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PX4-Autopilot/src/drivers/px4io/px4io.cpp
Beat Küng f1686b1abf px4io: add dynamic mixing support
2021-10-18 18:45:19 -04:00

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/****************************************************************************
*
* Copyright (c) 2012-2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4io.cpp
* Driver for the PX4IO board.
*
* PX4IO is connected via DMA enabled high-speed UART.
*/
#include <px4_platform_common/defines.h>
#include <px4_platform_common/events.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/sem.hpp>
#include <crc32.h>
#include <drivers/device/device.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_io_heater.h>
#include <drivers/drv_mixer.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_sbus.h>
#include <lib/circuit_breaker/circuit_breaker.h>
#include <lib/mathlib/mathlib.h>
#include <lib/mixer_module/mixer_module.hpp>
#include <lib/parameters/param.h>
#include <lib/perf/perf_counter.h>
#include <lib/rc/dsm.h>
#include <lib/systemlib/mavlink_log.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/px4io_status.h>
#include <uORB/topics/parameter_update.h>
#include <debug.h>
#include <modules/px4iofirmware/protocol.h>
#include "uploader.h"
#include "modules/dataman/dataman.h"
#include "px4io_driver.h"
#define PX4IO_SET_DEBUG _IOC(0xff00, 0)
#define PX4IO_REBOOT_BOOTLOADER _IOC(0xff00, 1)
#define PX4IO_CHECK_CRC _IOC(0xff00, 2)
static constexpr unsigned MIN_TOPIC_UPDATE_INTERVAL = 2500; // 2.5 ms -> 400 Hz
using namespace time_literals;
/**
* The PX4IO class.
*
* Encapsulates PX4FMU to PX4IO communications modeled as file operations.
*/
class PX4IO : public cdev::CDev, public ModuleBase<PX4IO>, public OutputModuleInterface
{
public:
/**
* Constructor.
*
* Initialize all class variables.
*/
PX4IO() = delete;
explicit PX4IO(device::Device *interface);
~PX4IO() override;
/**
* Initialize the PX4IO class.
*
* Retrieve relevant initial system parameters. Initialize PX4IO registers.
*/
int init() override;
/**
* Detect if a PX4IO is connected.
*
* Only validate if there is a PX4IO to talk to.
*/
int detect();
/**
* IO Control handler.
*
* Handle all IOCTL calls to the PX4IO file descriptor.
*
* @param[in] filp file handle (not used). This function is always called directly through object reference
* @param[in] cmd the IOCTL command
* @param[in] the IOCTL command parameter (optional)
*/
int ioctl(file *filp, int cmd, unsigned long arg) override;
/**
* Print IO status.
*
* Print all relevant IO status information
*
*/
int print_status();
static int custom_command(int argc, char *argv[]);
static int print_usage(const char *reason = nullptr);
static int task_spawn(int argc, char *argv[]);
/**
* Fetch and print debug console output.
*/
int print_debug();
/*
* To test what happens if IO stops receiving updates from FMU.
*
* @param is_fail true for failure condition, false for normal operation.
*/
void test_fmu_fail(bool is_fail) { _test_fmu_fail = is_fail; };
uint16_t system_status() const { return _status; }
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
unsigned num_control_groups_updated) override;
private:
void Run() override;
void updateDisarmed();
void updateFailsafe();
void updateTimerRateGroups();
static int checkcrc(int argc, char *argv[]);
static int bind(int argc, char *argv[]);
static int lockdown(int argc, char *argv[]);
static int monitor();
static constexpr int PX4IO_MAX_ACTUATORS = 8;
device::Device *const _interface;
unsigned _hardware{0}; ///< Hardware revision
unsigned _max_actuators{0}; ///< Maximum # of actuators supported by PX4IO
unsigned _max_controls{0}; ///< Maximum # of controls supported by PX4IO
unsigned _max_rc_input{0}; ///< Maximum receiver channels supported by PX4IO
unsigned _max_transfer{16}; ///< Maximum number of I2C transfers supported by PX4IO
uint64_t _rc_last_valid{0}; ///< last valid timestamp
int _class_instance{-1};
hrt_abstime _poll_last{0};
orb_advert_t _mavlink_log_pub{nullptr}; ///< mavlink log pub
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
perf_counter_t _interface_read_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": interface read")};
perf_counter_t _interface_write_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": interface write")};
/* cached IO state */
uint16_t _status{0}; ///< Various IO status flags
uint16_t _alarms{0}; ///< Various IO alarms
uint16_t _setup_arming{0}; ///< last arming setup state
uint16_t _last_written_arming_s{0}; ///< the last written arming state reg
uint16_t _last_written_arming_c{0}; ///< the last written arming state reg
uORB::Subscription _t_actuator_armed{ORB_ID(actuator_armed)}; ///< system armed control topic
uORB::Subscription _t_vehicle_command{ORB_ID(vehicle_command)}; ///< vehicle command topic
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
hrt_abstime _last_status_publish{0};
bool _param_update_force{true}; ///< force a parameter update
bool _timer_rates_configured{false};
/* advertised topics */
uORB::PublicationMulti<input_rc_s> _to_input_rc{ORB_ID(input_rc)};
uORB::PublicationMulti<safety_s> _to_safety{ORB_ID(safety)};
uORB::Publication<px4io_status_s> _px4io_status_pub{ORB_ID(px4io_status)};
safety_s _safety{};
bool _lockdown_override{false}; ///< override the safety lockdown
int32_t _thermal_control{-1}; ///< thermal control state
bool _analog_rc_rssi_stable{false}; ///< true when analog RSSI input is stable
float _analog_rc_rssi_volt{-1.f}; ///< analog RSSI voltage
bool _test_fmu_fail{false}; ///< To test what happens if IO loses FMU
bool _in_test_mode{false}; ///< true if PWM_SERVO_ENTER_TEST_MODE is active
MixingOutput _mixing_output{"PWM_MAIN", PX4IO_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
bool _pwm_min_configured{false};
bool _pwm_max_configured{false};
bool _pwm_fail_configured{false};
bool _pwm_dis_configured{false};
bool _pwm_rev_configured{false};
/**
* Update IO's arming-related state
*/
int io_set_arming_state();
/**
* Fetch status and alarms from IO
*
* Also publishes battery voltage/current.
*/
int io_get_status();
/**
* Fetch RC inputs from IO.
*
* @param input_rc Input structure to populate.
* @return OK if data was returned.
*/
int io_publish_raw_rc();
/**
* write register(s)
*
* @param page Register page to write to.
* @param offset Register offset to start writing at.
* @param values Pointer to array of values to write.
* @param num_values The number of values to write.
* @return OK if all values were successfully written.
*/
int io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values);
/**
* write a register
*
* @param page Register page to write to.
* @param offset Register offset to write to.
* @param value Value to write.
* @return OK if the value was written successfully.
*/
int io_reg_set(uint8_t page, uint8_t offset, const uint16_t value);
/**
* read register(s)
*
* @param page Register page to read from.
* @param offset Register offset to start reading from.
* @param values Pointer to array where values should be stored.
* @param num_values The number of values to read.
* @return OK if all values were successfully read.
*/
int io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values);
/**
* read a register
*
* @param page Register page to read from.
* @param offset Register offset to start reading from.
* @return Register value that was read, or _io_reg_get_error on error.
*/
uint32_t io_reg_get(uint8_t page, uint8_t offset);
static const uint32_t _io_reg_get_error = 0x80000000;
/**
* modify a register
*
* @param page Register page to modify.
* @param offset Register offset to modify.
* @param clearbits Bits to clear in the register.
* @param setbits Bits to set in the register.
