/****************************************************************************
*
* Copyright (C) 2012 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 serial (or possibly some other interface at a later
* point).
*
* XXX current design is racy as all hell; need a locking strategy.
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <assert.h>
#include <debug.h>
#include <time.h>
#include <queue.h>
#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <arch/board/board.h>
#include <drivers/device/device.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_pwm_output.h>
#include <systemlib/perf_counter.h>
#include <systemlib/hx_stream.h>
#include "../protocol.h"
#include "uploader.h"
class PX4IO;
namespace
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
const int ERROR = -1;
PX4IO *g_dev;
}
class PX4IO_RC : public device::CDev
{
public:
PX4IO_RC();
~PX4IO_RC();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
friend class PX4IO;
protected:
void set_channels(unsigned count, const servo_position_t *data);
private:
int _publication;
struct rc_input_values _input;
};
/* XXX this may conflict with the onboard PPM input */
PX4IO_RC::PX4IO_RC() :
CDev("px4io_rc", RC_INPUT_DEVICE_PATH),
_publication(-1)
{
for (unsigned i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
_input.values[i] = 0;
}
_input.channel_count = 0;
}
PX4IO_RC::~PX4IO_RC()
{
if (_publication != -1)
::close(_publication);
}
int
PX4IO_RC::init()
{
int ret;
ret = CDev::init();
/* advertise ourselves as the RC input controller */
if (ret == OK) {
_publication = orb_advertise(ORB_ID(input_rc), &_input);
if (_publication < 0)
ret = -errno;
}
return ret;
}
ssize_t
PX4IO_RC::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned channels = buflen / sizeof(rc_input_t);
rc_input_t *pdata = (rc_input_t *)buffer;
unsigned i;
if (channels > PX4IO_INPUT_CHANNELS)
return -EIO;
lock();
for (i = 0; i < channels; i++)
pdata[i] = _input.values[i];
unlock();
return i * sizeof(servo_position_t);
}
void
PX4IO_RC::set_channels(unsigned count, const servo_position_t *data)
{
ASSERT(count <= PX4IO_INPUT_CHANNELS);
/* convert incoming servo position values into 0-100 range */
lock();
for (unsigned i = 0; i < count; i++) {
rc_input_t chn;
if (data[i] < 1000) {
chn = 0;
} else if (data[i] > 2000) {
chn = 100;
} else {
chn = (data[i] - 1000) / 10;
}
_input.values[i] = chn;
}
_input.channel_count = count;
unlock();
/* publish to anyone that might be listening */
if (_publication != -1)
orb_publish(ORB_ID(input_rc), _publication, &_input);
}
class PX4IO : public device::CDev
{
public:
PX4IO();
~PX4IO();
virtual int init();
virtual ssize_t write(struct file *filp, const char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
private:
int _fd;
int _task;
PX4IO_RC *_rc;
/** command to be sent to IO */
struct px4io_command _next_command;
/** RC channel input from IO */
servo_position_t _rc_channel[PX4IO_INPUT_CHANNELS];
int _rc_channel_count;
volatile bool _armed;
volatile bool _task_should_exit;
bool _send_needed;
hx_stream_t _io_stream;
static void task_main_trampoline(int argc, char *argv[]);
void task_main();
void io_recv();
static void rx_callback_trampoline(void *arg, const void *buffer, size_t bytes_received);
void rx_callback(const uint8_t *buffer, size_t bytes_received);
void io_send();
};
PX4IO::PX4IO() :
CDev("px4io", "/dev/px4io"),
_fd(-1),
_task(-1),
_rc(new PX4IO_RC),
_rc_channel_count(0),
_armed(false),
_task_should_exit(false),
_send_needed(false),
_io_stream(nullptr)
{
/* set up the command we will use */
_next_command.f2i_magic = F2I_MAGIC;
/* we need this potentially before it could be set in px4io_main */
g_dev = this;
_debug_enabled = true;
}
PX4IO::~PX4IO()
{
if (_rc != nullptr)
delete _rc;
if (_task != -1) {
/* task should wake up every 100ms or so at least */
_task_should_exit = true;
unsigned i = 0;
do {
/* wait 20ms */
usleep(20000);
/* if we have given up, kill it */
if (++i > 10) {
task_delete(_task);
break;
}
} while (_task != -1);
}
g_dev = nullptr;
}
int
PX4IO::init()
{
int ret;
ASSERT(_task == -1);
/* XXX send a who-are-you request */
/* XXX verify firmware/protocol version */
/* do regular cdev init */
ret = CDev::init();
if (ret != OK)
return ret;
/* start the IO interface task */
_task = task_create("px4io", SCHED_PRIORITY_DEFAULT, 1024, (main_t)&PX4IO::task_main_trampoline, nullptr);
if (_task < 0) {
debug("task start failed: %d", errno);
return -errno;
}
return OK;
}
void
PX4IO::task_main_trampoline(int argc, char *argv[])
{
g_dev->task_main();
}
void
PX4IO::task_main()
{
ASSERT(_fd == -1);
log("ready");
/* open the serial port */
_fd = ::open("/dev/ttyS2", O_RDWR | O_NONBLOCK);
if (_fd < 0) {
debug("failed to open serial port for IO: %d", errno);
