) {
|
|
|
|
uint16_t failsafe_thr = failsafe_param_val;
|
|
pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1);
|
|
if (pret != OK) {
|
|
log("failsafe upload failed, FS: %d us", (int)failsafe_thr);
|
|
}
|
|
}
|
|
}
|
|
|
|
int32_t safety_param_val;
|
|
param_t safety_param = param_find("RC_FAILS_THR");
|
|
|
|
if (safety_param != PARAM_INVALID) {
|
|
|
|
param_get(safety_param, &safety_param_val);
|
|
|
|
if (safety_param_val == PX4IO_FORCE_SAFETY_MAGIC) {
|
|
/* disable IO safety if circuit breaker asked for it */
|
|
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, safety_param_val);
|
|
}
|
|
}
|
|
|
|
/* Update Circuit breakers */
|
|
_cb_flighttermination = circuit_breaker_enabled("CBRK_FLIGHTTERM", CBRK_FLIGHTTERM_KEY);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
perf_end(_perf_update);
|
|
}
|
|
|
|
unlock();
|
|
|
|
out:
|
|
debug("exiting");
|
|
|
|
/* clean up the alternate device node */
|
|
if (_primary_pwm_device)
|
|
unregister_driver(PWM_OUTPUT_DEVICE_PATH);
|
|
|
|
/* tell the dtor that we are exiting */
|
|
_task = -1;
|
|
_exit(0);
|
|
}
|
|
|
|
int
|
|
PX4IO::io_set_control_groups()
|
|
{
|
|
int ret = io_set_control_state(0);
|
|
|
|
/* send auxiliary control groups */
|
|
(void)io_set_control_state(1);
|
|
(void)io_set_control_state(2);
|
|
(void)io_set_control_state(3);
|
|
|
|
return ret;
|
|
}
|
|
|
|
int
|
|
PX4IO::io_set_control_state(unsigned group)
|
|
{
|
|
actuator_controls_s controls; ///< actuator outputs
|
|
uint16_t regs[_max_actuators];
|
|
|
|
/* get controls */
|
|
bool changed;
|
|
|
|
switch (group) {
|
|
case 0:
|
|
{
|
|
orb_check(_t_actuator_controls_0, &changed);
|
|
|
|
if (changed) {
|
|
orb_copy(ORB_ID(actuator_controls_0), _t_actuator_controls_0, &controls);
|
|
}
|
|
}
|
|
break;
|
|
case 1:
|
|
{
|
|
orb_check(_t_actuator_controls_1, &changed);
|
|
|
|
if (changed) {
|
|
orb_copy(ORB_ID(actuator_controls_1), _t_actuator_controls_1, &controls);
|
|
}
|
|
}
|
|
break;
|
|
case 2:
|
|
{
|
|
orb_check(_t_actuator_controls_2, &changed);
|
|
|
|
if (changed) {
|
|
orb_copy(ORB_ID(actuator_controls_2), _t_actuator_controls_2, &controls);
|
|
}
|
|
}
|
|
break;
|
|
case 3:
|
|
{
|
|
orb_check(_t_actuator_controls_3, &changed);
|
|
|
|
if (changed) {
|
|
orb_copy(ORB_ID(actuator_controls_3), _t_actuator_controls_3, &controls);
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
|
|
if (!changed)
|
|
return -1;
|
|
|
|
for (unsigned i = 0; i < _max_controls; i++)
|
|
regs[i] = FLOAT_TO_REG(controls.control[i]);
|
|
|
|
/* copy values to registers in IO */
|
|
return io_reg_set(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT, regs, _max_controls);
|
|
}
|
|
|
|
|
|
int
|
|
PX4IO::io_set_arming_state()
|
|
{
|
|
actuator_armed_s armed; ///< system armed state
|
|
vehicle_control_mode_s control_mode; ///< vehicle_control_mode
|
|
|
|
int have_armed = orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed);
|
|
int have_control_mode = orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode);
|
|
|
|
uint16_t set = 0;
|
|
uint16_t clear = 0;
|
|
|
|
if (have_armed == OK) {
|
|
if (armed.armed) {
|
|
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
|
|
} else {
|
|
clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
|
|
}
|
|
|
|
if (armed.lockdown && !_lockdown_override) {
|
|
set |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
|
|
} else {
|
|
clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
|
|
}
|
|
|
|
/* Do not set failsafe if circuit breaker is enabled */
|
|
if (armed.force_failsafe && !_cb_flighttermination) {
|
|
set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
|
|
} else {
|
|
clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
|
|
}
|
|
|
|
// XXX this is for future support in the commander
|
|
// but can be removed if unneeded
|
|
// if (armed.termination_failsafe) {
|
|
// set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
|
|
// } else {
|
|
// clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
|
|
// }
|
|
|
|
if (armed.ready_to_arm) {
|
|
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
|
|
|
|
} else {
|
|
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
|
|
}
|
|
}
|
|
|
|
if (have_control_mode == OK) {
|
|
if (control_mode.flag_external_manual_override_ok) {
|
|
set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
|
|
} else {
|
|
clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
|
|
}
|
|
}
|
|
|
|
return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
|
|
}
|
|
|
|
int
|
|
PX4IO::disable_rc_handling()
|
|
{
|
|
_rc_handling_disabled = true;
|
|
return io_disable_rc_handling();
|
|
}
|
|
|
|
int
|
|
PX4IO::io_disable_rc_handling()
|
|
{
|
|
uint16_t set = PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED;
|
|
uint16_t clear = 0;
|
|
|
|
return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
|
|
}
|
|
|
|
int
|
|
PX4IO::io_set_rc_config()
|
|
{
|
|
unsigned offset = 0;
|
|
int input_map[_max_rc_input];
|
|
int32_t ichan;
|
|
int ret = OK;
|
|
|
|
/*
|
|
* Generate the input channel -> control channel mapping table;
|
|
* assign RC_MAP_ROLL/PITCH/YAW/THROTTLE to the canonical
|
|
* controls.
|
|
*/
|
|
|
|
/* fill the mapping with an error condition triggering value */
|
|
for (unsigned i = 0; i < _max_rc_input; i++)
|
|
input_map[i] = UINT8_MAX;
|
|
|
|
/*
|
|
* NOTE: The indices for mapped channels are 1-based
|
|
* for compatibility reasons with existing
|
|
* autopilots / GCS'.
|
|
*/
|
|
|
|
/* ROLL */
|
|
param_get(param_find("RC_MAP_ROLL"), &ichan);
|
|
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
|
|
input_map[ichan - 1] = 0;
|
|
}
|
|
|
|
/* PITCH */
|
|
param_get(param_find("RC_MAP_PITCH"), &ichan);
|
|
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
|
|
input_map[ichan - 1] = 1;
|
|
}
|
|
|
|
/* YAW */
|
|
param_get(param_find("RC_MAP_YAW"), &ichan);
|
|
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
|
|
input_map[ichan - 1] = 2;
|
|
}
|
|
|
|
/* THROTTLE */
|
|
param_get(param_find("RC_MAP_THROTTLE"), &ichan);
|
|
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
|
|
input_map[ichan - 1] = 3;
|
|
}
|
|
|
|
/* FLAPS */
|
|
param_get(param_find("RC_MAP_FLAPS"), &ichan);
|
|
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
|
|
input_map[ichan - 1] = 4;
|
|
}
|
|
|
|
/* MAIN MODE SWITCH */
|
|
param_get(param_find("RC_MAP_MODE_SW"), &ichan);
|
|
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
|
|
/* use out of normal bounds index to indicate special channel */
|
|
input_map[ichan - 1] = PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH;
|
|
}
|
|
|
|
/*
|
|
* Iterate all possible RC inputs.
|
|
*/
|
|
for (unsigned i = 0; i < _max_rc_input; i++) {
|
|
uint16_t regs[PX4IO_P_RC_CONFIG_STRIDE];
|
|
char pname[16];
|
|
float fval;
|
|
|
|
/*
|
|
* RC params are floats, but do only
|
|
* contain integer values. Do not scale
|
|
* or cast them, let the auto-typeconversion
|
|
* do its job here.
|
|
* Channels: 500 - 2500
|
|
* Inverted flag: -1 (inverted) or 1 (normal)
|
|
*/
|
|
|
|
sprintf(pname, "RC%d_MIN", i + 1);
|
|
param_get(param_find(pname), &fval);
|
|
regs[PX4IO_P_RC_CONFIG_MIN] = fval;
|
|
|
|
sprintf(pname, "RC%d_TRIM", i + 1);
|
|
param_get(param_find(pname), &fval);
|
|
regs[PX4IO_P_RC_CONFIG_CENTER] = fval;
|
|
|
|
sprintf(pname, "RC%d_MAX", i + 1);
|
|
param_get(param_find(pname), &fval);
|
|
regs[PX4IO_P_RC_CONFIG_MAX] = fval;
|
|
|
|
sprintf(pname, "RC%d_DZ", i + 1);
|
|
param_get(param_find(pname), &fval);
|
|
regs[PX4IO_P_RC_CONFIG_DEADZONE] = fval;
|
|
|
|
regs[PX4IO_P_RC_CONFIG_ASSIGNMENT] = input_map[i];
|
|
|
|
regs[PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
|
|
sprintf(pname, "RC%d_REV", i + 1);
|
|
param_get(param_find(pname), &fval);
|
|
|
|
/*
|
|
* This has been taken for the sake of compatibility
|
|
* with APM's setup / mission planner: normal: 1,
|
|
* inverted: -1
|
|
*/
|
|
if (fval < 0) {
|
|
regs[PX4IO_P_RC_CONFIG_OPTIONS] |= PX4IO_P_RC_CONFIG_OPTIONS_REVERSE;
|
|
}
|
|
|
|
/* send channel config to IO */
|
|
ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE);
|
|
|
|
if (ret != OK) {
|
|
log("rc config upload failed");
|
|
break;
|
|
}
|
|
|
|
/* check the IO initialisation flag */
|
|
if (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_INIT_OK)) {
|
|
log("config for RC%d rejected by IO", i + 1);
|
|
break;
|
|
}
|
|
|
|
offset += PX4IO_P_RC_CONFIG_STRIDE;
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
int
|
|
PX4IO::io_handle_status(uint16_t status)
|
|
{
|
|
int ret = 1;
|
|
/**
|
|
* WARNING: This section handles in-air resets.
