/****************************************************************************
*
* Copyright (c) 2012, 2013 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 I2C.
*/
#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 <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <math.h>
#include <arch/board/board.h>
#include <drivers/device/device.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_gpio.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
#include <systemlib/mixer/mixer.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <systemlib/scheduling_priorities.h>
#include <systemlib/param/param.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/servorail_status.h>
#include <uORB/topics/parameter_update.h>
#include <debug.h>
#include <mavlink/mavlink_log.h>
#include <modules/px4iofirmware/protocol.h>
#include "uploader.h"
extern device::Device *PX4IO_i2c_interface() weak_function;
extern device::Device *PX4IO_serial_interface() weak_function;
#define PX4IO_SET_DEBUG _IOC(0xff00, 0)
#define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1)
/**
* The PX4IO class.
*
* Encapsulates PX4FMU to PX4IO communications modeled as file operations.
*/
class PX4IO : public device::CDev
{
public:
/**
* Constructor.
*
* Initialize all class variables.
*/
PX4IO(device::Device *interface);
/**
* Destructor.
*
* Wait for worker thread to terminate.
*/
virtual ~PX4IO();
/**
* Initialize the PX4IO class.
*
* Retrieve relevant initial system parameters. Initialize PX4IO registers.
*/
virtual int init();
/**
* Detect if a PX4IO is connected.
*
* Only validate if there is a PX4IO to talk to.
*/
virtual 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)
*/
virtual int ioctl(file *filp, int cmd, unsigned long arg);
/**
* write handler.
*
* Handle writes to the PX4IO file descriptor.
*
* @param[in] filp file handle (not used). This function is always called directly through object reference
* @param[in] buffer pointer to the data buffer to be written
* @param[in] len size in bytes to be written
* @return number of bytes written
*/
virtual ssize_t write(file *filp, const char *buffer, size_t len);
/**
* Set the update rate for actuator outputs from FMU to IO.
*
* @param[in] rate The rate in Hz actuator outpus are sent to IO.
* Min 10 Hz, max 400 Hz
*/
int set_update_rate(int rate);
/**
* Set the battery current scaling and bias
*
* @param[in] amp_per_volt
* @param[in] amp_bias
*/
void set_battery_current_scaling(float amp_per_volt, float amp_bias);
/**
* Push failsafe values to IO.
*
* @param[in] vals Failsafe control inputs: in us PPM (900 for zero, 1500 for centered, 2100 for full)
* @param[in] len Number of channels, could up to 8
*/
int set_failsafe_values(const uint16_t *vals, unsigned len);
/**
* Set the minimum PWM signals when armed
*/
int set_min_values(const uint16_t *vals, unsigned len);
/**
* Set the maximum PWM signal when armed
*/
int set_max_values(const uint16_t *vals, unsigned len);
/**
* Set an idle PWM signal that is active right after startup, even when SAFETY_SAFE
*/
int set_idle_values(const uint16_t *vals, unsigned len);
/**
* Print IO status.
*
* Print all relevant IO status information
*/
void print_status();
/**
* Disable RC input handling
*/
int disable_rc_handling();
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/**
* Set the DSM VCC is controlled by relay one flag
*
* @param[in] enable true=DSM satellite VCC is controlled by relay1, false=DSM satellite VCC not controlled
*/
inline void set_dsm_vcc_ctl(bool enable)
{
_dsm_vcc_ctl = enable;
};
/**
* Get the DSM VCC is controlled by relay one flag
*
* @return true=DSM satellite VCC is controlled by relay1, false=DSM satellite VCC not controlled
*/
inline bool get_dsm_vcc_ctl()
{
return _dsm_vcc_ctl;
};
#endif
inline uint16_t system_status() const {return _status;}
private:
device::Device *_interface;
// XXX
unsigned _hardware; ///< Hardware revision
unsigned _max_actuators; ///<Maximum # of actuators supported by PX4IO
unsigned _max_controls; ///<Maximum # of controls supported by PX4IO
unsigned _max_rc_input; ///<Maximum receiver channels supported by PX4IO
unsigned _max_relays; ///<Maximum relays supported by PX4IO
unsigned _max_transfer; ///<Maximum number of I2C transfers supported by PX4IO
unsigned _update_interval; ///< Subscription interval limiting send rate
bool _rc_handling_disabled; ///< If set, IO does not evaluate, but only forward the RC values
volatile int _task; ///<worker task id
volatile bool _task_should_exit; ///<worker terminate flag
int _mavlink_fd; ///<mavlink file descriptor. This is opened by class instantiation and Doesn't appear to be usable in main thread.
