Fresh import of the PX4 firmware sources.

1 files changed, 560 insertions, 0 deletions

diff --git a/apps/px4/px4io/driver/px4io.cpp b/apps/px4/px4io/driver/px4io.cpp
new file mode 100644
index 000000000..c3f14e3a4
--- /dev/null
+++ b/apps/px4/px4io/driver/px4io.cpp
@@ -0,0 +1,560 @@
+/****************************************************************************
+ *
+ *   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 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 '%s' not found\n", fn);
+			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'\n");
+	return ERROR;
+}