|
|
*/
|
|
|
|
/* check for IO reset - force it back to armed if necessary */
|
|
if (_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF && !(status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
|
|
&& !(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
|
|
/* set the arming flag */
|
|
ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_SAFETY_OFF | PX4IO_P_STATUS_FLAGS_ARM_SYNC);
|
|
|
|
/* set new status */
|
|
_status = status;
|
|
_status &= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
|
|
|
|
} else if (!(_status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
|
|
|
|
/* set the sync flag */
|
|
ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARM_SYNC);
|
|
/* set new status */
|
|
_status = status;
|
|
|
|
} else {
|
|
ret = 0;
|
|
|
|
/* set new status */
|
|
_status = status;
|
|
}
|
|
|
|
/**
|
|
* Get and handle the safety status
|
|
*/
|
|
struct safety_s safety;
|
|
safety.timestamp = hrt_absolute_time();
|
|
|
|
if (status & PX4IO_P_STATUS_FLAGS_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 > 0) {
|
|
orb_publish(ORB_ID(safety), _to_safety, &safety);
|
|
|
|
} else {
|
|
_to_safety = orb_advertise(ORB_ID(safety), &safety);
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
void
|
|
PX4IO::dsm_bind_ioctl(int dsmMode)
|
|
{
|
|
if (!(_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) {
|
|
mavlink_log_info(_mavlink_fd, "[IO] binding DSM%s RX", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "-X" : "-X8"));
|
|
int ret = ioctl(nullptr, DSM_BIND_START, (dsmMode == 0) ? DSM2_BIND_PULSES : ((dsmMode == 1) ? DSMX_BIND_PULSES : DSMX8_BIND_PULSES));
|
|
|
|
if (ret)
|
|
mavlink_log_critical(_mavlink_fd, "binding failed.");
|
|
|
|
} else {
|
|
mavlink_log_info(_mavlink_fd, "[IO] system armed, bind request rejected");
|
|
}
|
|
}
|
|
|
|
|
|
int
|
|
PX4IO::io_handle_alarms(uint16_t alarms)
|
|
{
|
|
|
|
/* XXX handle alarms */
|
|
|
|
|
|
/* set new alarms state */
|
|
_alarms = alarms;
|
|
|
|
return 0;
|
|
}
|
|
|
|
void
|
|
PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt)
|
|
{
|
|
/* only publish if battery has a valid minimum voltage */
|
|
if (vbatt <= 4900) {
|
|
return;
|
|
}
|
|
|
|
battery_status_s battery_status;
|
|
battery_status.timestamp = hrt_absolute_time();
|
|
|
|
/* voltage is scaled to mV */
|
|
battery_status.voltage_v = vbatt / 1000.0f;
|
|
battery_status.voltage_filtered_v = vbatt / 1000.0f;
|
|
|
|
/*
|
|
ibatt contains the raw ADC count, as 12 bit ADC
|
|
value, with full range being 3.3v
|
|
*/
|
|
battery_status.current_a = ibatt * (3.3f / 4096.0f) * _battery_amp_per_volt;
|
|
battery_status.current_a += _battery_amp_bias;
|
|
|
|
/*
|
|
integrate battery over time to get total mAh used
|
|
*/
|
|
if (_battery_last_timestamp != 0) {
|
|
_battery_mamphour_total += battery_status.current_a *
|
|
(battery_status.timestamp - _battery_last_timestamp) * 1.0e-3f / 3600;
|
|
}
|
|
|
|
battery_status.discharged_mah = _battery_mamphour_total;
|
|
_battery_last_timestamp = battery_status.timestamp;
|
|
|
|
/* the announced battery status would conflict with the simulated battery status in HIL */
|
|
if (!(_pub_blocked)) {
|
|
/* lazily publish the battery voltage */
|
|
if (_to_battery > 0) {
|
|
orb_publish(ORB_ID(battery_status), _to_battery, &battery_status);
|
|
|
|
} else {
|
|
_to_battery = orb_advertise(ORB_ID(battery_status), &battery_status);
|
|
}
|
|
}
|
|
}
|
|
|
|
void
|
|
PX4IO::io_handle_vservo(uint16_t vservo, uint16_t vrssi)
|
|
{
|
|
_servorail_status.timestamp = hrt_absolute_time();
|
|
|
|
/* voltage is scaled to mV */
|
|
_servorail_status.voltage_v = vservo * 0.001f;
|
|
_servorail_status.rssi_v = vrssi * 0.001f;
|
|
|
|
/* lazily publish the servorail voltages */
|
|
if (_to_servorail > 0) {
|
|
orb_publish(ORB_ID(servorail_status), _to_servorail, &_servorail_status);
|
|
|
|
} else {
|
|
_to_servorail = orb_advertise(ORB_ID(servorail_status), &_servorail_status);
|
|
}
|
|
}
|
|
|
|
int
|
|
PX4IO::io_get_status()
|
|
{
|
|
uint16_t regs[6];
|
|
int ret;
|
|
|
|
/* get
|
|
* STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT,
|
|
* STATUS_VSERVO, STATUS_VRSSI, STATUS_PRSSI
|
|
* in that order */
|
|
ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, ®s[0], sizeof(regs) / sizeof(regs[0]));
|
|
|
|
if (ret != OK)
|
|
return ret;
|
|
|
|
io_handle_status(regs[0]);
|
|
io_handle_alarms(regs[1]);
|
|
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
|
|
io_handle_battery(regs[2], regs[3]);
|
|
#endif
|
|
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
|
|
io_handle_vservo(regs[4], regs[5]);
|
|
#endif
|
|
|
|
return ret;
|
|
}
|
|
|
|
int
|
|
PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
|
|
{
|
|
uint32_t channel_count;
|
|
int ret;
|
|
|
|
/* we don't have the status bits, so input_source has to be set elsewhere */
|
|
input_rc.input_source = RC_INPUT_SOURCE_UNKNOWN;
|
|
|
|
const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT);
|
|
uint16_t regs[RC_INPUT_MAX_CHANNELS + prolog];
|
|
|
|
/*
|
|
* Read the channel count and the first 9 channels.
|
|
*
|
|
* This should be the common case (9 channel R/C control being a reasonable upper bound).
|
|
*/
|
|
ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT, ®s[0], prolog + 9);
|
|
|
|
if (ret != OK)
|
|
return ret;
|
|
|
|
/*
|
|
* Get the channel count any any extra channels. This is no more expensive than reading the
|
|
* channel count once.