*/
int io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits);
/**
* Send mixer definition text to IO
*/
int mixer_send(const char *buf, unsigned buflen, unsigned retries = 3);
/**
* Handle a status update from IO.
*
* Publish IO status information if necessary.
*
* @param status The status register
*/
int io_handle_status(uint16_t status);
/**
* Handle issuing dsm bind ioctl to px4io.
*
* @param dsmMode DSM2_BIND_PULSES, DSMX_BIND_PULSES, DSMX8_BIND_PULSES
*/
int dsm_bind_ioctl(int dsmMode);
/**
* Respond to a vehicle command with an ACK message
*
* @param cmd The command that was executed or denied (inbound)
* @param result The command result
*/
void answer_command(const vehicle_command_s &cmd, uint8_t result);
void update_params();
DEFINE_PARAMETERS(
(ParamInt<px4::params::PWM_SBUS_MODE>) _param_pwm_sbus_mode,
(ParamInt<px4::params::RC_RSSI_PWM_CHAN>) _param_rc_rssi_pwm_chan,
(ParamInt<px4::params::RC_RSSI_PWM_MAX>) _param_rc_rssi_pwm_max,
(ParamInt<px4::params::RC_RSSI_PWM_MIN>) _param_rc_rssi_pwm_min,
(ParamInt<px4::params::SENS_EN_THERMAL>) _param_sens_en_themal,
(ParamInt<px4::params::SYS_HITL>) _param_sys_hitl,
(ParamInt<px4::params::SYS_USE_IO>) _param_sys_use_io
)
};
#define PX4IO_DEVICE_PATH "/dev/px4io"
PX4IO::PX4IO(device::Device *interface) :
CDev(PX4IO_DEVICE_PATH),
OutputModuleInterface(MODULE_NAME, px4::serial_port_to_wq(PX4IO_SERIAL_DEVICE)),
_interface(interface)
{
if (!_mixing_output.useDynamicMixing()) {
_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
}
_mixing_output.setLowrateSchedulingInterval(20_ms);
}
PX4IO::~PX4IO()
{
delete _interface;
/* clean up the alternate device node */
if (_class_instance >= 0) {
unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
}
/* deallocate perfs */
perf_free(_cycle_perf);
perf_free(_interval_perf);
perf_free(_interface_read_perf);
perf_free(_interface_write_perf);
}
int
PX4IO::detect()
{
if (!is_running()) {
/* do regular cdev init */
int ret = CDev::init();
if (ret != OK) {
return ret;
}
/* get some parameters */
unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
if (protocol != PX4IO_PROTOCOL_VERSION) {
if (protocol == _io_reg_get_error) {
PX4_ERR("IO not installed");
} else {
PX4_ERR("IO version error");
mavlink_log_emergency(&_mavlink_log_pub, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!\t");
events::send(events::ID("px4io_io_ver_mismatch"), events::Log::Emergency,
"IO version mismatch, please upgrade the software");
}
return -1;
}
}
PX4_INFO("IO found");
return 0;
}
bool PX4IO::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated)
{
SmartLock lock_guard(_lock);
if (!_test_fmu_fail && !_in_test_mode) {
/* output to the servos */
io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, outputs, num_outputs);
}
return true;
}
int PX4IO::init()
{
/* do regular cdev init */
int ret = CDev::init();
if (ret != OK) {
PX4_ERR("init failed %d", ret);
return ret;
}
/* get some parameters */
unsigned protocol;
hrt_abstime start_try_time = hrt_absolute_time();
do {
px4_usleep(2000);
protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
} while (protocol == _io_reg_get_error && (hrt_elapsed_time(&start_try_time) < 700U * 1000U));
/* if the error still persists after timing out, we give up */
if (protocol == _io_reg_get_error) {
mavlink_log_emergency(&_mavlink_log_pub, "Failed to communicate with IO, abort.\t");
events::send(events::ID("px4io_comm_failed"), events::Log::Emergency,
"Failed to communicate with IO, aborting initialization");
return -1;
}
if (protocol != PX4IO_PROTOCOL_VERSION) {
mavlink_log_emergency(&_mavlink_log_pub, "IO protocol/firmware mismatch, abort.\t");
events::send(events::ID("px4io_proto_fw_mismatch"), events::Log::Emergency,
"IO protocol/firmware mismatch, aborting initialization");
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_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 > PX4IO_MAX_ACTUATORS) ||
(_max_transfer < 16) || (_max_transfer > 255) ||
(_max_rc_input < 1) || (_max_rc_input > 255)) {
PX4_ERR("config read error");
mavlink_log_emergency(&_mavlink_log_pub, "[IO] config read fail, abort.\t");
events::send(events::ID("px4io_config_read_failed"), events::Log::Emergency,
"IO config read failed, aborting initialization");
// ask IO to reboot into bootloader as the failure may
// be due to mismatched firmware versions and we want
// the startup script to be able to load a new IO
// firmware
// If IO has already safety off it won't accept going into bootloader mode,
// therefore we need to set safety on first.
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
// Now the reboot into bootloader mode should succeed.
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_REBOOT_BL, PX4IO_REBOOT_BL_MAGIC);
return -1;
}
if (_max_rc_input > input_rc_s::RC_INPUT_MAX_CHANNELS) {
_max_rc_input = input_rc_s::RC_INPUT_MAX_CHANNELS;
}
uint16_t reg = 0;
/* get IO's last seen FMU state */
ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, &reg, sizeof(reg));
if (ret != OK) {
return ret;
}
/* 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_LOCKDOWN,
0);
if (ret != OK) {
mavlink_log_critical(&_mavlink_log_pub, "IO RC config upload fail\t");
events::send(events::ID("px4io_io_rc_config_upload_failed"), events::Log::Critical,
"IO RC config upload failed, aborting initialization");
return ret;
}
/* set safety to off if circuit breaker enabled */
if (circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY)) {
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 */
if (_param_sys_hitl.get() <= 0 && _param_sys_use_io.get() == 1) {
_class_instance = register_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH);
_mixing_output.setDriverInstance(_class_instance);
_mixing_output.setMaxTopicUpdateRate(MIN_TOPIC_UPDATE_INTERVAL);
}
update_params();
ScheduleNow();
return OK;
}
void PX4IO::updateDisarmed()
{
pwm_output_values pwm{};
for (unsigned i = 0; i < _max_actuators; i++) {
pwm.values[i] = _mixing_output.disarmedValue(i);
}
io_reg_set(PX4IO_PAGE_DISARMED_PWM, 0, pwm.values, _max_actuators);
}
void PX4IO::updateFailsafe()
{
pwm_output_values pwm{};
for (unsigned i = 0; i < _max_actuators; i++) {
pwm.values[i] = _mixing_output.actualFailsafeValue(i);
}
io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm.values, _max_actuators);
}
void PX4IO::Run()
{
if (should_exit()) {
ScheduleClear();
_mixing_output.unregister();
exit_and_cleanup();
return;
}
perf_begin(_cycle_perf);
perf_count(_interval_perf);
// schedule minimal update rate if there are no actuator controls
if (!_mixing_output.useDynamicMixing()) {
ScheduleDelayed(20_ms);
}
/* if we have new control data from the ORB, handle it */
if (_param_sys_hitl.get() <= 0) {
_mixing_output.update();
}
SmartLock lock_guard(_lock);
if (hrt_elapsed_time(&_poll_last) >= 20_ms) {
/* run at 50 */
_poll_last = hrt_absolute_time();
/* pull status and alarms from IO */
io_get_status();
/* get raw R/C input from IO */
io_publish_raw_rc();
}
