/****************************************************************************
*
* 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.c
* Top-level logic for the PX4IO module.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdbool.h>
#include <fcntl.h>
#include <unistd.h>
#include <debug.h>
#include <stdlib.h>
#include <errno.h>
#include <nuttx/clock.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_hrt.h>
#include "px4io.h"
__EXPORT int user_start(int argc, char *argv[]);
struct sys_state_s system_state;
int gpio_fd;
static const char cursor[] = {'|', '/', '-', '\\'};
static struct hrt_call timer_tick_call;
volatile int timers[TIMER_NUM_TIMERS];
static void timer_tick(void *arg);
int user_start(int argc, char *argv[])
{
int cycle = 0;
bool heartbeat = false;
bool failsafe = false;
/* configure the high-resolution time/callout interface */
hrt_init();
/* init the FMU and receiver links */
comms_init();
/* configure the first 8 PWM outputs (i.e. all of them) */
/* note, must do this after comms init to steal back PA0, which is CTS otherwise */
up_pwm_servo_init(0xff);
/* print some startup info */
lib_lowprintf("\nPX4IO: starting\n");
struct mallinfo minfo = mallinfo();
lib_lowprintf("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
/* start the software timer service */
hrt_call_every(&timer_tick_call, 1000, 1000, timer_tick, NULL);
/* default all the LEDs to off while we start */
LED_AMBER(false);
LED_BLUE(false);
LED_SAFETY(false);
/* turn on servo power */
POWER_SERVO(true);
/* start the mixer */
mixer_init();
/* start the safety switch handler */
safety_init();
/* set up some timers for the main loop */
timers[TIMER_BLINK_BLUE] = 250; /* heartbeat blink @ 2Hz */
timers[TIMER_STATUS_PRINT] = 1000; /* print status message @ 1Hz */
/*
* Main loop servicing communication with FMU
*/
while(true) {
/* check for communication from FMU, send updates */
comms_check();
/* blink the heartbeat LED */
if (timers[TIMER_BLINK_BLUE] == 0) {
timers[TIMER_BLINK_BLUE] = 250;
LED_BLUE(heartbeat = !heartbeat);
}
/* blink the failsafe LED if we don't have FMU input */
if (!system_state.mixer_use_fmu) {
if (timers[TIMER_BLINK_AMBER] == 0) {
timers[TIMER_BLINK_AMBER] = 125;
failsafe = !failsafe;
}
} else {
failsafe = false;
}
LED_AMBER(failsafe);
/* print some simple status */
#if 0
if (timers[TIMER_STATUS_PRINT] == 0) {
timers[TIMER_STATUS_PRINT] = 1000;
lib_lowprintf("%c %s | %s | %s | %s | C=%d F=%d B=%d \r",
cursor[cycle++ & 3],
(system_state.arm_ok ? "FMU_ARMED" : "FMU_SAFE"),
(system_state.armed ? "ARMED" : "SAFE"),
(system_state.rc_channels ? "RC OK" : "NO RC"),
(system_state.mixer_use_fmu ? "FMU OK" : "NO FMU"),
system_state.rc_channels,
frame_rx, frame_bad
);
}
#endif
}
/* Should never reach here */
return ERROR;
}
static void
timer_tick(void *arg)
{
for (unsigned i = 0; i < TIMER_NUM_TIMERS; i++)
if (timers[i] > 0)
timers[i]--;
}