|
|
*/
|
|
channel_count = regs[PX4IO_P_RAW_RC_COUNT];
|
|
|
|
/* limit the channel count */
|
|
if (channel_count > RC_INPUT_MAX_CHANNELS) {
|
|
channel_count = RC_INPUT_MAX_CHANNELS;
|
|
}
|
|
|
|
/* count channel count changes to identify signal integrity issues */
|
|
if (channel_count != _rc_chan_count) {
|
|
perf_count(_perf_chan_count);
|
|
}
|
|
|
|
_rc_chan_count = channel_count;
|
|
|
|
input_rc.timestamp_publication = hrt_absolute_time();
|
|
|
|
input_rc.rc_ppm_frame_length = regs[PX4IO_P_RAW_RC_DATA];
|
|
input_rc.rssi = regs[PX4IO_P_RAW_RC_NRSSI];
|
|
input_rc.rc_failsafe = (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
|
|
input_rc.rc_lost = !(regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_RC_OK);
|
|
input_rc.rc_lost_frame_count = regs[PX4IO_P_RAW_LOST_FRAME_COUNT];
|
|
input_rc.rc_total_frame_count = regs[PX4IO_P_RAW_FRAME_COUNT];
|
|
input_rc.channel_count = channel_count;
|
|
|
|
/* rc_lost has to be set before the call to this function */
|
|
if (!input_rc.rc_lost && !input_rc.rc_failsafe) {
|
|
_rc_last_valid = input_rc.timestamp_publication;
|
|
}
|
|
|
|
input_rc.timestamp_last_signal = _rc_last_valid;
|
|
|
|
/* FIELDS NOT SET HERE */
|
|
/* input_rc.input_source is set after this call XXX we might want to mirror the flags in the RC struct */
|
|
|
|
if (channel_count > 9) {
|
|
ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, ®s[prolog + 9], channel_count - 9);
|
|
|
|
if (ret != OK)
|
|
return ret;
|
|
}
|
|
|
|
/* last thing set are the actual channel values as 16 bit values */
|
|
for (unsigned i = 0; i < channel_count; i++) {
|
|
input_rc.values[i] = regs[prolog + i];
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
int
|
|
PX4IO::io_publish_raw_rc()
|
|
{
|
|
|
|
/* fetch values from IO */
|
|
rc_input_values rc_val;
|
|
|
|
/* set the RC status flag ORDER MATTERS! */
|
|
rc_val.rc_lost = !(_status & PX4IO_P_STATUS_FLAGS_RC_OK);
|
|
|
|
int ret = io_get_raw_rc_input(rc_val);
|
|
|
|
if (ret != OK)
|
|
return ret;
|
|
|
|
/* sort out the source of the values */
|
|
if (_status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
|
|
rc_val.input_source = RC_INPUT_SOURCE_PX4IO_PPM;
|
|
|
|
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
|
|
rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
|
|
|
|
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
|
|
rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SBUS;
|
|
|
|
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_ST24) {
|
|
rc_val.input_source = RC_INPUT_SOURCE_PX4IO_ST24;
|
|
|
|
} else {
|
|
rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN;
|
|
|
|
/* only keep publishing RC input if we ever got a valid input */
|
|
if (_rc_last_valid == 0) {
|
|
/* we have never seen valid RC signals, abort */
|
|
return OK;
|
|
}
|
|
}
|
|
|
|
/* lazily advertise on first publication */
|
|
if (_to_input_rc == 0) {
|
|
_to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_val);
|
|
|
|
} else {
|
|
orb_publish(ORB_ID(input_rc), _to_input_rc, &rc_val);
|
|
}
|
|
|
|
return OK;
|
|
}
|
|
|
|
int
|
|
PX4IO::io_publish_pwm_outputs()
|
|
{
|
|
/* data we are going to fetch */
|
|
actuator_outputs_s outputs;
|
|
outputs.timestamp = hrt_absolute_time();
|
|
|
|
/* get servo values from IO */
|
|
uint16_t ctl[_max_actuators];
|
|
int ret = io_reg_get(PX4IO_PAGE_SERVOS, 0, ctl, _max_actuators);
|
|
|
|
if (ret != OK)
|
|
return ret;
|
|
|
|
/* convert from register format to float */
|
|
for (unsigned i = 0; i < _max_actuators; i++)
|
|
outputs.output[i] = ctl[i];
|
|
|
|
outputs.noutputs = _max_actuators;
|
|
|
|
/* lazily advertise on first publication */
|
|
if (_to_outputs == 0) {
|
|
_to_outputs = 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)),
|
|
_to_outputs,
|
|
&outputs);
|
|
}
|
|
|
|
return OK;
|
|
}
|
|
|
|
int
|
|
PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
|
|
{
|
|
/* range check the transfer */
|
|
if (num_values > ((_max_transfer) / sizeof(*values))) {
|
|
debug("io_reg_set: too many registers (%u, max %u)", num_values, _max_transfer / 2);
|
|
return -EINVAL;
|
|
}
|
|
|
|
int ret = _interface->write((page << 8) | offset, (void *)values, num_values);
|
|
|
|
if (ret != (int)num_values) {
|
|
debug("io_reg_set(%u,%u,%u): error %d", page, offset, num_values, ret);
|
|
return -1;
|
|
}
|
|
|
|
return OK;
|
|
}
|
|
|
|
int
|
|
PX4IO::io_reg_set(uint8_t page, uint8_t offset, uint16_t value)
|
|
{
|
|
return io_reg_set(page, offset, &value, 1);
|
|
}
|
|
|
|
int
|
|
PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values)
|
|
{
|
|
/* range check the transfer */
|
|
if (num_values > ((_max_transfer) / sizeof(*values))) {
|
|
debug("io_reg_get: too many registers (%u, max %u)", num_values, _max_transfer / 2);
|
|
return -EINVAL;
|
|
}
|
|
|
|
int ret = _interface->read((page << 8) | offset, reinterpret_cast<void *>(values), num_values);
|
|
|
|
if (ret != (int)num_values) {
|
|
debug("io_reg_get(%u,%u,%u): data error %d", page, offset, num_values, ret);
|
|
return -1;
|
|
}
|
|
|
|
return OK;
|
|
}
|
|
|
|
uint32_t
|
|
PX4IO::io_reg_get(uint8_t page, uint8_t offset)
|
|
{
|
|
uint16_t value;
|
|
|
|
if (io_reg_get(page, offset, &value, 1) != OK)
|
|
return _io_reg_get_error;
|
|
|
|
return value;
|
|
}
|
|
|
|
int
|
|
PX4IO::io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits)
|
|
{
|
|
int ret;
|
|
uint16_t value;
|
|
|
|
ret = io_reg_get(page, offset, &value, 1);
|
|
|
|
if (ret != OK)
|
|
return ret;
|
|
|
|
value &= ~clearbits;
|
|
value |= setbits;
|
|
|
|
return io_reg_set(page, offset, value);
|
|
}
|
|
|
|
int
|
|
PX4IO::print_debug()
|
|
{
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
|
|
int io_fd = -1;
|
|
|
|
if (io_fd < 0) {
|
|
io_fd = ::open("/dev/ttyS0", O_RDONLY | O_NONBLOCK | O_NOCTTY);
|
|
}
|
|
|
|
/* read IO's output */
|
|
if (io_fd > 0) {
|
|
pollfd fds[1];
|
|
fds[0].fd = io_fd;
|
|
fds[0].events = POLLIN;
|
|
|
|
usleep(500);
|
|
int pret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), 0);
|
|
|
|
if (pret > 0) {
|
|
int count;
|
|
char buf[65];
|
|
|
|
do {
|
|
count = ::read(io_fd, buf, sizeof(buf) - 1);
|
|
|
|
if (count > 0) {
|
|
/* enforce null termination */
|
|
buf[count] = '\0';
|
|
warnx("IO CONSOLE: %s", buf);
|
|
}
|
|
|
|
} while (count > 0);
|
|
}
|
|
|
|
::close(io_fd);
|
|
return 0;
|
|
}
|
|
|
|
#endif
|
|
return 1;
|
|
|
|
}
|
|
|
|
int
|
|
PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
|
|
{
|
|
/* get debug level */
|
|
int debuglevel = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG);
|
|
|
|
uint8_t frame[_max_transfer];
|
|
|
|
do {
|
|
|
|
px4io_mixdata *msg = (px4io_mixdata *)&frame[0];
|
|
unsigned max_len = _max_transfer - sizeof(px4io_mixdata);
|
|
|
|
msg->f2i_mixer_magic = F2I_MIXER_MAGIC;
|
|
msg->action = F2I_MIXER_ACTION_RESET;
|
|
|
|
do {
|
|
unsigned count = buflen;
|
|
|
|
if (count > max_len)
|
|
count = max_len;
|
|
|
|
if (count > 0) {
|
|
memcpy(&msg->text[0], buf, count);
|
|
buf += count;
|
|
buflen -= count;
|
|
|
|
} else {
|
|
continue;
|
|
}
|
|
|
|
/*
|
|
* We have to send an even number of bytes. This
|
|
* will only happen on the very last transfer of a
|
|
* mixer, and we are guaranteed that there will be
|
|
* space left to round up as _max_transfer will be
|
|
* even.