if (_param_sys_hitl.get() <= 0) {
/* check updates on uORB topics and handle it */
if (_t_actuator_armed.updated()) {
io_set_arming_state();
// TODO: throttle
}
}
if (!_mixing_output.armed().armed) {
/* vehicle command */
if (_t_vehicle_command.updated()) {
vehicle_command_s cmd{};
_t_vehicle_command.copy(&cmd);
// Check for a DSM pairing command
if (((unsigned int)cmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) {
int bind_arg;
switch ((int)cmd.param2) {
case 0:
bind_arg = DSM2_BIND_PULSES;
break;
case 1:
bind_arg = DSMX_BIND_PULSES;
break;
case 2:
default:
bind_arg = DSMX8_BIND_PULSES;
break;
}
int dsm_ret = dsm_bind_ioctl(bind_arg);
/* publish ACK */
if (dsm_ret == OK) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_FAILED);
}
}
}
/*
* If parameters have changed, re-send RC mappings to IO
*/
// check for parameter updates
if (_parameter_update_sub.updated() || _param_update_force) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
_param_update_force = false;
ModuleParams::updateParams();
update_params();
/* Check if the IO safety circuit breaker has been updated */
bool circuit_breaker_io_safety_enabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY);
/* Bypass IO safety switch logic by setting FORCE_SAFETY_OFF */
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, circuit_breaker_io_safety_enabled);
/* Check if the flight termination circuit breaker has been updated */
bool disable_flighttermination = circuit_breaker_enabled("CBRK_FLIGHTTERM", CBRK_FLIGHTTERM_KEY);
/* Tell IO that it can terminate the flight if FMU is not responding or if a failure has been reported by the FailureDetector logic */
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION, !disable_flighttermination);
if (_param_sens_en_themal.get() != _thermal_control || _param_update_force) {
_thermal_control = _param_sens_en_themal.get();
/* set power management state for thermal */
uint16_t tctrl;
if (_thermal_control < 0) {
tctrl = PX4IO_THERMAL_IGNORE;
} else {
tctrl = PX4IO_THERMAL_OFF;
}
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_THERMAL, tctrl);
}
/* S.BUS output */
if (_param_pwm_sbus_mode.get() == 1) {
/* enable S.BUS 1 */
io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS1_OUT);
} else if (_param_pwm_sbus_mode.get() == 2) {
/* enable S.BUS 2 */
io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS2_OUT);
} else {
/* disable S.BUS */
io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES,
(PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT), 0);
}
}
}
_mixing_output.updateSubscriptions(false, true);
perf_end(_cycle_perf);
}
void PX4IO::updateTimerRateGroups()
{
if (_timer_rates_configured) { // avoid setting timer rates on each param update
return;
}
_timer_rates_configured = true;
int timer = 0;
uint16_t timer_rates[PX4IO_P_SETUP_PWM_RATE_GROUP3 - PX4IO_P_SETUP_PWM_RATE_GROUP0 + 1] {};
for (uint8_t offset = PX4IO_P_SETUP_PWM_RATE_GROUP0; offset <= PX4IO_P_SETUP_PWM_RATE_GROUP3; ++offset) {
char param_name[17];
snprintf(param_name, sizeof(param_name), "%s_TIM%u", _mixing_output.paramPrefix(), timer);
int32_t tim_config = 0;
param_t handle = param_find(param_name);
if (handle == PARAM_INVALID) {
break;
}
param_get(handle, &tim_config);
if (tim_config > 0) {
timer_rates[timer] = tim_config;
} else if (tim_config == -1) { // OneShot
timer_rates[timer] = 0;
}
++timer;
}
int ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATE_GROUP0, timer_rates, timer);
if (ret != 0) {
PX4_ERR("io_reg_set failed (%i)", ret);
}
}
void PX4IO::update_params()
{
if (!_mixing_output.armed().armed && _mixing_output.useDynamicMixing()) {
// sync params to IO
updateTimerRateGroups();
updateFailsafe();
updateDisarmed();
return;
}
// skip update when armed or PWM disabled
if (_mixing_output.armed().armed || _class_instance == -1 || _mixing_output.useDynamicMixing()) {
return;
}
int32_t pwm_min_default = PWM_DEFAULT_MIN;
int32_t pwm_max_default = PWM_DEFAULT_MAX;
int32_t pwm_disarmed_default = 0;
int32_t pwm_rate_default = 50;
int32_t pwm_default_channels = 0;
const char *prefix = "PWM_MAIN";
param_get(param_find("PWM_MAIN_MIN"), &pwm_min_default);
param_get(param_find("PWM_MAIN_MAX"), &pwm_max_default);
param_get(param_find("PWM_MAIN_DISARM"), &pwm_disarmed_default);
param_get(param_find("PWM_MAIN_RATE"), &pwm_rate_default);
param_get(param_find("PWM_MAIN_OUT"), &pwm_default_channels);
uint32_t single_ch = 0;
uint32_t pwm_default_channel_mask = 0;
while ((single_ch = pwm_default_channels % 10)) {
pwm_default_channel_mask |= 1 << (single_ch - 1);
pwm_default_channels /= 10;
}
char str[17];
// PWM_MAIN_MINx
if (!_pwm_min_configured) {
for (unsigned i = 0; i < _max_actuators; i++) {
sprintf(str, "%s_MIN%u", prefix, i + 1);
int32_t pwm_min = -1;
if (param_get(param_find(str), &pwm_min) == PX4_OK) {
if (pwm_min >= 0 && pwm_min != 1000) {
_mixing_output.minValue(i) = math::constrain(pwm_min, static_cast<int32_t>(PWM_LOWEST_MIN),
static_cast<int32_t>(PWM_HIGHEST_MIN));
if (pwm_min != _mixing_output.minValue(i)) {
int32_t pwm_min_new = _mixing_output.minValue(i);
param_set(param_find(str), &pwm_min_new);
}
} else if (pwm_default_channel_mask & 1 << i) {
_mixing_output.minValue(i) = pwm_min_default;
}
}
}
_pwm_min_configured = true;
}
// PWM_MAIN_MAXx
if (!_pwm_max_configured) {
for (unsigned i = 0; i < _max_actuators; i++) {
sprintf(str, "%s_MAX%u", prefix, i + 1);
int32_t pwm_max = -1;
if (param_get(param_find(str), &pwm_max) == PX4_OK) {
if (pwm_max >= 0 && pwm_max != 2000) {
_mixing_output.maxValue(i) = math::constrain(pwm_max, static_cast<int32_t>(PWM_LOWEST_MAX),
static_cast<int32_t>(PWM_HIGHEST_MAX));
if (pwm_max != _mixing_output.maxValue(i)) {
int32_t pwm_max_new = _mixing_output.maxValue(i);
param_set(param_find(str), &pwm_max_new);
}
} else if (pwm_default_channel_mask & 1 << i) {
_mixing_output.maxValue(i) = pwm_max_default;
}
}
}
_pwm_max_configured = true;
}
// PWM_MAIN_FAILx
if (!_pwm_fail_configured) {
for (unsigned i = 0; i < _max_actuators; i++) {
sprintf(str, "%s_FAIL%u", prefix, i + 1);
int32_t pwm_fail = -1;
if (param_get(param_find(str), &pwm_fail) == PX4_OK) {
if (pwm_fail >= 0) {
_mixing_output.failsafeValue(i) = math::constrain(pwm_fail, static_cast<int32_t>(0),
static_cast<int32_t>(PWM_HIGHEST_MAX));
if (pwm_fail != _mixing_output.failsafeValue(i)) {
int32_t pwm_fail_new = _mixing_output.failsafeValue(i);
param_set(param_find(str), &pwm_fail_new);
}
}
}
}
_pwm_fail_configured = true;
updateFailsafe();
}
// PWM_MAIN_DISx
if (!_pwm_dis_configured) {
for (unsigned i = 0; i < _max_actuators; i++) {
sprintf(str, "%s_DIS%u", prefix, i + 1);
int32_t pwm_dis = -1;
if (param_get(param_find(str), &pwm_dis) == PX4_OK) {
if (pwm_dis >= 0 && pwm_dis != 900) {
_mixing_output.disarmedValue(i) = math::constrain(pwm_dis, static_cast<int32_t>(0),
static_cast<int32_t>(PWM_HIGHEST_MAX));
if (pwm_dis != _mixing_output.disarmedValue(i)) {
int32_t pwm_dis_new = _mixing_output.disarmedValue(i);