int _thread_mavlink_fd; ///<mavlink file descriptor for thread.
perf_counter_t _perf_update; ///<local performance counter
/* cached IO state */
uint16_t _status; ///<Various IO status flags
uint16_t _alarms; ///<Various IO alarms
/* subscribed topics */
int _t_actuators; ///< actuator controls topic
int _t_actuator_armed; ///< system armed control topic
int _t_vehicle_control_mode;///< vehicle control mode topic
int _t_param; ///< parameter update topic
int _t_vehicle_command; ///< vehicle command topic
/* advertised topics */
orb_advert_t _to_input_rc; ///< rc inputs from io
orb_advert_t _to_actuators_effective; ///< effective actuator controls topic
orb_advert_t _to_outputs; ///< mixed servo outputs topic
orb_advert_t _to_battery; ///< battery status / voltage
orb_advert_t _to_servorail; ///< servorail status
orb_advert_t _to_safety; ///< status of safety
actuator_outputs_s _outputs; ///<mixed outputs
actuator_controls_effective_s _controls_effective; ///<effective controls
bool _primary_pwm_device; ///<true if we are the default PWM output
float _battery_amp_per_volt; ///<current sensor amps/volt
float _battery_amp_bias; ///<current sensor bias
float _battery_mamphour_total;///<amp hours consumed so far
uint64_t _battery_last_timestamp;///<last amp hour calculation timestamp
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
bool _dsm_vcc_ctl; ///<true if relay 1 controls DSM satellite RX power
#endif
/**
* Trampoline to the worker task
*/
static void task_main_trampoline(int argc, char *argv[]);
/**
* worker task
*/
void task_main();
/**
* Send controls to IO
*/
int io_set_control_state();
/**
* Update IO's arming-related state
*/
int io_set_arming_state();
/**
* Push RC channel configuration to IO.
*/
int io_set_rc_config();
/**
* Fetch status and alarms from IO
*
* Also publishes battery voltage/current.
*/
int io_get_status();
/**
* Disable RC input handling
*/
int io_disable_rc_handling();
/**
* Fetch RC inputs from IO.
*
* @param input_rc Input structure to populate.
* @return OK if data was returned.
*/
int io_get_raw_rc_input(rc_input_values &input_rc);
/**
* Fetch and publish raw RC input data.
*/
int io_publish_raw_rc();
/**
* Fetch and publish the mixed control values.
*/
int io_publish_mixed_controls();
/**
* Fetch and publish the PWM servo outputs.
*/
int io_publish_pwm_outputs();
/**
* 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 an alarm update from IO.
*
* Publish IO alarm information if necessary.
*
* @param alarm The status register
*/
int io_handle_alarms(uint16_t alarms);
/**
* Handle issuing dsm bind ioctl to px4io.
*
* @param dsmMode 0:dsm2, 1:dsmx
*/
void dsm_bind_ioctl(int dsmMode);
/**
* Handle a battery update from IO.
*
* Publish IO battery information if necessary.
*
* @param vbatt vbatt register
* @param ibatt ibatt register
*/
void io_handle_battery(uint16_t vbatt, uint16_t ibatt);
/**
* Handle a servorail update from IO.
*
* Publish servo rail information if necessary.