|
|
*/
|
|
unsigned total_len = sizeof(px4io_mixdata) + count;
|
|
|
|
if (total_len % 2) {
|
|
msg->text[count] = '\0';
|
|
total_len++;
|
|
}
|
|
|
|
int ret;
|
|
|
|
for (int i = 0; i < 30; i++) {
|
|
/* failed, but give it a 2nd shot */
|
|
ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, total_len / 2);
|
|
|
|
if (ret) {
|
|
usleep(333);
|
|
} else {
|
|
break;
|
|
}
|
|
}
|
|
|
|
/* print mixer chunk */
|
|
if (debuglevel > 5 || ret) {
|
|
|
|
warnx("fmu sent: \"%s\"", msg->text);
|
|
|
|
/* read IO's output */
|
|
print_debug();
|
|
}
|
|
|
|
if (ret) {
|
|
log("mixer send error %d", ret);
|
|
return ret;
|
|
}
|
|
|
|
msg->action = F2I_MIXER_ACTION_APPEND;
|
|
|
|
} while (buflen > 0);
|
|
|
|
/* ensure a closing newline */
|
|
msg->text[0] = '\n';
|
|
msg->text[1] = '\0';
|
|
|
|
int ret;
|
|
|
|
for (int i = 0; i < 30; i++) {
|
|
/* failed, but give it a 2nd shot */
|
|
ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2);
|
|
|
|
if (ret) {
|
|
usleep(333);
|
|
} else {
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (ret)
|
|
return ret;
|
|
|
|
retries--;
|
|
|
|
log("mixer sent");
|
|
|
|
} while (retries > 0 && (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK)));
|
|
|
|
/* check for the mixer-OK flag */
|
|
if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK) {
|
|
mavlink_log_info(_mavlink_fd, "[IO] mixer upload ok");
|
|
return 0;
|
|
}
|
|
|
|
log("mixer rejected by IO");
|
|
mavlink_log_info(_mavlink_fd, "[IO] mixer upload fail");
|
|
|
|
/* load must have failed for some reason */
|
|
return -EINVAL;
|
|
}
|
|
|
|
void
|
|
PX4IO::print_status(bool extended_status)
|
|
{
|
|
/* basic configuration */
|
|
printf("protocol %u hardware %u bootloader %u buffer %uB crc 0x%04x%04x\n",
|
|
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION),
|
|
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_HARDWARE_VERSION),
|
|
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_BOOTLOADER_VERSION),
|
|
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER),
|
|
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC),
|
|
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC+1));
|
|
printf("%u controls %u actuators %u R/C inputs %u analog inputs %u relays\n",
|
|
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT),
|
|
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT),
|
|
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT),
|
|
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ADC_INPUT_COUNT),
|
|
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT));
|
|
|
|
/* status */
|
|
printf("%u bytes free\n",
|
|
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM));
|
|
uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS);
|
|
uint16_t io_status_flags = flags;
|
|
printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s%s%s\n",
|
|
flags,
|
|
((flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED) ? " OUTPUTS_ARMED" : ""),
|
|
((flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? " SAFETY_OFF" : " SAFETY_SAFE"),
|
|
((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""),
|
|
((flags & PX4IO_P_STATUS_FLAGS_RC_OK) ? " RC_OK" : " RC_FAIL"),
|
|
((flags & PX4IO_P_STATUS_FLAGS_RC_PPM) ? " PPM" : ""),
|
|
((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) ? " DSM" : ""),
|
|
((flags & PX4IO_P_STATUS_FLAGS_RC_ST24) ? " ST24" : ""),
|
|
((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? " SBUS" : ""),
|
|
((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"),
|
|
((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PWM_PASSTHROUGH" : ""),
|
|
((flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ? " MIXER_OK" : " MIXER_FAIL"),
|
|
((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"),
|
|
((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL"),
|
|
((flags & PX4IO_P_STATUS_FLAGS_FAILSAFE) ? " FAILSAFE" : ""));
|
|
uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS);
|
|
printf("alarms 0x%04x%s%s%s%s%s%s%s%s\n",
|
|
alarms,
|
|
((alarms & PX4IO_P_STATUS_ALARMS_VBATT_LOW) ? " VBATT_LOW" : ""),
|
|
((alarms & PX4IO_P_STATUS_ALARMS_TEMPERATURE) ? " TEMPERATURE" : ""),
|
|
((alarms & PX4IO_P_STATUS_ALARMS_SERVO_CURRENT) ? " SERVO_CURRENT" : ""),
|
|
((alarms & PX4IO_P_STATUS_ALARMS_ACC_CURRENT) ? " ACC_CURRENT" : ""),
|
|
((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST) ? " FMU_LOST" : ""),
|
|
((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""),
|
|
((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) ? " PWM_ERROR" : ""),
|
|
((alarms & PX4IO_P_STATUS_ALARMS_VSERVO_FAULT) ? " VSERVO_FAULT" : ""));
|
|
/* now clear alarms */
|
|
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, 0xFFFF);
|
|
|
|
if (_hardware == 1) {
|
|
printf("vbatt mV %u ibatt mV %u vbatt scale %u\n",
|
|
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT),
|
|
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT),
|
|
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE));
|
|
printf("amp_per_volt %.3f amp_offset %.3f mAh discharged %.3f\n",
|
|
(double)_battery_amp_per_volt,
|
|
(double)_battery_amp_bias,
|
|
(double)_battery_mamphour_total);
|
|
|
|
} else if (_hardware == 2) {
|
|
printf("vservo %u mV vservo scale %u\n",
|
|
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VSERVO),
|
|
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VSERVO_SCALE));
|
|
printf("vrssi %u\n", io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VRSSI));
|
|
}
|
|
|
|
printf("actuators");
|
|
|
|
for (unsigned i = 0; i < _max_actuators; i++)
|
|
printf(" %hi", int16_t(io_reg_get(PX4IO_PAGE_ACTUATORS, i)));
|
|
|
|
printf("\n");
|
|
printf("servos");
|
|
|
|
for (unsigned i = 0; i < _max_actuators; i++)
|
|
printf(" %u", io_reg_get(PX4IO_PAGE_SERVOS, i));
|
|
|
|
printf("\n");
|
|
uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT);
|
|
printf("%d raw R/C inputs", raw_inputs);
|
|
|
|
for (unsigned i = 0; i < raw_inputs; i++)
|
|
printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i));
|
|
|
|
printf("\n");
|
|
|
|
flags = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_FLAGS);
|
|
printf("R/C flags: 0x%04x%s%s%s%s%s\n", flags,
|
|
(((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (!(flags & PX4IO_P_RAW_RC_FLAGS_RC_DSM11))) ? " DSM10" : ""),
|
|
(((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (flags & PX4IO_P_RAW_RC_FLAGS_RC_DSM11)) ? " DSM11" : ""),
|
|
((flags & PX4IO_P_RAW_RC_FLAGS_FRAME_DROP) ? " FRAME_DROP" : ""),
|
|
((flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) ? " FAILSAFE" : ""),
|
|
((flags & PX4IO_P_RAW_RC_FLAGS_MAPPING_OK) ? " MAPPING_OK" : "")
|
|
);
|
|
|
|
if ((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_PPM)) {
|
|
int frame_len = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_DATA);
|
|
printf("RC data (PPM frame len) %u us\n", frame_len);
|
|
|
|
if ((frame_len - raw_inputs * 2000 - 3000) < 0) {
|
|
printf("WARNING WARNING WARNING! This RC receiver does not allow safe frame detection.\n");
|
|
}
|
|
}
|
|
|
|
uint16_t mapped_inputs = io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_VALID);
|
|
printf("mapped R/C inputs 0x%04x", mapped_inputs);
|
|
|
|
for (unsigned i = 0; i < _max_rc_input; i++) {
|
|
if (mapped_inputs & (1 << i))
|
|
printf(" %u:%d", i, REG_TO_SIGNED(io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_BASE + i)));
|
|
}
|
|
|
|
printf("\n");
|
|
uint16_t adc_inputs = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ADC_INPUT_COUNT);
|
|
printf("ADC inputs");
|
|
|
|
for (unsigned i = 0; i < adc_inputs; i++)
|
|
printf(" %u", io_reg_get(PX4IO_PAGE_RAW_ADC_INPUT, i));
|
|
|
|
printf("\n");
|
|
|
|
/* setup and state */
|
|
uint16_t features = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES);
|
|
printf("features 0x%04x%s%s%s%s\n", features,
|
|
((features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) ? " S.BUS1_OUT" : ""),
|
|
((features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) ? " S.BUS2_OUT" : ""),
|
|
((features & PX4IO_P_SETUP_FEATURES_PWM_RSSI) ? " RSSI_PWM" : ""),
|
|
((features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) ? " RSSI_ADC" : "")
|
|
);
|
|
uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
|
|
printf("arming 0x%04x%s%s%s%s%s%s%s%s%s%s\n",