param_set(param_find(str), &pwm_dis_new);
}
} else if (pwm_default_channel_mask & 1 << i) {
_mixing_output.disarmedValue(i) = pwm_disarmed_default;
}
}
}
_pwm_dis_configured = true;
updateDisarmed();
}
// PWM_MAIN_REVx
if (!_pwm_rev_configured) {
uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
reverse_pwm_mask = 0;
for (unsigned i = 0; i < _max_actuators; i++) {
sprintf(str, "%s_REV%u", prefix, i + 1);
int32_t pwm_rev = -1;
if (param_get(param_find(str), &pwm_rev) == PX4_OK) {
if (pwm_rev >= 1) {
reverse_pwm_mask |= (1 << i);
}
}
}
_pwm_rev_configured = true;
}
// PWM_MAIN_TRIMx
if (_mixing_output.mixers()) {
int16_t values[8] {};
for (unsigned i = 0; i < _max_actuators; i++) {
sprintf(str, "%s_TRIM%u", prefix, i + 1);
float pwm_trim = 0.f;
if (param_get(param_find(str), &pwm_trim) == PX4_OK) {
values[i] = roundf(10000 * pwm_trim);
}
}
// copy the trim values to the mixer offsets
_mixing_output.mixers()->set_trims(values, _max_actuators);
}
}
void PX4IO::answer_command(const vehicle_command_s &cmd, uint8_t result)
{
/* publish ACK */
uORB::Publication<vehicle_command_ack_s> vehicle_command_ack_pub{ORB_ID(vehicle_command_ack)};
vehicle_command_ack_s command_ack{};
command_ack.command = cmd.command;
command_ack.result = result;
command_ack.target_system = cmd.source_system;
command_ack.target_component = cmd.source_component;
command_ack.timestamp = hrt_absolute_time();
vehicle_command_ack_pub.publish(command_ack);
}
int
PX4IO::io_set_arming_state()
{
uint16_t set = 0;
uint16_t clear = 0;
actuator_armed_s armed;
if (_t_actuator_armed.copy(&armed)) {
if (armed.armed || armed.in_esc_calibration_mode) {
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
} else {
clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
}
if (armed.prearmed) {
set |= PX4IO_P_SETUP_ARMING_FMU_PREARMED;
} else {
clear |= PX4IO_P_SETUP_ARMING_FMU_PREARMED;
}
if ((armed.lockdown || armed.manual_lockdown) && !_lockdown_override) {
set |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
_lockdown_override = true;
} else if (!(armed.lockdown || armed.manual_lockdown) && _lockdown_override) {
clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
_lockdown_override = false;
}
if (armed.force_failsafe) {
set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
} else {
clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
}
// XXX this is for future support in the commander
// but can be removed if unneeded
// if (armed.termination_failsafe) {
// set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// } else {
// clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// }
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
}
}
if (_last_written_arming_s != set || _last_written_arming_c != clear) {
_last_written_arming_s = set;
_last_written_arming_c = clear;
return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
}
return 0;
}
int PX4IO::io_handle_status(uint16_t status)
{
int ret = 1;
/**
* WARNING: This section handles in-air resets.
*/
/* check for IO reset - force it back to armed if necessary */
if (_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF && !(status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
&& !(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
/* set the arming flag */
ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0,
PX4IO_P_STATUS_FLAGS_SAFETY_OFF | PX4IO_P_STATUS_FLAGS_ARM_SYNC);
/* set new status */
_status = status;
_status &= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
} else if (!(_status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
/* set the sync flag */
ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARM_SYNC);
/* set new status */
_status = status;
} else {
ret = 0;
/* set new status */
_status = status;
}
/**
* Get and handle the safety status
*/
const bool safety_off = status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
// publish immediately on change, otherwise at 1 Hz
if ((hrt_elapsed_time(&_safety.timestamp) >= 1_s)
|| (_safety.safety_off != safety_off)) {
_safety.safety_switch_available = true;
_safety.safety_off = safety_off;
_safety.timestamp = hrt_absolute_time();
_to_safety.publish(_safety);
}
return ret;
}
int PX4IO::dsm_bind_ioctl(int dsmMode)
{
// Do not bind if invalid pulses are provided
if (dsmMode != DSM2_BIND_PULSES &&
dsmMode != DSMX_BIND_PULSES &&
dsmMode != DSMX8_BIND_PULSES) {
PX4_ERR("Unknown DSM mode: %d", dsmMode);
return -EINVAL;
}
// Do not bind if armed
bool armed = (_status & PX4IO_P_SETUP_ARMING_FMU_ARMED);
if (armed) {
PX4_ERR("Not binding DSM, system is armed.");
return -EINVAL;
}
// Check if safety was off
bool safety_off = (_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
int ret = -1;
// Put safety on
if (safety_off) {
// re-enable safety
ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, PX4IO_P_STATUS_FLAGS_SAFETY_OFF, 0);
// set new status
_status &= ~(PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
}
PX4_INFO("Binding DSM%s RX", (dsmMode == DSM2_BIND_PULSES) ? "2" : ((dsmMode == DSMX_BIND_PULSES) ? "-X" : "-X8"));
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
px4_usleep(500000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
px4_usleep(72000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (dsmMode << 4));
px4_usleep(50000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
ret = OK;
// Put safety back off
if (safety_off) {
ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0,
PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
_status |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
}
if (ret != OK) {
PX4_INFO("Binding DSM failed");
}
return ret;
}
int PX4IO::io_get_status()
{
/* get
* STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT,
* STATUS_VSERVO, STATUS_VRSSI
* in that order */
uint16_t regs[6] {};
int ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &regs[0], sizeof(regs) / sizeof(regs[0]));
if (ret != OK) {
return ret;
}
const uint16_t STATUS_FLAGS = regs[0];
const uint16_t STATUS_ALARMS = regs[1];
const uint16_t STATUS_VSERVO = regs[4];
const uint16_t STATUS_VRSSI = regs[5];
io_handle_status(STATUS_FLAGS);
const float rssi_v = STATUS_VRSSI * 0.001f; // voltage is scaled to mV
if (_analog_rc_rssi_volt < 0.f) {
_analog_rc_rssi_volt = rssi_v;
}
_analog_rc_rssi_volt = _analog_rc_rssi_volt * 0.99f + rssi_v * 0.01f;
if (_analog_rc_rssi_volt > 2.5f) {
_analog_rc_rssi_stable = true;
}
const uint16_t SETUP_ARMING = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
if ((hrt_elapsed_time(&_last_status_publish) >= 1_s)
|| (_status != STATUS_FLAGS)
|| (_alarms != STATUS_ALARMS)
|| (_setup_arming != SETUP_ARMING)
) {
px4io_status_s status{};
status.voltage_v = STATUS_VSERVO * 0.001f; // voltage is scaled to mV
status.rssi_v = rssi_v;
status.free_memory_bytes = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM);
// PX4IO_P_STATUS_FLAGS
status.status_outputs_armed = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED;
