diff options
author | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
commit | 8a365179eafdf3aea98e60ab9f5882b200d4c759 (patch) | |
tree | 4f38d6d4cd80bd0b6e22e2bb534c3f117ce44e56 /apps/px4io | |
download | px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.gz px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.bz2 px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.zip |
Fresh import of the PX4 firmware sources.
Diffstat (limited to 'apps/px4io')
-rw-r--r-- | apps/px4io/Makefile | 38 | ||||
-rw-r--r-- | apps/px4io/comms.c | 136 | ||||
-rw-r--r-- | apps/px4io/mixer.c | 245 | ||||
-rw-r--r-- | apps/px4io/protocol.h | 69 | ||||
-rw-r--r-- | apps/px4io/px4io.c | 183 | ||||
-rw-r--r-- | apps/px4io/px4io.h | 142 | ||||
-rw-r--r-- | apps/px4io/safety.c | 104 |
7 files changed, 917 insertions, 0 deletions
diff --git a/apps/px4io/Makefile b/apps/px4io/Makefile new file mode 100644 index 000000000..06be90a0c --- /dev/null +++ b/apps/px4io/Makefile @@ -0,0 +1,38 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# Build the px4io application. +# + +include $(APPDIR)/mk/app.mk 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]; +} diff --git a/apps/px4io/mixer.c b/apps/px4io/mixer.c new file mode 100644 index 000000000..9dc1fdcba --- /dev/null +++ b/apps/px4io/mixer.c @@ -0,0 +1,245 @@ +/**************************************************************************** + * + * 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 Control channel input/output mixer and failsafe. + */ + +#include <nuttx/config.h> +#include <nuttx/arch.h> + +#include <sys/types.h> +#include <stdbool.h> + +#include <assert.h> +#include <errno.h> +#include <fcntl.h> + +#include <arch/board/drv_ppm_input.h> +#include <arch/board/drv_pwm_servo.h> +#include <arch/board/up_hrt.h> + +#include "px4io.h" + +#ifdef CONFIG_DISABLE_MQUEUE +# error Mixer requires message queues - set CONFIG_DISABLE_MQUEUE=n and try again +#endif + +static mqd_t input_queue; + +/* + * Count of periodic calls in which we have no data. + */ +static unsigned mixer_input_drops; +#define MIXER_INPUT_DROP_LIMIT 10 + +/* + * Count of periodic calls in which we have no FMU input. + */ +static unsigned fmu_input_drops; +#define FMU_INPUT_DROP_LIMIT 10 + +/* + * HRT periodic call used to check for control input data. + */ +static struct hrt_call mixer_input_call; + +/* + * Mixer periodic tick. + */ +static void mixer_tick(void *arg); + +/* + * Collect RC input data from the controller source(s). + */ +static void mixer_get_rc_input(void); + +/* + * Update a mixer based on the current control signals. + */ +static void mixer_update(int mixer, uint16_t *inputs, int input_count); + +/* servo driver handle */ +int mixer_servo_fd; + +/* current servo arm/disarm state */ +bool mixer_servos_armed; + +/* + * Each mixer consumes a set of inputs and produces a single output. + */ +struct mixer { + uint16_t current_value; + /* XXX more config here */ +} mixers[IO_SERVO_COUNT]; + +int +mixer_init(const char *mq_name) +{ + /* open the control input queue; this should always exist */ + input_queue = mq_open(mq_name, O_RDONLY | O_NONBLOCK); + ASSERTCODE((input_queue >= 0), A_INPUTQ_OPEN_FAIL); + + /* open the servo driver */ + mixer_servo_fd = open("/dev/pwm_servo", O_WRONLY); + ASSERTCODE((mixer_servo_fd >= 0), A_SERVO_OPEN_FAIL); + + /* look for control data at 50Hz */ + hrt_call_every(&mixer_input_call, 1000, 20000, mixer_tick, NULL); + + return 0; +} + +static void +mixer_tick(void *arg) +{ + uint16_t *control_values; + int control_count; + int i; + bool should_arm; + + /* + * Start by looking for R/C control inputs. + * This updates system_state with any control inputs received. + */ + mixer_get_rc_input(); + + /* + * Decide which