merged upstream/master into sbus2_sensorssbus2_sensors

3 files changed, 67 insertions, 6 deletions

diff --git a/src/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp
index 00e46d6b8..aa0dca60c 100644
--- a/src/drivers/stm32/adc/adc.cpp
+++ b/src/drivers/stm32/adc/adc.cpp
@@ -41,6 +41,7 @@
  */
 
 #include <nuttx/config.h>
+#include <board_config.h>
 #include <drivers/device/device.h>
 
 #include <sys/types.h>
@@ -64,6 +65,8 @@
 #include <systemlib/err.h>
 #include <systemlib/perf_counter.h>
 
+#include <uORB/topics/system_power.h>
+
 /*
  * Register accessors.
  * For now, no reason not to just use ADC1.
@@ -119,6 +122,8 @@ private:
 	unsigned		_channel_count;
 	adc_msg_s		*_samples;		/**< sample buffer */
 
+	orb_advert_t		_to_system_power;
+
 	/** work trampoline */
 	static void		_tick_trampoline(void *arg);
 
@@ -134,13 +139,16 @@ private:
 	 */
 	uint16_t		_sample(unsigned channel);
 
+	// update system_power ORB topic, only on FMUv2
+	void update_system_power(void);
 };
 
 ADC::ADC(uint32_t channels) :
 	CDev("adc", ADC_DEVICE_PATH),
-	_sample_perf(perf_alloc(PC_ELAPSED, "ADC samples")),
+	_sample_perf(perf_alloc(PC_ELAPSED, "adc_samples")),
 	_channel_count(0),
-	_samples(nullptr)
+	_samples(nullptr),
+	_to_system_power(0)
 {
 	_debug_enabled = true;
 
@@ -290,6 +298,43 @@ ADC::_tick()
 	/* scan the channel set and sample each */
 	for (unsigned i = 0; i < _channel_count; i++)
 		_samples[i].am_data = _sample(_samples[i].am_channel);
+	update_system_power();
+}
+
+void
+ADC::update_system_power(void)
+{
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+	system_power_s system_power;
+	system_power.timestamp = hrt_absolute_time();
+
+	system_power.voltage5V_v = 0;
+	for (unsigned i = 0; i < _channel_count; i++) {
+		if (_samples[i].am_channel == 4) {
+			// it is 2:1 scaled
+			system_power.voltage5V_v = _samples[i].am_data * (6.6f / 4096);
+		}
+	}
+
+	// these are not ADC related, but it is convenient to
+	// publish these to the same topic
+	system_power.usb_connected = stm32_gpioread(GPIO_OTGFS_VBUS);
+
+	// note that the valid pins are active low
+	system_power.brick_valid   = !stm32_gpioread(GPIO_VDD_BRICK_VALID);
+	system_power.servo_valid   = !stm32_gpioread(GPIO_VDD_SERVO_VALID);
+
+	// OC pins are active low
+	system_power.periph_5V_OC  = !stm32_gpioread(GPIO_VDD_5V_PERIPH_OC);
+	system_power.hipower_5V_OC = !stm32_gpioread(GPIO_VDD_5V_HIPOWER_OC);
+
+	/* lazily publish */
+	if (_to_system_power > 0) {
+		orb_publish(ORB_ID(system_power), _to_system_power, &system_power);
+	} else {
+		_to_system_power = orb_advertise(ORB_ID(system_power), &system_power);
+	}
+#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
 }
 
 uint16_t
@@ -341,7 +386,7 @@ test(void)
 		err(1, "can't open ADC device");
 
 	for (unsigned i = 0; i < 50; i++) {
-		adc_msg_s data[10];
+		adc_msg_s data[12];
 		ssize_t count = read(fd, data, sizeof(data));
 
 		if (count < 0)
@@ -374,6 +419,10 @@ adc_main(int argc, char *argv[])
 		g_adc = new ADC((1 << 2) | (1 << 3) | (1 << 4) | 
 			(1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15));
 #endif
+#ifdef CONFIG_ARCH_BOARD_AEROCORE
+		/* XXX this hardcodes the default channel set for AeroCore - should be configurable */
+		g_adc = new ADC((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13));
+#endif
 