status.status_rc_ok = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_OK;
status.status_rc_ppm = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_PPM;
status.status_rc_dsm = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_DSM;
status.status_rc_sbus = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_SBUS;
status.status_rc_st24 = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_ST24;
status.status_rc_sumd = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RC_SUMD;
status.status_fmu_initialized = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED;
status.status_fmu_ok = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_FMU_OK;
status.status_raw_pwm = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_RAW_PWM;
status.status_arm_sync = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_ARM_SYNC;
status.status_init_ok = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_INIT_OK;
status.status_failsafe = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_FAILSAFE;
status.status_safety_off = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
// PX4IO_P_STATUS_ALARMS
status.alarm_rc_lost = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_RC_LOST;
status.alarm_pwm_error = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_PWM_ERROR;
// PX4IO_P_SETUP_ARMING
status.arming_io_arm_ok = SETUP_ARMING & PX4IO_P_SETUP_ARMING_IO_ARM_OK;
status.arming_fmu_armed = SETUP_ARMING & PX4IO_P_SETUP_ARMING_FMU_ARMED;
status.arming_fmu_prearmed = SETUP_ARMING & PX4IO_P_SETUP_ARMING_FMU_PREARMED;
status.arming_failsafe_custom = SETUP_ARMING & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM;
status.arming_lockdown = SETUP_ARMING & PX4IO_P_SETUP_ARMING_LOCKDOWN;
status.arming_force_failsafe = SETUP_ARMING & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
status.arming_termination_failsafe = SETUP_ARMING & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
for (unsigned i = 0; i < _max_actuators; i++) {
status.pwm[i] = io_reg_get(PX4IO_PAGE_SERVOS, i);
status.pwm_disarmed[i] = io_reg_get(PX4IO_PAGE_DISARMED_PWM, i);
status.pwm_failsafe[i] = io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i);
}
if (_mixing_output.useDynamicMixing()) {
int i = 0;
for (uint8_t offset = PX4IO_P_SETUP_PWM_RATE_GROUP0; offset <= PX4IO_P_SETUP_PWM_RATE_GROUP3; ++offset) {
// This is a bit different than below, setting the groups, not the channels
status.pwm_rate_hz[i++] = io_reg_get(PX4IO_PAGE_SETUP, offset);
}
} else {
// PWM rates, 0 = low rate, 1 = high rate
const uint16_t pwm_rate = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES);
const int pwm_low_rate = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE);
const int pwm_high_rate = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE);
for (unsigned i = 0; i < _max_actuators; i++) {
if (pwm_rate & (1 << i)) {
status.pwm_rate_hz[i] = pwm_high_rate;
} else {
status.pwm_rate_hz[i] = pwm_low_rate;
}
}
}
uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT);
for (unsigned i = 0; i < raw_inputs; i++) {
status.raw_inputs[i] = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i);
}
status.timestamp = hrt_absolute_time();
_px4io_status_pub.publish(status);
_last_status_publish = status.timestamp;
}
_alarms = STATUS_ALARMS;
_setup_arming = SETUP_ARMING;
return ret;
}
int PX4IO::io_publish_raw_rc()
{
input_rc_s input_rc{};
/* set the RC status flag ORDER MATTERS! */
input_rc.rc_lost = !(_status & PX4IO_P_STATUS_FLAGS_RC_OK);
/* we don't have the status bits, so input_source has to be set elsewhere */
input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT);
uint16_t regs[input_rc_s::RC_INPUT_MAX_CHANNELS + prolog];
/*
* Read the channel count and the first 9 channels.
*
* This should be the common case (9 channel R/C control being a reasonable upper bound).
*/
int ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT, &regs[0], prolog + 9);
if (ret != OK) {
return ret;
}
/*
* Get the channel count any any extra channels. This is no more expensive than reading the
* channel count once.
*/
uint32_t channel_count = regs[PX4IO_P_RAW_RC_COUNT];
/* limit the channel count */
if (channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
}
input_rc.timestamp = hrt_absolute_time();
input_rc.rc_ppm_frame_length = regs[PX4IO_P_RAW_RC_DATA];
if (!_analog_rc_rssi_stable) {
input_rc.rssi = regs[PX4IO_P_RAW_RC_NRSSI];
} else {
float rssi_analog = ((_analog_rc_rssi_volt - 0.2f) / 3.0f) * 100.0f;
if (rssi_analog > 100.0f) {
rssi_analog = 100.0f;
}
if (rssi_analog < 0.0f) {
rssi_analog = 0.0f;
}
input_rc.rssi = rssi_analog;
}
input_rc.rc_failsafe = (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
input_rc.rc_lost = !(regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_RC_OK);
input_rc.rc_lost_frame_count = regs[PX4IO_P_RAW_LOST_FRAME_COUNT];
input_rc.rc_total_frame_count = regs[PX4IO_P_RAW_FRAME_COUNT];
input_rc.channel_count = channel_count;
/* rc_lost has to be set before the call to this function */
if ((channel_count > 0) && !input_rc.rc_lost && !input_rc.rc_failsafe) {
_rc_last_valid = input_rc.timestamp;
}
input_rc.timestamp_last_signal = _rc_last_valid;
/* FIELDS NOT SET HERE */
/* input_rc.input_source is set after this call XXX we might want to mirror the flags in the RC struct */
if (channel_count > 9) {
ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, &regs[prolog + 9], channel_count - 9);
if (ret != OK) {
return ret;
}
}
/* last thing set are the actual channel values as 16 bit values */
for (unsigned i = 0; i < channel_count; i++) {
input_rc.values[i] = regs[prolog + i];
}
/* zero the remaining fields */
for (unsigned i = channel_count; i < (sizeof(input_rc.values) / sizeof(input_rc.values[0])); i++) {
input_rc.values[i] = 0;
}
/* get RSSI from input channel */
if (_param_rc_rssi_pwm_chan.get() > 0 && _param_rc_rssi_pwm_chan.get() <= input_rc_s::RC_INPUT_MAX_CHANNELS) {
const auto &min = _param_rc_rssi_pwm_min.get();
const auto &max = _param_rc_rssi_pwm_max.get();
if (max - min != 0) {
int rssi = ((input_rc.values[_param_rc_rssi_pwm_chan.get() - 1] - min) * 100) / (max - min);
input_rc.rssi = math::constrain(rssi, 0, 100);
}
}
/* sort out the source of the values */
if (_status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SBUS;
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_ST24) {
input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_ST24;
} else {
input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
/* only keep publishing RC input if we ever got a valid input */
if (_rc_last_valid == 0) {
/* we have never seen valid RC signals, abort */
return OK;
}
}
_to_input_rc.publish(input_rc);
return ret;
}
int PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
{
/* range check the transfer */
if (num_values > ((_max_transfer) / sizeof(*values))) {
PX4_DEBUG("io_reg_set: too many registers (%u, max %u)", num_values, _max_transfer / 2);
return -EINVAL;
}
perf_begin(_interface_write_perf);