set of inputs we're using. + */ + if (system_state.mixer_use_fmu) { + /* we have recent control data from the FMU */ + control_count = PX4IO_OUTPUT_CHANNELS; + control_values = &system_state.fmu_channel_data[0]; + + /* check that we are receiving fresh data from the FMU */ + if (!system_state.fmu_data_received) { + fmu_input_drops++; + + /* too many frames without FMU input, time to go to failsafe */ + if (fmu_input_drops >= FMU_INPUT_DROP_LIMIT) { + system_state.mixer_use_fmu = false; + } + } else { + fmu_input_drops = 0; + system_state.fmu_data_received = false; + } + + } else if (system_state.rc_channels > 0) { + /* we have control data from an R/C input */ + control_count = system_state.rc_channels; + control_values = &system_state.rc_channel_data[0]; + + } else { + /* we have no control input */ + control_count = 0; + } + + /* + * Tickle each mixer, if we have control data. + */ + if (control_count > 0) { + for (i = 0; i < PX4IO_OUTPUT_CHANNELS; i++) { + mixer_update(i, control_values, control_count); + + /* + * If we are armed, update the servo output. + */ + if (system_state.armed) + ioctl(mixer_servo_fd, PWM_SERVO_SET(i), mixers[i].current_value); + } + + } + + /* + * Decide whether the servos should be armed right now. + */ + should_arm = system_state.armed && (control_count > 0); + if (should_arm && !mixer_servos_armed) { + /* need to arm, but not armed */ + ioctl(mixer_servo_fd, PWM_SERVO_ARM, 0); + mixer_servos_armed = true; + + } else if (!should_arm && mixer_servos_armed) { + /* armed but need to disarm*/ + ioctl(mixer_servo_fd, PWM_SERVO_DISARM, 0); + mixer_servos_armed = false; + } +} + +static void +mixer_get_rc_input(void) +{ + ssize_t len; + + /* + * Pull channel data from the message queue into the system state structure. + * + */ + len = mq_receive(input_queue, &system_state.rc_channel_data, sizeof(system_state.rc_channel_data), NULL); + + /* + * If we have data, update the count and status. + */ + if (len > 0) { + system_state.rc_channels = len / sizeof(system_state.rc_channel_data[0]); + mixer_input_drops = 0; + + system_state.fmu_report_due = true; + } else { + /* + * No data; count the 'frame drops' and once we hit the limit + * assume that we have lost input. + */ + if (mixer_input_drops < MIXER_INPUT_DROP_LIMIT) { + mixer_input_drops++; + + /* if we hit the limit, stop pretending we have input and let the FMU know */ + if (mixer_input_drops == MIXER_INPUT_DROP_LIMIT) { + system_state.rc_channels = 0; + system_state.fmu_report_due = true; + } + } + } +} + +static void +mixer_update(int mixer, uint16_t *inputs, int input_count) +{ + /* simple passthrough for now */ + if (mixer < input_count) { + mixers[mixer].current_value = inputs[mixer]; + } else { + mixers[mixer].current_value = 0; + } +} diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h new file mode 100644 index 000000000..92558a61d --- /dev/null +++ b/apps/px4io/protocol.h @@ -0,0 +1,69 @@ +/**************************************************************************** + * + * 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 PX4FMU <-> PX4IO messaging protocol. + * + * This initial version of the protocol is very simple; each side transmits a + * complete update with each frame. This avoids the sending of many small + * messages and the corresponding complexity involved. + */ + +/* + * XXX MUST BE KEPT IN SYNC WITH THE VERSION IN PX4FMU UNTIL + * TREES ARE MERGED. + */ + +#define PX4IO_OUTPUT_CHANNELS 8 +#define PX4IO_INPUT_CHANNELS 12 +#define PX4IO_RELAY_CHANNELS 2 + +/* command from FMU to IO */ +struct px4io_command { + uint16_t f2i_magic; +#define F2I_MAGIC 0x636d + + uint16_t servo_command[PX4IO_OUTPUT_CHANNELS]; + bool relay_state[PX4IO_RELAY_CHANNELS]; + bool