 		if (g_adc == nullptr)
 			errx(1, "couldn't allocate the ADC driver");
diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index b7c9b89a4..281f918d7 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -94,7 +94,7 @@
 #elif HRT_TIMER == 3
 # define HRT_TIMER_BASE		STM32_TIM3_BASE
 # define HRT_TIMER_POWER_REG	STM32_RCC_APB1ENR
-# define HRT_TIMER_POWER_BIT	RCC_APB2ENR_TIM3EN
+# define HRT_TIMER_POWER_BIT	RCC_APB1ENR_TIM3EN
 # define HRT_TIMER_VECTOR	STM32_IRQ_TIM3
 # define HRT_TIMER_CLOCK	STM32_APB1_TIM3_CLKIN
 # if CONFIG_STM32_TIM3
@@ -141,7 +141,7 @@
 # define HRT_TIMER_POWER_REG	STM32_RCC_APB1ENR
 # define HRT_TIMER_POWER_BIT	RCC_APB2ENR_TIM10EN
 # define HRT_TIMER_VECTOR	STM32_IRQ_TIM1UP
-# define HRT_TIMER_CLOCK	STM32_APB1_TIM10_CLKIN
+# define HRT_TIMER_CLOCK	STM32_APB2_TIM10_CLKIN
 # if CONFIG_STM32_TIM10
 #  error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=10
 # endif
@@ -150,7 +150,7 @@
 # define HRT_TIMER_POWER_REG	STM32_RCC_APB1ENR
 # define HRT_TIMER_POWER_BIT	RCC_APB2ENR_TIM11EN
 # define HRT_TIMER_VECTOR	STM32_IRQ_TIM1TRGCOM
-# define HRT_TIMER_CLOCK	STM32_APB1_TIM11_CLKIN
+# define HRT_TIMER_CLOCK	STM32_APB2_TIM11_CLKIN
 # if CONFIG_STM32_TIM11
 #  error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11
 # endif
@@ -354,6 +354,9 @@ __EXPORT uint16_t ppm_frame_length = 0;
 __EXPORT unsigned ppm_decoded_channels = 0;
 __EXPORT uint64_t ppm_last_valid_decode = 0;
 
+#define PPM_DEBUG 0
+
+#if PPM_DEBUG
 /* PPM edge history */
 __EXPORT uint16_t ppm_edge_history[32];
 unsigned ppm_edge_next;
@@ -361,6 +364,7 @@ unsigned ppm_edge_next;
 /* PPM pulse history */
 __EXPORT uint16_t ppm_pulse_history[32];
 unsigned ppm_pulse_next;
+#endif
 
 static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];
 
@@ -455,10 +459,12 @@ hrt_ppm_decode(uint32_t status)
 	/* how long since the last edge? - this handles counter wrapping implicitely. */
 	width = count - ppm.last_edge;
 
+#if PPM_DEBUG
 	ppm_edge_history[ppm_edge_next++] = width;
 
 	if (ppm_edge_next >= 32)
 		ppm_edge_next = 0;
+#endif
 
 	/*
 	 * if this looks like a start pulse, then push the last set of values
@@ -546,10 +552,12 @@ hrt_ppm_decode(uint32_t status)
 		interval = count - ppm.last_mark;
 		ppm.last_mark = count;
 
+#if PPM_DEBUG
 		ppm_pulse_history[ppm_pulse_next++] = interval;
 
 		if (ppm_pulse_next >= 32)
 			ppm_pulse_next = 0;
+#endif
 
 		/* if the mark-mark timing is out of bounds, abandon the frame */
 		if ((interval < PPM_MIN_CHANNEL_VALUE) || (interval > PPM_MAX_CHANNEL_VALUE))
diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
index f36f2091e..810f4aacc 100644
--- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
@@ -334,6 +334,8 @@ ToneAlarm::ToneAlarm() :
 	_default_tunes[TONE_BATTERY_WARNING_SLOW_TUNE] = "MBNT100a8";					//battery warning slow
 	_default_tunes[TONE_BATTERY_WARNING_FAST_TUNE] = "MBNT255a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8";	//battery warning fast
 	_default_tunes[TONE_GPS_WARNING_TUNE] = "MFT255L4AAAL1F#";					//gps warning slow
+	_default_tunes[TONE_ARMING_FAILURE_TUNE] = "MFT255L4<<<BAP";
+	_default_tunes[TONE_PARACHUTE_RELEASE_TUNE] = "MFT255L16agagagag";			// parachute release
 
 	_tune_names[TONE_STARTUP_TUNE] = "startup";			// startup tune
 	_tune_names[TONE_ERROR_TUNE] = "error";				// ERROR tone
@@ -344,6 +346,8 @@ ToneAlarm::ToneAlarm() :
 	_tune_names[TONE_BATTERY_WARNING_SLOW_TUNE] = "slow_bat";	// battery warning slow
 	_tune_names[TONE_BATTERY_WARNING_FAST_TUNE] = "fast_bat";	// battery warning fast
 	_tune_names[TONE_GPS_WARNING_TUNE] = "gps_warning";	            // gps warning
+	_tune_names[TONE_ARMING_FAILURE_TUNE] = "arming_failure";            //fail to arm
+	_tune_names[TONE_PARACHUTE_RELEASE_TUNE] = "parachute_release";	// parachute release
 }
 
 ToneAlarm::~ToneAlarm()