int ret = _interface->write((page << 8) | offset, (void *)values, num_values);
perf_end(_interface_write_perf);
if (ret != (int)num_values) {
PX4_DEBUG("io_reg_set(%" PRIu8 ",%" PRIu8 ",%u): error %d", page, offset, num_values, ret);
return -1;
}
return OK;
}
int PX4IO::io_reg_set(uint8_t page, uint8_t offset, uint16_t value)
{
return io_reg_set(page, offset, &value, 1);
}
int PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values)
{
/* range check the transfer */
if (num_values > ((_max_transfer) / sizeof(*values))) {
PX4_DEBUG("io_reg_get: too many registers (%u, max %u)", num_values, _max_transfer / 2);
return -EINVAL;
}
perf_begin(_interface_read_perf);
int ret = _interface->read((page << 8) | offset, reinterpret_cast<void *>(values), num_values);
perf_end(_interface_read_perf);
if (ret != (int)num_values) {
PX4_DEBUG("io_reg_get(%" PRIu8 ",%" PRIu8 ",%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)
{
uint16_t value = 0;
int ret = io_reg_get(page, offset, &value, 1);
if (ret != OK) {
return ret;
}
value &= ~clearbits;
value |= setbits;
return io_reg_set(page, offset, value);
}
int
PX4IO::print_debug()
{
#if defined(CONFIG_ARCH_BOARD_PX4_FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4_FMU_V3)
int io_fd = -1;
if (io_fd <= 0) {
io_fd = ::open("/dev/ttyS0", O_RDONLY | O_NONBLOCK | O_NOCTTY);
}
/* read IO's output */
if (io_fd >= 0) {
pollfd fds[1];
fds[0].fd = io_fd;
fds[0].events = POLLIN;
px4_usleep(500);
int pret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), 0);
if (pret > 0) {
int count;
char buf[65];
do {
count = ::read(io_fd, buf, sizeof(buf) - 1);
if (count > 0) {
/* enforce null termination */
buf[count] = '\0';
warnx("IO CONSOLE: %s", buf);
}
} while (count > 0);
}
::close(io_fd);
return 0;
}
#endif
return 1;
}
int PX4IO::print_status()
{
/* basic configuration */
printf("protocol %" PRIu32 " hardware %" PRIu32 " bootloader %" PRIu32 " buffer %" PRIu32 "B crc 0x%04" PRIu32 "%04"
PRIu32 "\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("%" PRIu32 " controls %" PRIu32 " actuators %" PRIu32 " R/C inputs %" PRIu32 " analog inputs\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));
/* status */
uORB::SubscriptionData<px4io_status_s> status_sub{ORB_ID(px4io_status)};
status_sub.update();
print_message(status_sub.get());
/* now clear alarms */
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, 0x0000);
printf("\n");
uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT);
printf("%" PRIu16 " raw R/C inputs", raw_inputs);
for (unsigned i = 0; i < raw_inputs; i++) {
printf(" %" PRIu32, io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_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(" %" PRIu32, 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%04" PRIx16 "%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_ADC_RSSI) ? " RSSI_ADC" : "")
);
printf("sbus rate %" PRIu32 "\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SBUS_RATE));
printf("debuglevel %" PRIu32 "\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG));
/* IMU heater (Pixhawk 2.1) */
uint16_t heater_level = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_THERMAL);
if (heater_level != UINT16_MAX) {
if (heater_level == PX4IO_THERMAL_OFF) {
printf("\nIMU heater off");
} else {
printf("\nIMU heater level %d", heater_level);
}
}
printf("\n");
_mixing_output.printStatus();
return 0;
}
int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
{
SmartLock lock_guard(_lock);
int ret = OK;
/* regular ioctl? */
switch (cmd) {
case PWM_SERVO_ARM:
PX4_DEBUG("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:
PX4_DEBUG("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:
PX4_DEBUG("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:
PX4_DEBUG("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:
PX4_DEBUG("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:
PX4_DEBUG("PWM_SERVO_SET_UPDATE_RATE");
if (_mixing_output.useDynamicMixing()) {
ret = -EINVAL;
break;
}
/* 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:
PX4_DEBUG("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: {
PX4_DEBUG("PWM_SERVO_SET_SELECT_UPDATE_RATE");
if (_mixing_output.useDynamicMixing()) {
ret = -EINVAL;
break;
}
/* 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);
PX4_ERR("failed setting PWM rate on IO");
}
break;
}
case PWM_SERVO_GET_SELECT_UPDATE_RATE:
PX4_DEBUG("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: {
PX4_DEBUG("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;
}
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] != 0 && !_mixing_output.useDynamicMixing()) {
_mixing_output.failsafeValue(i) = math::constrain(pwm->values[i], (uint16_t)PWM_LOWEST_MIN, (uint16_t)PWM_HIGHEST_MAX);
}
}
updateFailsafe();
break;
}
case PWM_SERVO_GET_FAILSAFE_PWM: {
PX4_DEBUG("PWM_SERVO_GET_FAILSAFE_PWM");
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
ret = io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm->values, _max_actuators);
if (ret != OK) {
ret = -EIO;
}
break;
}
case PWM_SERVO_SET_DISARMED_PWM: {
PX4_DEBUG("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;
}
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] != 0 && !_mixing_output.useDynamicMixing()) {
_mixing_output.disarmedValue(i) = math::constrain(pwm->values[i], (uint16_t)PWM_LOWEST_MIN, (uint16_t)PWM_HIGHEST_MAX);
}
}
updateDisarmed();
break;
}
case PWM_SERVO_GET_DISARMED_PWM: {
PX4_DEBUG("PWM_SERVO_GET_DISARMED_PWM");
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
for (unsigned i = 0; i < _max_actuators; i++) {
pwm->values[i] = _mixing_output.disarmedValue(i);
}
break;
}
case PWM_SERVO_SET_MIN_PWM: {
PX4_DEBUG("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;
}
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] != 0 && !_mixing_output.useDynamicMixing()) {
_mixing_output.minValue(i) = math::constrain(pwm->values[i], (uint16_t)PWM_LOWEST_MIN, (uint16_t)PWM_HIGHEST_MIN);
}
}
break;
}
case PWM_SERVO_GET_MIN_PWM: {
PX4_DEBUG("PWM_SERVO_GET_MIN_PWM");
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
for (unsigned i = 0; i < _max_actuators; i++) {
pwm->values[i] = _mixing_output.minValue(i);
}
break;
}
case PWM_SERVO_SET_MAX_PWM: {
PX4_DEBUG("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;
}
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (pwm->values[i] != 0 && !_mixing_output.useDynamicMixing()) {
_mixing_output.maxValue(i) = math::constrain(pwm->values[i], (uint16_t)PWM_LOWEST_MAX, (uint16_t)PWM_HIGHEST_MAX);
}
}
}
break;
case PWM_SERVO_GET_MAX_PWM: {
PX4_DEBUG("PWM_SERVO_GET_MAX_PWM");
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
for (unsigned i = 0; i < _max_actuators; i++) {
pwm->values[i] = _mixing_output.maxValue(i);
}
}
break;
case PWM_SERVO_GET_TRIM_PWM: {
PX4_DEBUG("PWM_SERVO_GET_TRIM_PWM");
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
if (_mixing_output.mixers() == nullptr) {
memset(pwm, 0, sizeof(pwm_output_values));
PX4_WARN("warning: trim values not valid - no mixer loaded");