arm_ok; +} __attribute__((packed)); + +/* report from IO to FMU */ +struct px4io_report { + uint16_t i2f_magic; +#define I2F_MAGIC 0x7570 + + uint16_t rc_channel[PX4IO_INPUT_CHANNELS]; + bool armed; + uint8_t channel_count; +} __attribute__((packed)); diff --git a/apps/px4io/px4io.c b/apps/px4io/px4io.c new file mode 100644 index 000000000..44b62f3f9 --- /dev/null +++ b/apps/px4io/px4io.c @@ -0,0 +1,183 @@ +/**************************************************************************** + * + * 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 Top-level logic for the PX4IO module. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + + +#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 <arch/board/up_boardinitialize.h> +#include <arch/board/drv_gpio.h> +#include <arch/board/drv_ppm_input.h> +#include <arch/board/up_hrt.h> + +#include "px4io.h" + +/**************************************************************************** + * Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +__EXPORT int user_start(int argc, char *argv[]); + +/**************************************************************************** + * user_start + ****************************************************************************/ + +struct sys_state_s system_state; +int gpio_fd; + +static const char cursor[] = {'|', '/', '-', '\\'}; + +static const char *rc_input_mq_name = "rc_input"; + +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; + + /* Do board init */ + (void)up_boardinitialize(); + + /* 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); + + /* Open the GPIO driver so we can do LEDs and the like. */ + gpio_fd = open("/dev/gpio", 0); + ASSERTCODE((gpio_fd >= 0), A_GPIO_OPEN_FAIL); + + /* default all the LEDs to off while we start */ + LED_AMBER(heartbeat); + LED_BLUE(failsafe); + LED_SAFETY(false); + + /* turn on servo power */ + POWER_SERVO(true); + + /* configure the PPM input driver */ + ppm_input_init(rc_input_mq_name); + + /* start the mixer */ + mixer_init(rc_input_mq_name); + + /* start the safety switch handler */ + safety_init(); + + /* init the FMU link */ + comms_init(); + + /* set up some timers for the main loop */ + timers[TIMER_BLINK_AMBER] = 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_AMBER] == 0) { + timers[TIMER_BLINK_AMBER] = 250; + LED_AMBER((heartbeat = !heartbeat)); + } + + /* blink the failsafe LED if we don't have FMU input */ + if (!system_state.mixer_use_fmu) { + if (timers[TIMER_BLINK_BLUE] == 0) { + timers[TIMER_BLINK_BLUE] = 125; + LED_BLUE((failsafe = !failsafe)); + } + } else { + LED_BLUE((failsafe = false)); + } + + /* print some simple status */ + if (timers[TIMER_STATUS_PRINT] == 0) { + timers[TIMER_STATUS_PRINT] = 1000; + lib_lowprintf("%c %s | %s | %s | C=%d \r", + cursor[cycle++ & 3], + (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 + ); + } + + } + + /* 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]--; +} diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h new file mode 100644 index 000000000..d90f7e36b --- /dev/null +++ b/apps/px4io/px4io.h @@ -0,0 +1,142 @@ +/**************************************************************************** + * + * 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 General defines and structures for the PX4IO module firmware. + */ + +#include <arch/board/drv_gpio.h> +#include "protocol.h" + +/* + * Constants and limits. + */ +#define MAX_CONTROL_CHANNELS 12 +#define IO_SERVO_COUNT 8 + +/* + * System state structure. + */ +struct sys_state_s +{ + + bool armed; /* actually armed */ + bool arm_ok; /* FMU says OK to arm */ + + /* + * Data from the remote control input(s) + */ + int rc_channels; + uint16_t rc_channel_data[PX4IO_INPUT_CHANNELS]; + + /* + * Control signals from FMU. + */ + uint16_t