|
|
arming,
|
|
((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : " FMU_DISARMED"),
|
|
((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : " IO_ARM_DENIED"),
|
|
((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""),
|
|
((arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ? " FAILSAFE_CUSTOM" : ""),
|
|
((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""),
|
|
((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : ""),
|
|
((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) ? " LOCKDOWN" : ""),
|
|
((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : ""),
|
|
((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : ""),
|
|
((arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) ? " OVERRIDE_IMMEDIATE" : "")
|
|
);
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
|
|
printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
|
|
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
|
|
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE),
|
|
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE),
|
|
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS));
|
|
#endif
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
|
|
printf("rates 0x%04x default %u alt %u\n",
|
|
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
|
|
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE),
|
|
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE));
|
|
#endif
|
|
printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG));
|
|
for (unsigned group = 0; group < 4; group++) {
|
|
printf("controls %u:", group);
|
|
|
|
for (unsigned i = 0; i < _max_controls; i++)
|
|
printf(" %d", (int16_t) io_reg_get(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT + i));
|
|
|
|
printf("\n");
|
|
}
|
|
|
|
if (extended_status) {
|
|
for (unsigned i = 0; i < _max_rc_input; i++) {
|
|
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
|
|
uint16_t options = io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_OPTIONS);
|
|
printf("input %u min %u center %u max %u deadzone %u assigned %u options 0x%04x%s%s\n",
|
|
i,
|
|
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN),
|
|
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER),
|
|
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MAX),
|
|
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_DEADZONE),
|
|
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_ASSIGNMENT),
|
|
options,
|
|
((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""),
|
|
((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : ""));
|
|
}
|
|
}
|
|
|
|
printf("failsafe");
|
|
|
|
for (unsigned i = 0; i < _max_actuators; i++)
|
|
printf(" %u", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i));
|
|
|
|
printf("\ndisarmed values");
|
|
|
|
for (unsigned i = 0; i < _max_actuators; i++)
|
|
printf(" %u", io_reg_get(PX4IO_PAGE_DISARMED_PWM, i));
|
|
|
|
printf("\n");
|
|
}
|
|
|
|
int
|
|
PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
|
|
{
|
|
int ret = OK;
|
|
|
|
/* regular ioctl? */
|
|
switch (cmd) {
|
|
case PWM_SERVO_ARM:
|
|
/* set the 'armed' bit */
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FMU_ARMED);
|
|
break;
|
|
|
|
case PWM_SERVO_SET_ARM_OK:
|
|
/* set the 'OK to arm' bit */
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_IO_ARM_OK);
|
|
break;
|
|
|
|
case PWM_SERVO_CLEAR_ARM_OK:
|
|
/* clear the 'OK to arm' bit */
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_IO_ARM_OK, 0);
|
|
break;
|
|
|
|
case PWM_SERVO_DISARM:
|
|
/* clear the 'armed' bit */
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FMU_ARMED, 0);
|
|
break;
|
|
|
|
case PWM_SERVO_GET_DEFAULT_UPDATE_RATE:
|
|
/* get the default update rate */
|
|
*(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE);
|
|
break;
|
|
|
|
case PWM_SERVO_SET_UPDATE_RATE:
|
|
/* set the requested alternate rate */
|
|
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg);
|
|
break;
|
|
|
|
case PWM_SERVO_GET_UPDATE_RATE:
|
|
/* get the alternative update rate */
|
|
*(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE);
|
|
break;
|
|
|
|
case PWM_SERVO_SET_SELECT_UPDATE_RATE: {
|
|
|
|
/* blindly clear the PWM update alarm - might be set for some other reason */
|
|
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR);
|
|
|
|
/* attempt to set the rate map */
|
|
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES, arg);
|
|
|
|
/* check that the changes took */
|
|
uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS);
|
|
|
|
if (alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) {
|
|
ret = -EINVAL;
|
|
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR);
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
case PWM_SERVO_GET_SELECT_UPDATE_RATE:
|
|
|
|
*(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES);
|
|
break;
|
|
|
|
case PWM_SERVO_SET_FAILSAFE_PWM: {
|
|
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
|
|
if (pwm->channel_count > _max_actuators)
|
|
/* fail with error */
|
|
return -E2BIG;
|
|
|
|
/* copy values to registers in IO */
|
|
ret = io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm->values, pwm->channel_count);
|
|
break;
|
|
}
|
|
|
|
case PWM_SERVO_GET_FAILSAFE_PWM:
|
|
|
|
ret = io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, 0, (uint16_t*)arg, _max_actuators);
|
|
if (ret != OK) {
|
|
ret = -EIO;
|
|
}
|
|
break;
|
|
|
|
case PWM_SERVO_SET_DISARMED_PWM: {
|
|
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
|
|
if (pwm->channel_count > _max_actuators)
|
|
/* fail with error */
|
|
return -E2BIG;
|
|
|
|
/* copy values to registers in IO */
|
|
ret = io_reg_set(PX4IO_PAGE_DISARMED_PWM, 0, pwm->values, pwm->channel_count);
|
|
break;
|
|
}
|
|
|
|
case PWM_SERVO_GET_DISARMED_PWM:
|
|
|
|
ret = io_reg_get(PX4IO_PAGE_DISARMED_PWM, 0, (uint16_t*)arg, _max_actuators);
|
|
if (ret != OK) {
|
|
ret = -EIO;
|
|
}
|
|
break;
|
|
|
|
case PWM_SERVO_SET_MIN_PWM: {
|
|
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
|
|
if (pwm->channel_count > _max_actuators)
|
|
/* fail with error */
|
|
return -E2BIG;
|
|
|
|
/* copy values to registers in IO */
|
|
ret = io_reg_set(PX4IO_PAGE_CONTROL_MIN_PWM, 0, pwm->values, pwm->channel_count);
|
|
break;
|
|
}
|
|
|
|
case PWM_SERVO_GET_MIN_PWM:
|
|
|
|
ret = io_reg_get(PX4IO_PAGE_CONTROL_MIN_PWM, 0, (uint16_t*)arg, _max_actuators);
|
|
if (ret != OK) {
|
|
ret = -EIO;
|
|
}
|
|
break;
|
|
|
|
case PWM_SERVO_SET_MAX_PWM: {
|
|
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
|
|
if (pwm->channel_count > _max_actuators)
|
|
/* fail with error */
|
|
return -E2BIG;
|
|
|
|
/* copy values to registers in IO */
|
|
ret = io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, pwm->values, pwm->channel_count);
|
|
break;
|
|
}
|
|
|
|
case PWM_SERVO_GET_MAX_PWM:
|
|
|
|
ret = io_reg_get(PX4IO_PAGE_CONTROL_MAX_PWM, 0, (uint16_t*)arg, _max_actuators);
|
|
if (ret != OK) {
|
|
ret = -EIO;
|
|
}
|
|
break;
|
|
|
|
case PWM_SERVO_GET_COUNT:
|
|
*(unsigned *)arg = _max_actuators;
|
|
break;
|
|
|
|
case PWM_SERVO_SET_DISABLE_LOCKDOWN:
|
|
_lockdown_override = arg;
|
|
break;
|
|
|
|
case PWM_SERVO_GET_DISABLE_LOCKDOWN:
|
|
*(unsigned *)arg = _lockdown_override;
|
|
|
|
case PWM_SERVO_SET_FORCE_SAFETY_OFF:
|
|
/* force safety swith off */
|
|
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
|
|
break;
|
|
|
|
case PWM_SERVO_SET_FORCE_SAFETY_ON:
|
|
/* force safety switch on */
|
|
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
|
|
break;
|
|
|
|
case PWM_SERVO_SET_FORCE_FAILSAFE:
|
|
/* force failsafe mode instantly */
|
|
if (arg == 0) {
|
|
/* clear force failsafe flag */
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE, 0);
|
|
} else {
|
|
/* set force failsafe flag */
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE);
|
|
}
|
|
break;
|
|
|
|
case PWM_SERVO_SET_TERMINATION_FAILSAFE:
|
|
/* if failsafe occurs, do not allow the system to recover */
|
|
if (arg == 0) {
|
|
/* clear termination failsafe flag */
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE, 0);
|
|
} else {
|
|
/* set termination failsafe flag */
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE);
|
|
}
|
|
break;
|
|
|
|
case PWM_SERVO_SET_OVERRIDE_IMMEDIATE:
|
|