} else {
pwm->channel_count = _mixing_output.mixers()->get_trims((int16_t *)pwm->values);
}
break;
}
case PWM_SERVO_GET_COUNT:
PX4_DEBUG("PWM_SERVO_GET_COUNT");
*(unsigned *)arg = _max_actuators;
break;
case PWM_SERVO_SET_DISABLE_LOCKDOWN:
PX4_DEBUG("PWM_SERVO_SET_DISABLE_LOCKDOWN");
_lockdown_override = arg;
break;
case PWM_SERVO_GET_DISABLE_LOCKDOWN:
PX4_DEBUG("PWM_SERVO_GET_DISABLE_LOCKDOWN");
*(unsigned *)arg = _lockdown_override;
break;
case PWM_SERVO_SET_FORCE_SAFETY_OFF:
PX4_DEBUG("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:
PX4_DEBUG("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:
PX4_DEBUG("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:
PX4_DEBUG("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 DSM_BIND_START:
/* bind a DSM receiver */
ret = dsm_bind_ioctl(arg);
break;
case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS - 1): {
/* TODO: we could go lower for e.g. TurboPWM */
unsigned channel = cmd - PWM_SERVO_SET(0);
/* PWM needs to be either 0 or in the valid range. */
if ((arg != 0) && ((channel >= _max_actuators) ||
(arg < PWM_LOWEST_MIN) ||
(arg > PWM_HIGHEST_MAX))) {
ret = -EINVAL;
} else {
if (!_test_fmu_fail && _in_test_mode) {
/* send a direct PWM value */
ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, channel, arg);
} else {
/* Just silently accept the ioctl without doing anything
* in test mode. */
ret = OK;
}
}
break;
}
case PWM_SERVO_GET(0) ... PWM_SERVO_GET(PWM_OUTPUT_MAX_CHANNELS - 1): {
unsigned channel = cmd - PWM_SERVO_GET(0);
if (channel >= _max_actuators) {
ret = -EINVAL;
} else {
/* fetch a current PWM value */
uint32_t value = io_reg_get(PX4IO_PAGE_SERVOS, channel);
if (value == _io_reg_get_error) {
ret = -EIO;
} else {
*(servo_position_t *)arg = value;
}
}
break;
}
case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): {
unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0);
*(uint32_t *)arg = io_reg_get(PX4IO_PAGE_PWM_INFO, PX4IO_RATE_MAP_BASE + channel);
if (*(uint32_t *)arg == _io_reg_get_error) {
ret = -EIO;
}
break;
}
case PWM_SERVO_SET_MODE: {
// reset all channels to disarmed when entering/leaving test mode, so that we don't
// accidentially use values from previous tests
pwm_output_values pwm_disarmed;
if (io_reg_get(PX4IO_PAGE_DISARMED_PWM, 0, pwm_disarmed.values, _max_actuators) == 0) {
for (unsigned i = 0; i < _max_actuators; ++i) {
io_reg_set(PX4IO_PAGE_DIRECT_PWM, i, pwm_disarmed.values[i]);
}
}
_in_test_mode = (arg == PWM_SERVO_ENTER_TEST_MODE);
ret = (arg == PWM_SERVO_ENTER_TEST_MODE || PWM_SERVO_EXIT_TEST_MODE) ? 0 : -EINVAL;
}
break;
case MIXERIOCRESET:
PX4_DEBUG("MIXERIOCRESET");
_mixing_output.resetMixerThreadSafe();
break;
case MIXERIOCLOADBUF: {
PX4_DEBUG("MIXERIOCLOADBUF");
const char *buf = (const char *)arg;
unsigned buflen = strlen(buf);
ret = _mixing_output.loadMixerThreadSafe(buf, buflen);
break;
}
case PX4IO_SET_DEBUG:
PX4_DEBUG("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_SETUP_ARMING_FMU_ARMED) {
PX4_ERR("not upgrading IO firmware, system is armed");
return -EINVAL;
}
// re-enable safety
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
if (ret != PX4_OK) {
PX4_WARN("IO refused to re-enable safety");
}
// set new status
_status &= ~(PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
/* reboot into bootloader - arg must be PX4IO_REBOOT_BL_MAGIC */
usleep(1);
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_REBOOT_BL, arg);
if (ret != PX4_OK) {
PX4_WARN("IO refused to reboot");
}
break;
case PX4IO_CHECK_CRC: {
PX4_DEBUG("PX4IO_CHECK_CRC");
/* check IO firmware CRC against passed value */
uint32_t io_crc = 0;
ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC, (uint16_t *)&io_crc, 2);
if (ret != OK) {
return ret;
}
if (io_crc != arg) {
PX4_DEBUG("Firmware CRC mismatch 0x%08" PRIx32 " 0x%08lx", io_crc, arg);
return -EINVAL;
}
break;
}
case SBUS_SET_PROTO_VERSION:
PX4_DEBUG("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 PX4IO_HEATER_CONTROL:
if (arg == (unsigned long)HEATER_MODE_DISABLED) {
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_THERMAL, PX4IO_THERMAL_IGNORE);
} else if (arg == 1) {
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_THERMAL, PX4IO_THERMAL_FULL);
} else {
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_THERMAL, PX4IO_THERMAL_OFF);
}
break;
default:
/* see if the parent class can make any use of it */
ret = CDev::ioctl(filep, cmd, arg);
break;
}
return ret;
}
static device::Device *get_interface()
{
device::Device *interface = PX4IO_serial_interface();
if (interface != nullptr) {
if (interface->init() != OK) {
PX4_ERR("interface init failed");
delete interface;
interface = nullptr;
}
}
return interface;
}
static int detect(int argc, char *argv[])
{
/* allocate the interface */
device::Device *interface = get_interface();
if (interface == nullptr) {
PX4_ERR("interface allocation failed");
return 1;
}
PX4IO *dev = new PX4IO(interface);
if (dev == nullptr) {
PX4_ERR("driver allocation failed");
return 1;
}
int ret = dev->detect();
delete dev;
return ret;
}
int PX4IO::checkcrc(int argc, char *argv[])
{
/*
check IO CRC against CRC of a file
*/
if (argc < 1) {
PX4_WARN("usage: px4io checkcrc filename");
return 1;
}
device::Device *interface = get_interface();
if (interface == nullptr) {
PX4_ERR("interface allocation failed");
return 1;
}
PX4IO *dev = new PX4IO(interface);
if (dev == nullptr) {
delete interface;
PX4_ERR("driver allocation failed");
return 1;
}
int fd = ::open(argv[0], O_RDONLY);
if (fd == -1) {
delete dev;
PX4_ERR("open of %s failed: %d", argv[0], errno);
return 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 = dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc);
delete dev;
if (ret != OK) {
PX4_WARN("check CRC failed: %d, CRC: %" PRIu32, ret, fw_crc);
return 1;
}
PX4_INFO("IO FW CRC match");
return 0;
}
int PX4IO::bind(int argc, char *argv[])
{
int pulses;
if (argc < 1) {
PX4_ERR("needs argument, use dsm2, dsmx or dsmx8");
return 1;
}
if (!strcmp(argv[0], "dsm2")) {
pulses = DSM2_BIND_PULSES;
} else if (!strcmp(argv[0], "dsmx")) {
pulses = DSMX_BIND_PULSES;
} else if (!strcmp(argv[0], "dsmx8")) {
pulses = DSMX8_BIND_PULSES;
} else {
PX4_ERR("unknown parameter %s, use dsm2, dsmx or dsmx8", argv[0]);
return 1;
}
// Test for custom pulse parameter
if (argc > 1) {
pulses = atoi(argv[1]);
}
get_instance()->ioctl(nullptr, DSM_BIND_START, pulses);
return 0;
}
int PX4IO::monitor()
{
/* clear screen */
printf("\033[2J");
unsigned cancels = 2;
for (;;) {
pollfd fds[1];
fds[0].fd = 0;
fds[0].events = POLLIN;
if (::poll(fds, 1, 2000) < 0) {
PX4_ERR("poll fail");
return 1;
}
if (fds[0].revents == POLLIN) {
/* control logic is to cancel with any key */
char c;
::read(0, &c, 1);
if (cancels-- == 0) {
printf("\033[2J\033[H"); /* move cursor home and clear screen */
return 0;
}
}
printf("\033[2J\033[H"); /* move cursor home and clear screen */
get_instance()->print_status();
get_instance()->print_debug();