fmu_channel_data[PX4IO_OUTPUT_CHANNELS]; + + /* + * Relay controls + */ + bool relays[PX4IO_RELAY_CHANNELS]; + + /* + * If true, we are using the FMU controls. + */ + bool mixer_use_fmu; + + /* + * If true, state that should be reported to FMU has been updated. + */ + bool fmu_report_due; + + /* + * If true, new control data from the FMU has been received. + */ + bool fmu_data_received; +}; + +extern struct sys_state_s system_state; + +/* + * Software countdown timers. + * + * Each timer counts down to zero at one tick per ms. + */ +#define TIMER_BLINK_AMBER 0 +#define TIMER_BLINK_BLUE 1 +#define TIMER_STATUS_PRINT 2 +#define TIMER_SANITY 7 +#define TIMER_NUM_TIMERS 8 +extern volatile int timers[TIMER_NUM_TIMERS]; + +/* + * GPIO handling. + */ +extern int gpio_fd; + +#define POWER_SERVO(_s) ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_POWER), (_s)) +#define POWER_ACC1(_s) ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_ACC1), (_s)) +#define POWER_ACC2(_s) ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_ACC2), (_s)) +#define POWER_RELAY1(_s) ioctl(gpio_fd, GPIO_SET(GPIO_RELAY1, (_s)) +#define POWER_RELAY2(_s) ioctl(gpio_fd, GPIO_SET(GPIO_RELAY2, (_s)) + +#define LED_AMBER(_s) ioctl(gpio_fd, GPIO_SET(GPIO_LED_AMBER), !(_s)) +#define LED_BLUE(_s) ioctl(gpio_fd, GPIO_SET(GPIO_LED_BLUE), !(_s)) +#define LED_SAFETY(_s) ioctl(gpio_fd, GPIO_SET(GPIO_LED_SAFETY), !(_s)) + +#define OVERCURRENT_ACC ioctl(gpio_fd, GPIO_GET(GPIO_ACC_OVERCURRENT), 0) +#define OVERCURRENT_SERVO ioctl(gpio_fd, GPIO_GET(GPIO_SERVO_OVERCURRENT), 0) +#define BUTTON_SAFETY ioctl(gpio_fd, GPIO_GET(GPIO_SAFETY_BUTTON), 0) + +/* + * Mixer + */ +extern int mixer_init(const char *mq_name); + +/* + * Safety switch/LED. + */ +extern void safety_init(void); + +/* + * FMU communications + */ +extern void comms_init(void); +extern void comms_check(void); + +/* + * Assertion codes + */ +#define A_GPIO_OPEN_FAIL 100 +#define A_SERVO_OPEN_FAIL 101 +#define A_INPUTQ_OPEN_FAIL 102 diff --git a/apps/px4io/safety.c b/apps/px4io/safety.c new file mode 100644 index 000000000..895c33806 --- /dev/null +++ b/apps/px4io/safety.c @@ -0,0 +1,104 @@ +/**************************************************************************** + * + * 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 Safety button logic. + */ + +#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 <arch/board/up_boardinitialize.h> +#include <arch/board/drv_gpio.h> +#include <arch/board/drv_ppm_input.h> +#include <arch/board/up_hrt.h> + +#include "px4io.h" + +static struct hrt_call arming_call; + +/* + * Count the number of times in a row that we see the arming button + * held down. + */ +static unsigned arm_counter; +#define ARM_COUNTER_THRESHOLD 10 + +static bool safety_led_state; + +static void safety_check_button(void *arg); + +void +safety_init(void) +{ + /* arrange for the button handler to be called at 10Hz */ + hrt_call_every(&arming_call, 1000, 100000, safety_check_button, NULL); +} + +static void +safety_check_button(void *arg) +{ + /* + * Debounce the safety button, change state if it has been held for long enough. + * + * Ignore the button if FMU has not said it's OK to arm yet. + */ + if (BUTTON_SAFETY && system_state.arm_ok) { + if (arm_counter < ARM_COUNTER_THRESHOLD) { + arm_counter++; + } else if (arm_counter == ARM_COUNTER_THRESHOLD) { + /* change our armed state and notify the FMU */ + system_state.armed = !system_state.armed; + arm_counter++; + system_state.fmu_report_due = true; + } + } else { + arm_counter = 0; + } + + /* when armed, toggle the LED; when safe, leave it on */ + if (system_state.armed) { + safety_led_state = !safety_led_state; + } else { + safety_led_state = true; + } + LED_SAFETY(safety_led_state); +} |