Fresh import of the PX4 firmware sources.

1 files changed, 136 insertions, 0 deletions

diff --git a/apps/px4io/comms.c b/apps/px4io/comms.c
new file mode 100644
index 000000000..19802bf4f
--- /dev/null
+++ b/apps/px4io/comms.c
@@ -0,0 +1,136 @@
+/****************************************************************************
+ *
+ *   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 FMU communication 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 <string.h>
+
+#include <nuttx/clock.h>
+
+#include <arch/board/up_hrt.h>
+#include <systemlib/hx_stream.h>
+#include <systemlib/perf_counter.h>
+
+#include "px4io.h"
+
+#define FMU_MIN_REPORT_INTERVAL	  5000	/*  5ms */
+#define FMU_MAX_REPORT_INTERVAL	100000	/* 100ms */
+
+static int			fmu_fd;
+static hx_stream_t		stream;
+
+static struct px4io_report	report;
+
+static void			comms_handle_frame(void *arg, const void *buffer, size_t length);
+
+void
+comms_init(void)
+{
+	fmu_fd = open("/dev/ttyS1", O_RDWR | O_NONBLOCK);
+	if (fmu_fd < 0)
+		lib_lowprintf("COMMS: fmu open failed %d\n", errno);
+
+	stream = hx_stream_init(fmu_fd, comms_handle_frame, NULL);
+
+	report.i2f_magic = I2F_MAGIC;
+}
+
+void
+comms_check(void)
+{
+	static hrt_abstime last_report_time;
+	hrt_abstime now, delta;
+	uint8_t c;
+
+	/* should we send a report to the FMU? */
+	now = hrt_absolute_time();
+	delta = now - last_report_time;
+	if ((delta > FMU_MIN_REPORT_INTERVAL) && 
+		(system_state.fmu_report_due || (delta > FMU_MAX_REPORT_INTERVAL))) {
+
+		system_state.fmu_report_due = false;
+		last_report_time = now;
+
+		/* populate the report */
+		for (unsigned i = 0; i < system_state.rc_channels; i++)
+			report.rc_channel[i] = system_state.rc_channel_data[i];
+		report.channel_count = system_state.rc_channels;
+		report.armed = system_state.armed;
+
+		/* and send it */
+		hx_stream_send(stream, &report, sizeof(report));
+	}
+
+	/* feed any received bytes to the HDLC receive engine */
+	while (read(fmu_fd, &c, 1) == 1)
+		hx_stream_rx(stream, c);
+}
+
+static void
+comms_handle_frame(void *arg, const void *buffer, size_t length)
+{
+	struct px4io_command *cmd;
+
+	/* make sure it's what we are expecting */
+	if (length != sizeof(struct px4io_command))
+		return;
+
+	cmd = (struct px4io_command *)buffer;
+
+	/* fetch new PWM output values */
+	for (unsigned i = 0; i < PX4IO_OUTPUT_CHANNELS; i++)
+		system_state.fmu_channel_data[i] = cmd->servo_command[i];
+
+	system_state.arm_ok = cmd->arm_ok;
+	system_state.mixer_use_fmu = true;
+	system_state.fmu_data_received = true;
+
+	/* handle changes signalled by FMU */
+	if (!system_state.arm_ok && system_state.armed)
+		system_state.armed = false;
+
+	/* XXX do relay changes here */	
+	for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++)
+		system_state.relays[i] = cmd->relay_state[i];
+}