*
* @param vservo vservo register
* @param vrssi vrssi register
*/
void io_handle_vservo(uint16_t vbatt, uint16_t ibatt);
};
namespace
{
PX4IO *g_dev;
}
PX4IO::PX4IO(device::Device *interface) :
CDev("px4io", PX4IO_DEVICE_PATH),
_interface(interface),
_hardware(0),
_max_actuators(0),
_max_controls(0),
_max_rc_input(0),
_max_relays(0),
_max_transfer(16), /* sensible default */
_update_interval(0),
_rc_handling_disabled(false),
_task(-1),
_task_should_exit(false),
_mavlink_fd(-1),
_thread_mavlink_fd(-1),
_perf_update(perf_alloc(PC_ELAPSED, "px4io update")),
_status(0),
_alarms(0),
_t_actuators(-1),
_t_actuator_armed(-1),
_t_vehicle_control_mode(-1),
_t_param(-1),
_t_vehicle_command(-1),
_to_input_rc(0),
_to_actuators_effective(0),
_to_outputs(0),
_to_battery(0),
_to_servorail(0),
_to_safety(0),
_primary_pwm_device(false),
_battery_amp_per_volt(90.0f/5.0f), // this matches the 3DR current sensor
_battery_amp_bias(0),
_battery_mamphour_total(0),
_battery_last_timestamp(0)
#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;
/* open MAVLink text channel */
_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
_debug_enabled = true;
}
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;
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()
{
int ret;
ASSERT(_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) {
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;
/* 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;
// cmd.target_system = status.system_id;
// cmd.target_component = status.component_id;
// cmd.source_system = status.system_id;
// cmd.source_component = status.component_id;
/* 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);
/* 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();
} 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;
}
}
}
/* 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_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 2048, (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 last_poll_time = 0;
log("starting");
_thread_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_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
ORB_ID(actuator_controls_1));
orb_set_interval(_t_actuators, 20); /* default to 50Hz */
_t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed));
orb_set_interval(_t_actuator_armed, 200); /* 5Hz update rate */
_t_vehicle_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode));
orb_set_interval(_t_vehicle_control_mode, 200); /* 5Hz update rate max. */
_t_param = orb_subscribe(ORB_ID(parameter_update));
orb_set_interval(_t_param, 500); /* 2Hz update rate max. */
_t_vehicle_command = orb_subscribe(ORB_ID(vehicle_command));
orb_set_interval(_t_param, 1000); /* 1Hz update rate max. */
if ((_t_actuators < 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[5];
fds[0].fd = _t_actuators;
fds[0].events = POLLIN;
fds[1].fd = _t_actuator_armed;
fds[1].events = POLLIN;
fds[2].fd = _t_vehicle_control_mode;
fds[2].events = POLLIN;
fds[3].fd = _t_param;
fds[3].events = POLLIN;
fds[4].fd = _t_vehicle_command;
fds[4].events = POLLIN;
log("ready");
/* lock against the ioctl handler */
lock();
/* loop talking to IO */
while (!_task_should_exit) {
/* adjust update interval */
if (_update_interval != 0) {
if (_update_interval < 5)
_update_interval = 5;
if (_update_interval > 100)
_update_interval = 100;
orb_set_interval(_t_actuators, _update_interval);
_update_interval = 0;
}
/* sleep waiting for topic updates, but no more than 20ms */
unlock();
int ret = ::poll(&fds[0], sizeof(fds) / sizeof(fds[0]), 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)
io_set_control_state();
/* if we have an arming state update, handle it */
if ((fds[1].revents & POLLIN) || (fds[2].revents & POLLIN))
io_set_arming_state();
/* if we have a vehicle command, handle it */
if (fds[4].revents & POLLIN) {
struct vehicle_command_s cmd;
orb_copy(ORB_ID(vehicle_command), _t_vehicle_command, &cmd);
// Check for a DSM pairing command
if ((cmd.command == VEHICLE_CMD_START_RX_PAIR) && (cmd.param1== 0.0f)) {
dsm_bind_ioctl((int)cmd.param2);
}
}
/*
* If it's time for another tick of the polling status machine,
* try it now.
*/
if ((now - last_poll_time) >= 20000) {
/*
* Pull status and alarms from IO.
*/
io_get_status();
/*
* Get raw R/C input from IO.
*/
io_publish_raw_rc();
/*
* Fetch mixed servo controls and PWM outputs from IO.
*
* XXX We could do this at a reduced rate in many/most cases.