/* control whether override on FMU failure is
|
|
immediate or waits for override threshold on mode
|
|
switch */
|
|
if (arg == 0) {
|
|
/* clear override immediate flag */
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE, 0);
|
|
} else {
|
|
/* set override immediate flag */
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE);
|
|
}
|
|
break;
|
|
|
|
case DSM_BIND_START:
|
|
|
|
/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */
|
|
if (arg == DSM2_BIND_PULSES ||
|
|
arg == DSMX_BIND_PULSES ||
|
|
arg == DSMX8_BIND_PULSES) {
|
|
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
|
|
usleep(500000);
|
|
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
|
|
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
|
|
usleep(72000);
|
|
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
|
|
usleep(50000);
|
|
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
|
|
|
|
ret = OK;
|
|
} else {
|
|
ret = -EINVAL;
|
|
}
|
|
break;
|
|
|
|
case DSM_BIND_POWER_UP:
|
|
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
|
|
break;
|
|
|
|
case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS - 1): {
|
|
|
|
/* TODO: we could go lower for e.g. TurboPWM */
|
|
unsigned channel = cmd - PWM_SERVO_SET(0);
|
|
|
|
if ((channel >= _max_actuators) || (arg < PWM_LOWEST_MIN) || (arg > PWM_HIGHEST_MAX)) {
|
|
ret = -EINVAL;
|
|
|
|
} else {
|
|
/* send a direct PWM value */
|
|
ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, channel, arg);
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
case PWM_SERVO_GET(0) ... PWM_SERVO_GET(PWM_OUTPUT_MAX_CHANNELS - 1): {
|
|
|
|
unsigned channel = cmd - PWM_SERVO_GET(0);
|
|
|
|
if (channel >= _max_actuators) {
|
|
ret = -EINVAL;
|
|
|
|
} else {
|
|
/* fetch a current PWM value */
|
|
uint32_t value = io_reg_get(PX4IO_PAGE_SERVOS, channel);
|
|
|
|
if (value == _io_reg_get_error) {
|
|
ret = -EIO;
|
|
|
|
} else {
|
|
*(servo_position_t *)arg = value;
|
|
}
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): {
|
|
|
|
unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0);
|
|
|
|
*(uint32_t *)arg = io_reg_get(PX4IO_PAGE_PWM_INFO, PX4IO_RATE_MAP_BASE + channel);
|
|
|
|
if (*(uint32_t *)arg == _io_reg_get_error)
|
|
ret = -EIO;
|
|
|
|
break;
|
|
}
|
|
|
|
case GPIO_RESET: {
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
|
|
uint32_t bits = (1 << _max_relays) - 1;
|
|
|
|
/* don't touch relay1 if it's controlling RX vcc */
|
|
if (_dsm_vcc_ctl)
|
|
bits &= ~PX4IO_P_SETUP_RELAYS_POWER1;
|
|
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, bits, 0);
|
|
#endif
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
|
|
ret = -EINVAL;
|
|
#endif
|
|
break;
|
|
}
|
|
|
|
case GPIO_SET:
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
|
|
arg &= ((1 << _max_relays) - 1);
|
|
|
|
/* don't touch relay1 if it's controlling RX vcc */
|
|
if (_dsm_vcc_ctl & (arg & PX4IO_P_SETUP_RELAYS_POWER1)) {
|
|
ret = -EINVAL;
|
|
break;
|
|
}
|
|
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0, arg);
|
|
#endif
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
|
|
ret = -EINVAL;
|
|
#endif
|
|
break;
|
|
|
|
case GPIO_CLEAR:
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
|
|
arg &= ((1 << _max_relays) - 1);
|
|
|
|
/* don't touch relay1 if it's controlling RX vcc */
|
|
if (_dsm_vcc_ctl & (arg & PX4IO_P_SETUP_RELAYS_POWER1)) {
|
|
ret = -EINVAL;
|
|
break;
|
|
}
|
|
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, arg, 0);
|
|
#endif
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
|
|
ret = -EINVAL;
|
|
#endif
|
|
break;
|
|
|
|
case GPIO_GET:
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
|
|
*(uint32_t *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS);
|
|
|
|
if (*(uint32_t *)arg == _io_reg_get_error)
|
|
ret = -EIO;
|
|
|
|
#endif
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
|
|
ret = -EINVAL;
|
|
#endif
|
|
break;
|
|
|
|
case MIXERIOCGETOUTPUTCOUNT:
|
|
*(unsigned *)arg = _max_actuators;
|
|
break;
|
|
|
|
case MIXERIOCRESET:
|
|
ret = 0; /* load always resets */
|
|
break;
|
|
|
|
case MIXERIOCLOADBUF: {
|
|
const char *buf = (const char *)arg;
|
|
ret = mixer_send(buf, strnlen(buf, 2048));
|
|
break;
|
|
}
|
|
|
|
case RC_INPUT_GET: {
|
|
uint16_t status;
|
|
rc_input_values *rc_val = (rc_input_values *)arg;
|
|
|
|
ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &status, 1);
|
|
|
|
if (ret != OK)
|
|
break;
|
|
|
|
/* if no R/C input, don't try to fetch anything */
|
|
if (!(status & PX4IO_P_STATUS_FLAGS_RC_OK)) {
|
|
ret = -ENOTCONN;
|
|
break;
|
|
}
|
|
|
|
/* sort out the source of the values */
|
|
if (status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
|
|
rc_val->input_source = RC_INPUT_SOURCE_PX4IO_PPM;
|
|
|
|
} else if (status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
|
|
rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
|
|
|
|
} else if (status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
|
|
rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SBUS;
|
|
|
|
} else if (status & PX4IO_P_STATUS_FLAGS_RC_ST24) {
|
|
rc_val->input_source = RC_INPUT_SOURCE_PX4IO_ST24;
|
|
|
|
} else {
|
|
rc_val->input_source = RC_INPUT_SOURCE_UNKNOWN;
|
|
}
|
|
|
|
/* read raw R/C input values */
|
|
ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE, &(rc_val->values[0]), _max_rc_input);
|
|
break;
|
|
}
|
|
|
|
case PX4IO_SET_DEBUG:
|
|
/* set the debug level */
|
|
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG, arg);
|
|
break;
|
|
|
|
case PX4IO_REBOOT_BOOTLOADER:
|
|
if (system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
|
|
return -EINVAL;
|
|
|
|
/* reboot into bootloader - arg must be PX4IO_REBOOT_BL_MAGIC */
|
|
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_REBOOT_BL, arg);
|
|
// we don't expect a reply from this operation
|
|
ret = OK;
|
|
break;
|
|
|
|
case PX4IO_CHECK_CRC: {
|
|
/* check IO firmware CRC against passed value */
|
|
uint32_t io_crc = 0;
|
|
ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC, (uint16_t *)&io_crc, 2);
|
|
if (ret != OK)
|
|
return ret;
|
|
if (io_crc != arg) {
|
|
debug("crc mismatch 0x%08x 0x%08x", (unsigned)io_crc, arg);
|
|
return -EINVAL;
|
|
}
|
|
break;
|
|
}
|
|
|
|
case PX4IO_INAIR_RESTART_ENABLE:
|
|
|
|
/* set/clear the 'in-air restart' bit */
|
|
if (arg) {
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK);
|
|
|
|
} else {
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK, 0);
|
|
}
|
|
|
|
break;
|
|
|
|
case RC_INPUT_ENABLE_RSSI_ANALOG:
|
|
|
|
if (arg) {
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_ADC_RSSI);
|
|
} else {
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, PX4IO_P_SETUP_FEATURES_ADC_RSSI, 0);
|
|
}
|
|
|
|
break;
|
|
|
|
case RC_INPUT_ENABLE_RSSI_PWM:
|
|
|
|
if (arg) {
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_PWM_RSSI);
|
|
} else {
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, PX4IO_P_SETUP_FEATURES_PWM_RSSI, 0);
|
|
}
|
|
|
|
break;
|
|
|
|
case SBUS_SET_PROTO_VERSION:
|
|
|
|
if (arg == 1) {
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS1_OUT);
|
|
} else if (arg == 2) {
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS2_OUT);
|
|
} else {
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT), 0);
|
|
}
|
|
|
|
break;
|
|
|
|
case PWM_SERVO_SET_RC_CONFIG: {
|
|
/* enable setting of RC configuration without relying
|
|
on param_get()
|
|
*/
|
|
struct pwm_output_rc_config* config = (struct pwm_output_rc_config*)arg;
|
|
if (config->channel >= RC_INPUT_MAX_CHANNELS) {
|
|
/* fail with error */
|
|
return -E2BIG;
|
|
}
|
|
|
|
/* copy values to registers in IO */
|
|
uint16_t regs[PX4IO_P_RC_CONFIG_STRIDE];
|
|
uint16_t offset = config->channel * PX4IO_P_RC_CONFIG_STRIDE;
|
|
regs[PX4IO_P_RC_CONFIG_MIN] = config->rc_min;
|
|
regs[PX4IO_P_RC_CONFIG_CENTER] = config->rc_trim;
|
|
regs[PX4IO_P_RC_CONFIG_MAX] = config->rc_max;
|
|
regs[PX4IO_P_RC_CONFIG_DEADZONE] = config->rc_dz;
|
|
regs[PX4IO_P_RC_CONFIG_ASSIGNMENT] = config->rc_assignment;
|
|
regs[PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
|
|
if (config->rc_reverse) {
|
|
regs[PX4IO_P_RC_CONFIG_OPTIONS] |= PX4IO_P_RC_CONFIG_OPTIONS_REVERSE;
|
|
}
|
|
ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE);
|
|