_task = -1;
_exit(errno);
}
/* protocol stream */
_io_stream = hx_stream_init(_fd, &PX4IO::rx_callback_trampoline, this);
perf_counter_t pc_tx_bytes = perf_alloc(PC_COUNT, "PX4IO frames transmitted");
perf_counter_t pc_rx_bytes = perf_alloc(PC_COUNT, "PX4IO frames received");
perf_counter_t pc_rx_errors = perf_alloc(PC_COUNT, "PX4IO receive errors");
hx_stream_set_counters(_io_stream, pc_tx_bytes, pc_rx_bytes, pc_rx_errors);
/* poll descriptor(s) */
struct pollfd fds[1];
fds[0].fd = _fd;
fds[0].events = POLLIN;
/* loop handling received serial bytes */
while (!_task_should_exit) {
/* sleep waiting for data, but no more than 100ms */
int ret = ::poll(&fds[0], 1, 100);
/* this would be bad... */
if (ret < 0) {
log("poll error %d", errno);
usleep(1000000);
continue;
}
/* if we timed out waiting, we should send an update */
if (ret == 0)
_send_needed = true;
/* if we have new data from IO, go handle it */
if ((ret > 0) && (fds[0].revents & POLLIN))
io_recv();
/* send an update to IO if required */
if (_send_needed) {
_send_needed = false;
io_send();
}
}
if (_io_stream != nullptr)
hx_stream_free(_io_stream);
::close(_fd);
/* tell the dtor that we are exiting */
_task = -1;
_exit(0);
}
void
PX4IO::io_recv()
{
uint8_t c;
/* handle bytes from IO */
while (::read(_fd, &c, 1) == 1)
hx_stream_rx(_io_stream, c);
}
void
PX4IO::rx_callback_trampoline(void *arg, const void *buffer, size_t bytes_received)
{
g_dev->rx_callback((const uint8_t *)buffer, bytes_received);
}
void
PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received)
{
const struct px4io_report *rep = (const struct px4io_report *)buffer;
/* sanity-check the received frame size */
if (bytes_received != sizeof(struct px4io_report))
return;
lock();
/* pass RC input data to the driver */
if (_rc != nullptr)
_rc->set_channels(rep->channel_count, &rep->rc_channel[0]);
_armed = rep->armed;
/* send an update frame */
_send_needed = true;
unlock();
}
void
PX4IO::io_send()
{
lock();
/* send packet to IO while we're guaranteed it won't change */
hx_stream_send(_io_stream, &_next_command, sizeof(_next_command));
unlock();
}
ssize_t
PX4IO::write(struct file *filp, const char *buffer, size_t len)
{
unsigned channels = len / sizeof(servo_position_t);
servo_position_t *pdata = (servo_position_t *)buffer;
unsigned i;
if (channels > PX4IO_OUTPUT_CHANNELS)
return -EIO;
lock();
for (i = 0; i < channels; i++)
_next_command.servo_command[i] = pdata[i];
unlock();
return i * sizeof(servo_position_t);
}
int
PX4IO::ioctl(struct file *filep, int cmd, unsigned long arg)
{
int ret = -ENOTTY;
lock();
/* regular ioctl? */
switch (cmd) {
case PWM_SERVO_ARM:
_next_command.arm_ok = true;
ret = 0;
break;
case PWM_SERVO_DISARM:
_next_command.arm_ok = false;
ret = 0;
break;
default:
/* channel set? */
if ((cmd >= PWM_SERVO_SET(0)) && (cmd < PWM_SERVO_SET(PX4IO_OUTPUT_CHANNELS))) {
/* XXX sanity-check value? */
_next_command.servo_command[cmd - PWM_SERVO_SET(0)] = arg;
ret = 0;
break;
}
/* channel get? */
if ((cmd >= PWM_SERVO_GET(0)) && (cmd < PWM_SERVO_GET(PX4IO_INPUT_CHANNELS))) {
int channel = cmd - PWM_SERVO_GET(0);
/* currently no data for this channel */
if (channel >= _rc_channel_count) {
ret = -ERANGE;
break;
}
*(servo_position_t *)arg = _rc_channel[channel];
ret = 0;
break;
}
/* not a recognised value */
ret = -ENOTTY;
}
unlock();
return ret;
}
extern "C" __EXPORT int px4io_main(int argc, char *argv[]);
int
px4io_main(int argc, char *argv[])
{
if (!strcmp(argv[1], "start")) {
if (g_dev != nullptr) {
fprintf(stderr, "PX4IO: already loaded\n");
return -EBUSY;
}
/* create the driver - it will set g_dev */
(void)new PX4IO;
if (g_dev == nullptr) {
fprintf(stderr, "PX4IO: driver alloc failed\n");
return -ENOMEM;
}
if (OK != g_dev->init()) {
fprintf(stderr, "PX4IO: driver init failed\n");
delete g_dev;
return -EIO;
}
return OK;
}
if (!strcmp(argv[1], "update")) {
PX4IO_Uploader *up;
const char *fn[3];
/* work out what we're uploading... */
if (argc > 2) {
fn[0] = argv[2];
fn[1] = nullptr;
} else {
fn[0] = "/fs/microsd/px4io.bin";
fn[1] = "/etc/px4io.bin";
fn[2] = nullptr;
}
up = new PX4IO_Uploader;
int ret = up->upload(&fn[0]);
delete up;
switch (ret) {
case OK:
break;
case -ENOENT:
fprintf(stderr, "PX4IO firmware file not found\n");
break;
case -EEXIST:
case -EIO:
fprintf(stderr, "error updating PX4IO - check that bootloader mode is enabled\n");
break;
case -EINVAL:
fprintf(stderr, "verify failed - retry the update\n");
break;
case -ETIMEDOUT:
fprintf(stderr, "timed out waiting for bootloader - power-cycle and try again\n");
default:
fprintf(stderr, "unexpected error %d\n", ret);
break;
}
return ret;
}
printf("need a verb, only support 'start' and 'update'\n");
return ERROR;
}