*/
io_publish_mixed_controls();
io_publish_pwm_outputs();
/*
* If parameters have changed, re-send RC mappings to IO
*
* XXX this may be a bit spammy
*/
if (fds[3].revents & POLLIN) {
parameter_update_s 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);
}
/* copy to reset the notification */
orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
/* re-upload RC input config as it may have changed */
io_set_rc_config();
}
}
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_state()
{
actuator_controls_s controls; ///< actuator outputs
uint16_t regs[_max_actuators];
/* get controls */
orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
ORB_ID(actuator_controls_1), _t_actuators, &controls);
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, 0, regs, _max_controls);
}
int
PX4IO::set_failsafe_values(const uint16_t *vals, unsigned len)
{
if (len > _max_actuators)
/* fail with error */
return E2BIG;
/* copy values to registers in IO */
return io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, vals, len);
}
int
PX4IO::set_min_values(const uint16_t *vals, unsigned len)
{
if (len > _max_actuators)
/* fail with error */
return E2BIG;
/* copy values to registers in IO */
return io_reg_set(PX4IO_PAGE_CONTROL_MIN_PWM, 0, vals, len);
}
int
PX4IO::set_max_values(const uint16_t *vals, unsigned len)
{
if (len > _max_actuators)
/* fail with error */
return E2BIG;
/* copy values to registers in IO */
return io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, vals, len);
}
int
PX4IO::set_idle_values(const uint16_t *vals, unsigned len)
{
if (len > _max_actuators)
/* fail with error */
return E2BIG;
printf("Sending IDLE values\n");
/* copy values to registers in IO */
return io_reg_set(PX4IO_PAGE_IDLE_PWM, 0, vals, len);
}
int
PX4IO::io_set_arming_state()
{
actuator_armed_s armed; ///< system armed state
vehicle_control_mode_s control_mode; ///< vehicle_control_mode
orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed);
orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode);
uint16_t set = 0;
uint16_t clear = 0;
if (armed.armed && !armed.lockdown) {
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
} else {
clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
}
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_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()
{
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.
*/
for (unsigned i = 0; i < _max_rc_input; i++)
input_map[i] = -1;
/*
* NOTE: The indices for mapped channels are 1-based
* for compatibility reasons with existing
* autopilots / GCS'.
*/
param_get(param_find("RC_MAP_ROLL"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan - 1] = 0;
param_get(param_find("RC_MAP_PITCH"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan - 1] = 1;
param_get(param_find("RC_MAP_YAW"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan - 1] = 2;
param_get(param_find("RC_MAP_THROTTLE"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan - 1] = 3;
ichan = 4;
for (unsigned i = 0; i < _max_rc_input; i++)
if (input_map[i] == -1)
input_map[i] = ichan++;
/*
* 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)) {
/* 0: dsm2, 1:dsmx */
if ((dsmMode == 0) || (dsmMode == 1)) {
mavlink_log_info(_thread_mavlink_fd, "[IO] binding dsm%c rx", (dsmMode == 0) ? '2' : 'x');
ioctl(nullptr, DSM_BIND_START, (dsmMode == 0) ? DSM2_BIND_PULSES : DSMX_BIND_PULSES);
} else {
mavlink_log_info(_thread_mavlink_fd, "[IO] invalid dsm bind mode, bind request rejected");
}
} else {
mavlink_log_info(_thread_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 <= 3300) {
return;
}
battery_status_s battery_status;
battery_status.timestamp = hrt_absolute_time();
/* voltage is scaled to mV */
battery_status.voltage_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;
/* 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_s servorail_status;
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 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;
static 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).
*/
input_rc.timestamp = hrt_absolute_time();
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[0];
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;
}
input_rc.channel_count = channel_count;
memcpy(input_rc.values, ®s[prolog], channel_count * 2);
return ret;
}
int
PX4IO::io_publish_raw_rc()
{
/* if no raw RC, just don't publish */
if (!(_status & PX4IO_P_STATUS_FLAGS_RC_OK))
return OK;
/* fetch values from IO */
rc_input_values rc_val;
rc_val.timestamp = hrt_absolute_time();
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 {
rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN;
}
/* 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_mixed_controls()
{
/* if no FMU comms(!) just don't publish */
if (!(_status & PX4IO_P_STATUS_FLAGS_FMU_OK))
return OK;
/* if not taking raw PPM from us, must be mixing */
if (_status & PX4IO_P_STATUS_FLAGS_RAW_PWM)
return OK;
/* data we are going to fetch */
actuator_controls_effective_s controls_effective;
controls_effective.timestamp = hrt_absolute_time();
/* get actuator controls from IO */
uint16_t act[_max_actuators];
int ret = io_reg_get(PX4IO_PAGE_ACTUATORS, 0, act, _max_actuators);
if (ret != OK)
return ret;
/* convert from register format to float */
for (unsigned i = 0; i < _max_actuators; i++)
controls_effective.control_effective[i] = REG_TO_FLOAT(act[i]);
/* laxily advertise on first publication */
if (_to_actuators_effective == 0) {
_to_actuators_effective =
orb_advertise((_primary_pwm_device ?
ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE :
ORB_ID(actuator_controls_effective_1)),
&controls_effective);
} else {
orb_publish((_primary_pwm_device ?
ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE :
ORB_ID(actuator_controls_effective_1)),
_to_actuators_effective, &controls_effective);
}
return OK;
}
int
PX4IO::io_publish_pwm_outputs()
{
/* if no FMU comms(!) just don't publish */
if (!(_status & PX4IO_P_STATUS_FLAGS_FMU_OK))
return OK;
/* 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::mixer_send(const char *buf, unsigned buflen, unsigned retries)
{
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;
}
/*
* 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 = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, total_len / 2);
if (ret) {
log("mixer send error %d", ret);
return ret;
}
msg->action = F2I_MIXER_ACTION_APPEND;
} while (buflen > 0);
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()
{
/* basic configuration */
printf("protocol %u hardware %u bootloader %u buffer %uB\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));
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);
printf("status 0x%04x%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) && (!(flags & PX4IO_P_STATUS_FLAGS_RC_DSM11))) ? " DSM10" : ""),
(((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (flags & PX4IO_P_STATUS_FLAGS_RC_DSM11)) ? " DSM11" : ""),
((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(" %u", 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");
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 */
printf("features 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES));
uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
printf("arming 0x%04x%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" : ""));
#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));
printf("controls");
for (unsigned i = 0; i < _max_controls; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_CONTROLS, i));
printf("\n");
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("\nidle values");
for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_IDLE_PWM, i));
printf("\n");
}
int
PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
/* Make it obvious that file * isn't used here */
{
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_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_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_COUNT:
*(unsigned *)arg = _max_actuators;
break;
case DSM_BIND_START:
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(50000);
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);
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 < 900) || (arg > 2100)) {
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 {
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_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;
default:
/* not a recognized value */
ret = -ENOTTY;
}
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) {
int ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, (uint16_t *)buffer, count);
if (ret != OK)
return ret;
}
return count * 2;
}
int
PX4IO::set_update_rate(int rate)
{
int interval_ms = 1000 / rate;
if (interval_ms < 3) {
interval_ms = 3;
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(1, "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");
if (OK != g_dev->init()) {
delete g_dev;
g_dev = nullptr;
errx(1, "driver init failed");
}
/* disable RC handling on request */
if (argc > 1) {
if (!strcmp(argv[1], "norc")) {
if(g_dev->disable_rc_handling())
warnx("Failed disabling RC handling");
} else {
warnx("unknown argument: %s", argv[1]);
}
}
#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
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 or dsmx");
if (!strcmp(argv[2], "dsm2"))
pulses = DSM2_BIND_PULSES;
else if (!strcmp(argv[2], "dsmx"))
pulses = DSMX_BIND_PULSES;
else
errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]);
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)
{
unsigned cancels = 3;
printf("Hit <enter> three times to exit monitor mode\n");
for (;;) {
pollfd fds[1];
fds[0].fd = 0;
fds[0].events = POLLIN;