break;
|
|
}
|
|
|
|
case PWM_SERVO_SET_OVERRIDE_OK:
|
|
/* set the 'OVERRIDE OK' bit */
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK);
|
|
break;
|
|
|
|
case PWM_SERVO_CLEAR_OVERRIDE_OK:
|
|
/* clear the 'OVERRIDE OK' bit */
|
|
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0);
|
|
break;
|
|
|
|
default:
|
|
/* see if the parent class can make any use of it */
|
|
ret = CDev::ioctl(filep, cmd, arg);
|
|
break;
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
ssize_t
|
|
PX4IO::write(file * /*filp*/, const char *buffer, size_t len)
|
|
/* Make it obvious that file * isn't used here */
|
|
{
|
|
unsigned count = len / 2;
|
|
|
|
if (count > _max_actuators)
|
|
count = _max_actuators;
|
|
|
|
if (count > 0) {
|
|
|
|
perf_begin(_perf_write);
|
|
int ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, (uint16_t *)buffer, count);
|
|
perf_end(_perf_write);
|
|
|
|
if (ret != OK)
|
|
return ret;
|
|
}
|
|
|
|
return count * 2;
|
|
}
|
|
|
|
int
|
|
PX4IO::set_update_rate(int rate)
|
|
{
|
|
int interval_ms = 1000 / rate;
|
|
|
|
if (interval_ms < UPDATE_INTERVAL_MIN) {
|
|
interval_ms = UPDATE_INTERVAL_MIN;
|
|
warnx("update rate too high, limiting interval to %d ms (%d Hz).", interval_ms, 1000 / interval_ms);
|
|
}
|
|
|
|
if (interval_ms > 100) {
|
|
interval_ms = 100;
|
|
warnx("update rate too low, limiting to %d ms (%d Hz).", interval_ms, 1000 / interval_ms);
|
|
}
|
|
|
|
_update_interval = interval_ms;
|
|
return 0;
|
|
}
|
|
|
|
void
|
|
PX4IO::set_battery_current_scaling(float amp_per_volt, float amp_bias)
|
|
{
|
|
_battery_amp_per_volt = amp_per_volt;
|
|
_battery_amp_bias = amp_bias;
|
|
}
|
|
|
|
extern "C" __EXPORT int px4io_main(int argc, char *argv[]);
|
|
|
|
namespace
|
|
{
|
|
|
|
device::Device *
|
|
get_interface()
|
|
{
|
|
device::Device *interface = nullptr;
|
|
|
|
#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
|
|
|
|
/* try for a serial interface */
|
|
if (PX4IO_serial_interface != nullptr)
|
|
interface = PX4IO_serial_interface();
|
|
|
|
if (interface != nullptr)
|
|
goto got;
|
|
|
|
#endif
|
|
|
|
/* try for an I2C interface if we haven't got a serial one */
|
|
if (PX4IO_i2c_interface != nullptr)
|
|
interface = PX4IO_i2c_interface();
|
|
|
|
if (interface != nullptr)
|
|
goto got;
|
|
|
|
errx(1, "cannot alloc interface");
|
|
|
|
got:
|
|
|
|
if (interface->init() != OK) {
|
|
delete interface;
|
|
errx(1, "interface init failed");
|
|
}
|
|
|
|
return interface;
|
|
}
|
|
|
|
void
|
|
start(int argc, char *argv[])
|
|
{
|
|
if (g_dev != nullptr)
|
|
errx(0, "already loaded");
|
|
|
|
/* allocate the interface */
|
|
device::Device *interface = get_interface();
|
|
|
|
/* create the driver - it will set g_dev */
|
|
(void)new PX4IO(interface);
|
|
|
|
if (g_dev == nullptr) {
|
|
delete interface;
|
|
errx(1, "driver alloc failed");
|
|
}
|
|
|
|
bool rc_handling_disabled = false;
|
|
|
|
/* disable RC handling on request */
|
|
if (argc > 1) {
|
|
if (!strcmp(argv[1], "norc")) {
|
|
|
|
rc_handling_disabled = true;
|
|
|
|
} else {
|
|
warnx("unknown argument: %s", argv[1]);
|
|
}
|
|
}
|
|
|
|
if (OK != g_dev->init(rc_handling_disabled)) {
|
|
delete g_dev;
|
|
g_dev = nullptr;
|
|
errx(1, "driver init failed");
|
|
}
|
|
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
|
|
int dsm_vcc_ctl;
|
|
|
|
if (param_get(param_find("RC_RL1_DSM_VCC"), &dsm_vcc_ctl) == OK) {
|
|
if (dsm_vcc_ctl) {
|
|
g_dev->set_dsm_vcc_ctl(true);
|
|
g_dev->ioctl(nullptr, DSM_BIND_POWER_UP, 0);
|
|
}
|
|
}
|
|
|
|
#endif
|
|
exit(0);
|
|
}
|
|
|
|
void
|
|
detect(int argc, char *argv[])
|
|
{
|
|
if (g_dev != nullptr)
|
|
errx(0, "already loaded");
|
|
|
|
/* allocate the interface */
|
|
device::Device *interface = get_interface();
|
|
|
|
/* create the driver - it will set g_dev */
|
|
(void)new PX4IO(interface);
|
|
|
|
if (g_dev == nullptr)
|
|
errx(1, "driver alloc failed");
|
|
|
|
int ret = g_dev->detect();
|
|
|
|
delete g_dev;
|
|
g_dev = nullptr;
|
|
|
|
if (ret) {
|
|
/* nonzero, error */
|
|
exit(1);
|
|
|
|
} else {
|
|
exit(0);
|
|
}
|
|
}
|
|
|
|
void
|
|
checkcrc(int argc, char *argv[])
|
|
{
|
|
bool keep_running = false;
|
|
|
|
if (g_dev == nullptr) {
|
|
/* allocate the interface */
|
|
device::Device *interface = get_interface();
|
|
|
|
/* create the driver - it will set g_dev */
|
|
(void)new PX4IO(interface);
|
|
|
|
if (g_dev == nullptr)
|
|
errx(1, "driver alloc failed");
|
|
} else {
|
|
/* its already running, don't kill the driver */
|
|
keep_running = true;
|
|
}
|
|
|
|
/*
|
|
check IO CRC against CRC of a file
|
|
*/
|
|
if (argc < 2) {
|
|
printf("usage: px4io checkcrc filename\n");
|
|
exit(1);
|
|
}
|
|
int fd = open(argv[1], O_RDONLY);
|
|
if (fd == -1) {
|
|
printf("open of %s failed - %d\n", argv[1], errno);
|
|
exit(1);
|
|
}
|
|
const uint32_t app_size_max = 0xf000;
|
|
uint32_t fw_crc = 0;
|
|
uint32_t nbytes = 0;
|
|
while (true) {
|
|
uint8_t buf[16];
|
|
int n = read(fd, buf, sizeof(buf));
|
|
if (n <= 0) break;
|
|
fw_crc = crc32part(buf, n, fw_crc);
|
|
nbytes += n;
|
|
}
|
|
close(fd);
|
|
while (nbytes < app_size_max) {
|
|
uint8_t b = 0xff;
|
|
fw_crc = crc32part(&b, 1, fw_crc);
|
|
nbytes++;
|
|
}
|
|
|
|
int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc);
|
|
|
|
if (!keep_running) {
|
|
delete g_dev;
|
|
g_dev = nullptr;
|
|
}
|
|
|
|
if (ret != OK) {
|
|
printf("check CRC failed - %d\n", ret);
|
|
exit(1);
|
|
}
|
|
printf("CRCs match\n");
|
|
exit(0);
|
|
}
|
|
|
|
void
|
|
bind(int argc, char *argv[])
|
|
{
|
|
int pulses;
|
|
|
|
if (g_dev == nullptr)
|
|
errx(1, "px4io must be started first");
|
|
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
|
|
|
|
if (!g_dev->get_dsm_vcc_ctl())
|
|
errx(1, "DSM bind feature not enabled");
|
|
|
|
#endif
|
|
|
|
if (argc < 3)
|
|
errx(0, "needs argument, use dsm2, dsmx or dsmx8");
|
|
|
|
if (!strcmp(argv[2], "dsm2"))
|
|
pulses = DSM2_BIND_PULSES;
|
|
else if (!strcmp(argv[2], "dsmx"))
|
|
pulses = DSMX_BIND_PULSES;
|
|
else if (!strcmp(argv[2], "dsmx8"))
|
|
pulses = DSMX8_BIND_PULSES;
|
|
else
|
|
errx(1, "unknown parameter %s, use dsm2, dsmx or dsmx8", argv[2]);
|
|
// Test for custom pulse parameter
|
|
if (argc > 3)
|
|
pulses = atoi(argv[3]);
|
|
if (g_dev->system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
|
|
errx(1, "system must not be armed");
|
|
|
|
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
|
|
warnx("This command will only bind DSM if satellite VCC (red wire) is controlled by relay 1.");
|
|
#endif
|
|
g_dev->ioctl(nullptr, DSM_BIND_START, pulses);
|
|
|
|
exit(0);
|
|
|
|
}
|
|
|
|
void
|
|
test(void)
|
|
{
|
|
int fd;
|
|
unsigned servo_count = 0;
|
|
unsigned pwm_value = 1000;
|
|
int direction = 1;
|
|
int ret;
|
|
|
|
fd = open(PX4IO_DEVICE_PATH, O_WRONLY);
|
|
|
|
if (fd < 0)
|
|
err(1, "failed to open device");
|
|
|
|
if (ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count))
|
|
err(1, "failed to get servo count");
|
|
|
|
/* tell IO that its ok to disable its safety with the switch */
|
|
ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
|
|
|
|
if (ret != OK)
|
|
err(1, "PWM_SERVO_SET_ARM_OK");
|
|
|
|
if (ioctl(fd, PWM_SERVO_ARM, 0))
|
|
err(1, "failed to arm servos");
|
|
|
|
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;
|
|
|
|
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");
|
|
exit(0);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void
|
|
monitor(void)
|
|
{
|
|
/* clear screen */
|
|
printf("\033[2J");
|
|
|
|
unsigned cancels = 2;
|
|
|
|
for (;;) {
|
|
pollfd fds[1];
|
|
|
|
fds[0].fd = 0;
|
|
fds[0].events = POLLIN;
|
|
poll(fds, 1, 2000);
|
|
|
|
if (fds[0].revents == POLLIN) {
|
|
int c;
|
|
read(0, &c, 1);
|
|
|
|
if (cancels-- == 0) {
|
|
printf("\033[2J\033[H"); /* move cursor home and clear screen */
|
|
exit(0);
|
|
}
|
|
}
|
|
|
|
if (g_dev != nullptr) {
|
|
|
|
printf("\033[2J\033[H"); /* move cursor home and clear screen */
|
|
(void)g_dev->print_status(false);
|
|
(void)g_dev->print_debug();
|
|
printf("\n\n\n[ Use 'px4io debug <N>' for more output. Hit <enter> three times to exit monitor mode ]\n");
|
|
|
|
} else {
|
|
errx(1, "driver not loaded, exiting");
|
|
}
|
|
}
|
|
}
|
|
|
|
void
|
|
if_test(unsigned mode)
|
|
{
|
|