printf("\n\n\n[ Use 'px4io debug <N>' for more output. Hit <enter> three times to exit monitor mode ]\n");
}
return 0;
}
int PX4IO::lockdown(int argc, char *argv[])
{
if (argc > 1 && !strcmp(argv[1], "disable")) {
PX4_WARN("WARNING: ACTUATORS WILL BE LIVE IN HIL! PROCEED?");
PX4_WARN("Press 'y' to enable, any other key to abort.");
/* check if user wants to abort */
char c;
struct pollfd fds;
int ret;
hrt_abstime start = hrt_absolute_time();
const unsigned long timeout = 5000000;
while (hrt_elapsed_time(&start) < timeout) {
fds.fd = 0; /* stdin */
fds.events = POLLIN;
ret = ::poll(&fds, 1, 0);
if (ret > 0) {
if (::read(0, &c, 1) > 0) {
if (c != 'y') {
return 0;
} else if (c == 'y') {
break;
}
}
}
px4_usleep(10000);
}
if (hrt_elapsed_time(&start) > timeout) {
PX4_ERR("TIMEOUT! ABORTED WITHOUT CHANGES.");
return 1;
}
get_instance()->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 1);
PX4_WARN("ACTUATORS ARE NOW LIVE IN HIL!");
} else {
get_instance()->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 0);
PX4_WARN("ACTUATORS ARE NOW SAFE IN HIL.");
}
return 0;
}
int PX4IO::task_spawn(int argc, char *argv[])
{
device::Device *interface = get_interface();
if (interface == nullptr) {
PX4_ERR("Failed to create interface");
return -1;
}
PX4IO *instance = new PX4IO(interface);
if (instance) {
_object.store(instance);
_task_id = task_id_is_work_queue;
if (instance->init() == PX4_OK) {
return PX4_OK;
}
} else {
PX4_ERR("alloc failed");
}
delete instance;
_object.store(nullptr);
_task_id = -1;
return PX4_ERROR;
}
int PX4IO::custom_command(int argc, char *argv[])
{
const char *verb = argv[0];
if (!strcmp(verb, "detect")) {
if (is_running()) {
PX4_ERR("io must be stopped");
return 1;
}
return ::detect(argc - 1, argv + 1);
}
if (!strcmp(verb, "checkcrc")) {
if (is_running()) {
PX4_ERR("io must be stopped");
return 1;
}
return checkcrc(argc - 1, argv + 1);
}
if (!strcmp(verb, "update")) {
if (is_running()) {
PX4_ERR("io must be stopped");
return 1;
}
constexpr unsigned MAX_RETRIES = 2;
unsigned retries = 0;
int ret = PX4_ERROR;
while (ret != OK && retries < MAX_RETRIES) {
device::Device *interface = get_interface();
if (interface == nullptr) {
PX4_ERR("interface allocation failed");
return 1;
}
PX4IO *dev = new PX4IO(interface);
if (dev == nullptr) {
delete interface;
PX4_ERR("driver allocation failed");
return 1;
}
retries++;
// Sleep 200 ms before the next attempt
usleep(200 * 1000);
// Try to reboot
ret = dev->ioctl(nullptr, PX4IO_REBOOT_BOOTLOADER, PX4IO_REBOOT_BL_MAGIC);
delete dev;
if (ret != OK) {
PX4_WARN("reboot failed - %d, still attempting upgrade", ret);
}
/* Assume we are using default paths */
const char *fn[4] = PX4IO_FW_SEARCH_PATHS;
/* Override defaults if a path is passed on command line */
if (argc > 1) {
fn[0] = argv[1];
fn[1] = nullptr;
}
PX4IO_Uploader *up = new PX4IO_Uploader();
if (!up) {
ret = -ENOMEM;
} else {
ret = up->upload(&fn[0]);
delete up;
}
}
switch (ret) {
case OK:
break;
case -ENOENT:
PX4_ERR("PX4IO firmware file not found");
break;
case -EEXIST:
case -EIO:
PX4_ERR("error updating PX4IO - check that bootloader mode is enabled");
break;
case -EINVAL:
PX4_ERR("verify failed - retry the update");
break;
case -ETIMEDOUT:
PX4_ERR("timed out waiting for bootloader - power-cycle and try again");
break;
default:
PX4_ERR("unexpected error %d", ret);
break;
}
return ret;
}
/* commands below here require a started driver */
if (!is_running()) {
PX4_ERR("not running");
return 1;
}
if (!strcmp(verb, "safety_off")) {
int ret = get_instance()->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);
if (ret != OK) {
PX4_ERR("failed to disable safety (%i)", ret);
return 1;
}
return 0;
}
if (!strcmp(verb, "safety_on")) {
int ret = get_instance()->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_ON, 0);
if (ret != OK) {
PX4_ERR("failed to enable safety (%i)", ret);
return 1;
}
return 0;
}
if (!strcmp(verb, "debug")) {
if (argc <= 1) {
PX4_ERR("usage: px4io debug LEVEL");
return 1;
}
uint8_t level = atoi(argv[1]);
int ret = get_instance()->ioctl(nullptr, PX4IO_SET_DEBUG, level);
if (ret != 0) {
PX4_ERR("SET_DEBUG failed: %d", ret);
return 1;
}
PX4_INFO("SET_DEBUG %" PRIu8 " OK", level);
return 0;
}
if (!strcmp(verb, "monitor")) {
return monitor();
}
if (!strcmp(verb, "bind")) {
if (!is_running()) {
PX4_ERR("io must be running");
return 1;
}
return bind(argc - 1, argv + 1);
}
if (!strcmp(verb, "lockdown")) {
return lockdown(argc, argv);
}
if (!strcmp(verb, "sbus1_out")) {
int ret = get_instance()->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 1);
if (ret != 0) {
PX4_ERR("S.BUS v1 failed (%i)", ret);
return 1;
}
return 0;
}
if (!strcmp(verb, "sbus2_out")) {
int ret = get_instance()->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 2);
if (ret != 0) {
PX4_ERR("S.BUS v2 failed (%i)", ret);
return 1;
}
return 0;
}
if (!strcmp(verb, "test_fmu_fail")) {
get_instance()->test_fmu_fail(true);
return 0;
}
if (!strcmp(verb, "test_fmu_ok")) {
get_instance()->test_fmu_fail(false);
return 0;
}
return print_usage("unknown command");
}
int PX4IO::print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Output driver communicating with the IO co-processor.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("px4io", "driver");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_COMMAND_DESCR("detect", "Try to detect the presence of an IO");
PRINT_MODULE_USAGE_COMMAND_DESCR("checkcrc", "Check CRC for a firmware file against current code on IO");
PRINT_MODULE_USAGE_ARG("<filename>", "Firmware file", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("update", "Update IO firmware");
PRINT_MODULE_USAGE_ARG("<filename>", "Firmware file", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("safety_off", "Turn off safety (force)");
PRINT_MODULE_USAGE_COMMAND_DESCR("safety_on", "Turn on safety (force)");
PRINT_MODULE_USAGE_COMMAND_DESCR("debug", "set IO debug level");
PRINT_MODULE_USAGE_ARG("<debug_level>", "0=disabled, 9=max verbosity", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("monitor", "continuously monitor status");
PRINT_MODULE_USAGE_COMMAND_DESCR("bind", "DSM bind");
PRINT_MODULE_USAGE_ARG("dsm2|dsmx|dsmx8", "protocol", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("lockdown", "enable (or disable) lockdown");
PRINT_MODULE_USAGE_ARG("disable", "disable lockdown", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("sbus1_out", "enable sbus1 out");
PRINT_MODULE_USAGE_COMMAND_DESCR("sbus2_out", "enable sbus2 out");
PRINT_MODULE_USAGE_COMMAND_DESCR("test_fmu_fail", "test: turn off IO updates");
PRINT_MODULE_USAGE_COMMAND_DESCR("test_fmu_ok", "re-enable IO updates");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
extern "C" __EXPORT int px4io_main(int argc, char *argv[])
{
if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_PX4IO)) {
PX4_ERR("PX4IO Not Supported");
return -1;
}
return PX4IO::main(argc, argv);
}
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