poll(fds, 1, 500);
if (fds[0].revents == POLLIN) {
int c;
read(0, &c, 1);
if (cancels-- == 0)
exit(0);
}
#warning implement this
// if (g_dev != nullptr)
// g_dev->dump_one = true;
}
}
void
if_test(unsigned mode)
{
device::Device *interface = get_interface();
int result = interface->ioctl(1, mode); /* XXX magic numbers */
delete interface;
errx(0, "test returned %d", result);
}
} /* 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], "update")) {
if (g_dev != nullptr) {
printf("[px4io] loaded, detaching first\n");
/* stop the driver */
delete g_dev;
}
PX4IO_Uploader *up;
const char *fn[3];
/* 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);
}
/* 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 - 400 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], "failsafe")) {
if (argc < 3) {
errx(1, "failsafe command needs at least one channel value (ppm)");
}
/* set values for first 8 channels, fill unassigned channels with 1500. */
uint16_t failsafe[8];
for (unsigned i = 0; i < sizeof(failsafe) / sizeof(failsafe[0]); i++) {
/* set channel to commandline argument or to 900 for non-provided channels */
if (argc > i + 2) {
failsafe[i] = atoi(argv[i+2]);
if (failsafe[i] < 800 || failsafe[i] > 2200) {
errx(1, "value out of range of 800 < value < 2200. Aborting.");
}
} else {
/* a zero value will result in stopping to output any pulse */
failsafe[i] = 0;
}
}
int ret = g_dev->set_failsafe_values(failsafe, sizeof(failsafe) / sizeof(failsafe[0]));
if (ret != OK)
errx(ret, "failed setting failsafe values");
exit(0);
}
if (!strcmp(argv[1], "min")) {
if (argc < 3) {
errx(1, "min command needs at least one channel value (PWM)");
}
if (g_dev != nullptr) {
/* set values for first 8 channels, fill unassigned channels with 900. */
uint16_t min[8];
for (unsigned i = 0; i < sizeof(min) / sizeof(min[0]); i++)
{
/* set channel to commanline argument or to 900 for non-provided channels */
if (argc > i + 2) {
min[i] = atoi(argv[i+2]);
if (min[i] < 900 || min[i] > 1200) {
errx(1, "value out of range of 900 < value < 1200. Aborting.");
}
} else {
/* a zero value will the default */
min[i] = 0;
}
}
int ret = g_dev->set_min_values(min, sizeof(min) / sizeof(min[0]));
if (ret != OK)
errx(ret, "failed setting min values");
} else {
errx(1, "not loaded");
}
exit(0);
}
if (!strcmp(argv[1], "max")) {
if (argc < 3) {
errx(1, "max command needs at least one channel value (PWM)");
}
if (g_dev != nullptr) {
/* set values for first 8 channels, fill unassigned channels with 2100. */
uint16_t max[8];
for (unsigned i = 0; i < sizeof(max) / sizeof(max[0]); i++)
{
/* set channel to commanline argument or to 2100 for non-provided channels */
if (argc > i + 2) {
max[i] = atoi(argv[i+2]);
if (max[i] < 1800 || max[i] > 2100) {
errx(1, "value out of range of 1800 < value < 2100. Aborting.");
}
} else {
/* a zero value will the default */
max[i] = 0;
}
}
int ret = g_dev->set_max_values(max, sizeof(max) / sizeof(max[0]));
if (ret != OK)
errx(ret, "failed setting max values");
} else {
errx(1, "not loaded");
}
exit(0);
}
if (!strcmp(argv[1], "idle")) {
if (argc < 3) {
errx(1, "max command needs at least one channel value (PWM)");
}
if (g_dev != nullptr) {
/* set values for first 8 channels, fill unassigned channels with 0. */
uint16_t idle[8];
for (unsigned i = 0; i < sizeof(idle) / sizeof(idle[0]); i++)
{
/* set channel to commanline argument or to 0 for non-provided channels */
if (argc > i + 2) {
idle[i] = atoi(argv[i+2]);
if (idle[i] < 900 || idle[i] > 2100) {
errx(1, "value out of range of 900 < value < 2100. Aborting.");
}
} else {
/* a zero value will the default */
idle[i] = 0;
}
}
int ret = g_dev->set_idle_values(idle, sizeof(idle) / sizeof(idle[0]));
if (ret != OK)
errx(ret, "failed setting idle values");
} else {
errx(1, "not loaded");
}
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;
exit(0);
}
if (!strcmp(argv[1], "status")) {
printf("[px4io] loaded\n");
g_dev->print_status();
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);
out:
errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug',\n 'recovery', 'limit', 'current', 'failsafe', 'min, 'max',\n 'idle', 'bind' or 'update'");
}