device::Device *interface = get_interface();
|
|
int result;
|
|
|
|
if (interface) {
|
|
result = interface->ioctl(1, mode); /* XXX magic numbers */
|
|
delete interface;
|
|
} else {
|
|
errx(1, "interface not loaded, exiting");
|
|
}
|
|
|
|
errx(0, "test returned %d", result);
|
|
}
|
|
|
|
void
|
|
lockdown(int argc, char *argv[])
|
|
{
|
|
if (g_dev != nullptr) {
|
|
|
|
if (argc > 2 && !strcmp(argv[2], "disable")) {
|
|
|
|
warnx("WARNING: ACTUATORS WILL BE LIVE IN HIL! PROCEED?");
|
|
warnx("Press 'y' to enable, any other key to abort.");
|
|
|
|
/* check if user wants to abort */
|
|
char c;
|
|
|
|
struct pollfd fds;
|
|
int ret;
|
|
hrt_abstime start = hrt_absolute_time();
|
|
const unsigned long timeout = 5000000;
|
|
|
|
while (hrt_elapsed_time(&start) < timeout) {
|
|
fds.fd = 0; /* stdin */
|
|
fds.events = POLLIN;
|
|
ret = poll(&fds, 1, 0);
|
|
|
|
if (ret > 0) {
|
|
|
|
read(0, &c, 1);
|
|
|
|
if (c != 'y') {
|
|
exit(0);
|
|
} else if (c == 'y') {
|
|
break;
|
|
}
|
|
}
|
|
|
|
usleep(10000);
|
|
}
|
|
|
|
if (hrt_elapsed_time(&start) > timeout)
|
|
errx(1, "TIMEOUT! ABORTED WITHOUT CHANGES.");
|
|
|
|
(void)g_dev->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 1);
|
|
|
|
warnx("WARNING: ACTUATORS ARE NOW LIVE IN HIL!");
|
|
} else {
|
|
(void)g_dev->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 0);
|
|
warnx("ACTUATORS ARE NOW SAFE IN HIL.");
|
|
}
|
|
|
|
} else {
|
|
errx(1, "driver not loaded, exiting");
|
|
}
|
|
exit(0);
|
|
}
|
|
|
|
} /* namespace */
|
|
|
|
int
|
|
px4io_main(int argc, char *argv[])
|
|
{
|
|
/* check for sufficient number of arguments */
|
|
if (argc < 2)
|
|
goto out;
|
|
|
|
if (!strcmp(argv[1], "start"))
|
|
start(argc - 1, argv + 1);
|
|
|
|
if (!strcmp(argv[1], "detect"))
|
|
detect(argc - 1, argv + 1);
|
|
|
|
if (!strcmp(argv[1], "checkcrc"))
|
|
checkcrc(argc - 1, argv + 1);
|
|
|
|
if (!strcmp(argv[1], "update")) {
|
|
|
|
if (g_dev != nullptr) {
|
|
printf("[px4io] loaded, detaching first\n");
|
|
/* stop the driver */
|
|
delete g_dev;
|
|
g_dev = nullptr;
|
|
}
|
|
|
|
PX4IO_Uploader *up;
|
|
const char *fn[4];
|
|
|
|
/* work out what we're uploading... */
|
|
if (argc > 2) {
|
|
fn[0] = argv[2];
|
|
fn[1] = nullptr;
|
|
|
|
} else {
|
|
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
|
|
fn[0] = "/etc/extras/px4io-v1_default.bin";
|
|
fn[1] = "/fs/microsd/px4io1.bin";
|
|
fn[2] = "/fs/microsd/px4io.bin";
|
|
fn[3] = nullptr;
|
|
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
|
|
fn[0] = "/etc/extras/px4io-v2_default.bin";
|
|
fn[1] = "/fs/microsd/px4io2.bin";
|
|
fn[2] = "/fs/microsd/px4io.bin";
|
|
fn[3] = nullptr;
|
|
#else
|
|
#error "unknown board"
|
|
#endif
|
|
}
|
|
|
|
up = new PX4IO_Uploader;
|
|
int ret = up->upload(&fn[0]);
|
|
delete up;
|
|
|
|
switch (ret) {
|
|
case OK:
|
|
break;
|
|
|
|
case -ENOENT:
|
|
errx(1, "PX4IO firmware file not found");
|
|
|
|
case -EEXIST:
|
|
case -EIO:
|
|
errx(1, "error updating PX4IO - check that bootloader mode is enabled");
|
|
|
|
case -EINVAL:
|
|
errx(1, "verify failed - retry the update");
|
|
|
|
case -ETIMEDOUT:
|
|
errx(1, "timed out waiting for bootloader - power-cycle and try again");
|
|
|
|
default:
|
|
errx(1, "unexpected error %d", ret);
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
if (!strcmp(argv[1], "iftest")) {
|
|
if (g_dev != nullptr)
|
|
errx(1, "can't iftest when started");
|
|
|
|
if_test((argc > 2) ? strtol(argv[2], NULL, 0) : 0);
|
|
}
|
|
|
|
if (!strcmp(argv[1], "forceupdate")) {
|
|
/*
|
|
force update of the IO firmware without requiring
|
|
the user to hold the safety switch down
|
|
*/
|
|
if (argc <= 3) {
|
|
warnx("usage: px4io forceupdate MAGIC filename");
|
|
exit(1);
|
|
}
|
|
if (g_dev == nullptr) {
|
|
warnx("px4io is not started, still attempting upgrade");
|
|
|
|
/* allocate the interface */
|
|
device::Device *interface = get_interface();
|
|
|
|
/* create the driver - it will set g_dev */
|
|
(void)new PX4IO(interface);
|
|
|
|
if (g_dev == nullptr) {
|
|
delete interface;
|
|
errx(1, "driver alloc failed");
|
|
}
|
|
}
|
|
|
|
uint16_t arg = atol(argv[2]);
|
|
int ret = g_dev->ioctl(nullptr, PX4IO_REBOOT_BOOTLOADER, arg);
|
|
if (ret != OK) {
|
|
printf("reboot failed - %d\n", ret);
|
|
exit(1);
|
|
}
|
|
|
|
// tear down the px4io instance
|
|
delete g_dev;
|
|
g_dev = nullptr;
|
|
|
|
// upload the specified firmware
|
|
const char *fn[2];
|
|
fn[0] = argv[3];
|
|
fn[1] = nullptr;
|
|
PX4IO_Uploader *up = new PX4IO_Uploader;
|
|
up->upload(&fn[0]);
|
|
delete up;
|
|
exit(0);
|
|
}
|
|
|
|
/* commands below here require a started driver */
|
|
|
|
if (g_dev == nullptr)
|
|
errx(1, "not started");
|
|
|
|
if (!strcmp(argv[1], "limit")) {
|
|
|
|
if ((argc > 2)) {
|
|
g_dev->set_update_rate(atoi(argv[2]));
|
|
|
|
} else {
|
|
errx(1, "missing argument (50 - 500 Hz)");
|
|
return 1;
|
|
}
|
|
|
|
exit(0);
|
|
}
|
|
|
|
if (!strcmp(argv[1], "current")) {
|
|
if ((argc > 3)) {
|
|
g_dev->set_battery_current_scaling(atof(argv[2]), atof(argv[3]));
|
|
|
|
} else {
|
|
errx(1, "missing argument (apm_per_volt, amp_offset)");
|
|
return 1;
|
|
}
|
|
|
|
exit(0);
|
|
}
|
|
|
|
|
|
|
|
if (!strcmp(argv[1], "recovery")) {
|
|
|
|
/*
|
|
* Enable in-air restart support.
|
|
* We can cheat and call the driver directly, as it
|
|
* doesn't reference filp in ioctl()
|
|
*/
|
|
g_dev->ioctl(NULL, PX4IO_INAIR_RESTART_ENABLE, 1);
|
|
exit(0);
|
|
}
|
|
|
|
if (!strcmp(argv[1], "stop")) {
|
|
|
|
/* stop the driver */
|
|
delete g_dev;
|
|
g_dev = nullptr;
|
|
exit(0);
|
|
}
|
|
|
|
|
|
if (!strcmp(argv[1], "status")) {
|
|
|
|
printf("[px4io] loaded\n");
|
|
g_dev->print_status(true);
|
|
|
|
exit(0);
|
|
}
|
|
|
|
if (!strcmp(argv[1], "debug")) {
|
|
if (argc <= 2) {
|
|
printf("usage: px4io debug LEVEL\n");
|
|
exit(1);
|
|
}
|
|
|
|
if (g_dev == nullptr) {
|
|
printf("px4io is not started\n");
|
|
exit(1);
|
|
}
|
|
|
|
uint8_t level = atoi(argv[2]);
|
|
/* we can cheat and call the driver directly, as it
|
|
* doesn't reference filp in ioctl()
|
|
*/
|
|
int ret = g_dev->ioctl(nullptr, PX4IO_SET_DEBUG, level);
|
|
|
|
if (ret != 0) {
|
|
printf("SET_DEBUG failed - %d\n", ret);
|
|
exit(1);
|
|
}
|
|
|
|
printf("SET_DEBUG %u OK\n", (unsigned)level);
|
|
exit(0);
|
|
}
|
|
|
|
if (!strcmp(argv[1], "rx_dsm") ||
|
|
!strcmp(argv[1], "rx_dsm_10bit") ||
|
|
!strcmp(argv[1], "rx_dsm_11bit") ||
|
|
!strcmp(argv[1], "rx_sbus") ||
|
|
!strcmp(argv[1], "rx_ppm"))
|
|
errx(0, "receiver type is automatically detected, option '%s' is deprecated", argv[1]);
|
|
|
|
if (!strcmp(argv[1], "test"))
|
|
test();
|
|
|
|
if (!strcmp(argv[1], "monitor"))
|
|
monitor();
|
|
|
|
if (!strcmp(argv[1], "bind"))
|
|
bind(argc, argv);
|
|
|
|
if (!strcmp(argv[1], "lockdown"))
|
|
lockdown(argc, argv);
|
|
|
|
if (!strcmp(argv[1], "sbus1_out")) {
|
|
/* we can cheat and call the driver directly, as it
|
|
* doesn't reference filp in ioctl()
|
|
*/
|
|
int ret = g_dev->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 1);
|
|
|
|
if (ret != 0) {
|
|
errx(ret, "S.BUS v1 failed");
|
|
}
|
|
|
|
exit(0);
|
|
}
|
|
|
|
if (!strcmp(argv[1], "sbus2_out")) {
|
|
/* we can cheat and call the driver directly, as it
|
|
* doesn't reference filp in ioctl()
|
|
*/
|
|
int ret = g_dev->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 2);
|
|
|
|
if (ret != 0) {
|
|
errx(ret, "S.BUS v2 failed");
|
|
}
|
|
|
|
exit(0);
|
|
}
|
|
|
|
if (!strcmp(argv[1], "rssi_analog")) {
|
|
/* we can cheat and call the driver directly, as it
|
|
* doesn't reference filp in ioctl()
|
|
*/
|
|
int ret = g_dev->ioctl(nullptr, RC_INPUT_ENABLE_RSSI_ANALOG, 1);
|
|
|
|
if (ret != 0) {
|
|
errx(ret, "RSSI analog failed");
|
|
}
|
|
|
|
exit(0);
|
|
}
|
|
|
|
if (!strcmp(argv[1], "rssi_pwm")) {
|
|
/* we can cheat and call the driver directly, as it
|
|
* doesn't reference filp in ioctl()
|
|
*/
|
|
int ret = g_dev->ioctl(nullptr, RC_INPUT_ENABLE_RSSI_PWM, 1);
|
|
|
|
if (ret != 0) {
|
|
errx(ret, "RSSI PWM failed");
|
|
}
|
|
|
|
exit(0);
|
|
}
|
|
|
|
out:
|
|
errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug <level>',\n"
|
|
"'recovery', 'limit <rate>', 'current', 'bind', 'checkcrc',\n"
|
|
"'forceupdate', 'update', 'sbus1_out', 'sbus2_out', 'rssi_analog' or 'rssi_pwm'");
|
|
}
|