Moved all drivers to new world, PX4IO completely in new world

1 files changed, 332 insertions, 0 deletions

diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
new file mode 100644
index 000000000..dc36f6c93
--- /dev/null
+++ b/src/modules/px4iofirmware/controls.c
@@ -0,0 +1,332 @@
+/****************************************************************************
+ *
+ *   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 controls.c
+ *
+ * R/C inputs and servo outputs.
+ */
+
+#include <nuttx/config.h>
+#include <stdbool.h>
+
+#include <drivers/drv_hrt.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/ppm_decode.h>
+
+#include "px4io.h"
+
+#define RC_FAILSAFE_TIMEOUT		2000000		/**< two seconds failsafe timeout */
+#define RC_CHANNEL_HIGH_THRESH		5000
+#define RC_CHANNEL_LOW_THRESH		-5000
+
+static bool	ppm_input(uint16_t *values, uint16_t *num_values);
+
+static perf_counter_t c_gather_dsm;
+static perf_counter_t c_gather_sbus;
+static perf_counter_t c_gather_ppm;
+
+void
+controls_init(void)
+{
+	/* DSM input */
+	dsm_init("/dev/ttyS0");
+
+	/* S.bus input */
+	sbus_init("/dev/ttyS2");
+
+	/* default to a 1:1 input map, all enabled */
+	for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) {
+		unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
+
+		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS]    = 0;
+		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_MIN]        = 1000;
+		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_CENTER]     = 1500;
+		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_MAX]        = 2000;
+		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_DEADZONE]   = 30;
+		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_ASSIGNMENT] = i;
+		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS]    = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
+	}
+
+	c_gather_dsm = perf_alloc(PC_ELAPSED, "c_gather_dsm");
+	c_gather_sbus = perf_alloc(PC_ELAPSED, "c_gather_sbus");
+	c_gather_ppm = perf_alloc(PC_ELAPSED, "c_gather_ppm");
+}
+
+void
+controls_tick() {
+
+	/*
+	 * Gather R/C control inputs from supported sources.
+	 *
+	 * Note that if you're silly enough to connect more than
+	 * one control input source, they're going to fight each
+	 * other.  Don't do that.
+	 */
+
+	perf_begin(c_gather_dsm);
+	bool dsm_updated = dsm_input(r_raw_rc_values, &r_raw_rc_count);
+	if (dsm_updated)
+		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM;
+	perf_end(c_gather_dsm);
+
+	perf_begin(c_gather_sbus);
+	bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count);
+	if (sbus_updated)
+		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
+	perf_end(c_gather_sbus);
+
+	/*
+	 * XXX each S.bus frame will cause a PPM decoder interrupt
+	 * storm (lots of edges).  It might be sensible to actually
+	 * disable the PPM decoder completely if we have S.bus signal.
+	 */
+	perf_begin(c_gather_ppm);
+	bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
+	if (ppm_updated)
+		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
+	perf_end(c_gather_ppm);
+
+	ASSERT(r_raw_rc_count <= MAX_CONTROL_CHANNELS);
+
+	/*
+	 * In some cases we may have received a frame, but input has still
+	 * been lost.
+	 */
+	bool rc_input_lost = false;
+
+	/*
+	 * If we received a new frame from any of the RC sources, process it.
+	 */
+	if (dsm_updated || sbus_updated || ppm_updated) {
+
+		/* update RC-received timestamp */
+		system_state.rc_channels_timestamp = hrt_absolute_time();
+
+		/* record a bitmask of channels assigned */
+		unsigned assigned_channels = 0;
+
+		/* map raw inputs to mapped inputs */
+		/* XXX mapping should be atomic relative to protocol */
+		for (unsigned i = 0; i < r_raw_rc_count; i++) {
+
+			/* map the input channel */
+			uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE];
+
+			if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
+
+				uint16_t raw = r_raw_rc_values[i];
+
+				int16_t scaled;
+
+				/*
+				 * 1) Constrain to min/max values, as later processing depends on bounds.
+				 */
+				if (raw < conf[PX4IO_P_RC_CONFIG_MIN])
+					raw = conf[PX4IO_P_RC_CONFIG_MIN];
+				if (raw > conf[PX4IO_P_RC_CONFIG_MAX])
+					raw = conf[PX4IO_P_RC_CONFIG_MAX];
+
+				/*
+				 * 2) Scale around the mid point differently for lower and upper range.
+				 *
+				 * This is necessary as they don't share the same endpoints and slope.
+				 *
+				 * First normalize to 0..1 range with correct sign (below or above center),
+				 * then scale to 20000 range (if center is an actual center, -10000..10000,
+				 * if parameters only support half range, scale to 10000 range, e.g. if
+				 * center == min 0..10000, if center == max -10000..0).
+				 *
+				 * As the min and max bounds were enforced in step 1), division by zero
+				 * cannot occur, as for the case of center == min or center == max the if
+				 * statement is mutually exclusive with the arithmetic NaN case.
+				 *
+				 * DO NOT REMOVE OR ALTER STEP 1!
+				 */
+				if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
+					scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
+
+				} else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
+					scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
+
+				} else {
+					/* in the configured dead zone, output zero */
+					scaled = 0;
+				}
+
+				/* invert channel if requested */
+				if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE)
+					scaled = -scaled;
+
+				/* and update the scaled/mapped version */
+				unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
+				ASSERT(mapped < MAX_CONTROL_CHANNELS);
+
+				/* invert channel if pitch - pulling the lever down means pitching up by convention */
+				if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */
+					scaled = -scaled;
+
+				r_rc_values[mapped] = SIGNED_TO_REG(scaled);
+				assigned_channels |= (1 << mapped);
+			}
+		}
+
+		/* set un-assigned controls to zero */
+		for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) {
+			if (!(assigned_channels & (1 << i)))
+				r_rc_values[i] = 0;
+		}
+
+		/*
+		 * If we got an update with zero channels, treat it as 
+		 * a loss of input.
+		 *
+		 * This might happen if a protocol-based receiver returns an update
+		 * that contains no channels that we have mapped.
+		 */
+		if (assigned_channels == 0) {
+			rc_input_lost = true;
+		} else {
+			/* set RC OK flag and clear RC lost alarm */
+			r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK;
+			r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_RC_LOST;
+		}
+
+		/*
+		 * Export the valid channel bitmap
+		 */
+		r_rc_valid = assigned_channels;
+	}
+
+	/*
+	 * If we haven't seen any new control data in 200ms, assume we
+	 * have lost input.
+	 */
+	if (hrt_elapsed_time(&system_state.rc_channels_timestamp) > 200000) {
+		rc_input_lost = true;
+
+		/* clear the input-kind flags here */
+		r_status_flags &= ~(
+			PX4IO_P_STATUS_FLAGS_RC_PPM |
+			PX4IO_P_STATUS_FLAGS_RC_DSM |
+			PX4IO_P_STATUS_FLAGS_RC_SBUS);
+	}
+
+	/*
+	 * Handle losing RC input
+	 */
+	if (rc_input_lost) {
+
+		/* Clear the RC input status flag, clear manual override flag */
+		r_status_flags &= ~(
+			PX4IO_P_STATUS_FLAGS_OVERRIDE |
+			PX4IO_P_STATUS_FLAGS_RC_OK);
+
+		/* Set the RC_LOST alarm */
+		r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST;
+
+		/* Mark the arrays as empty */
+		r_raw_rc_count = 0;
+		r_rc_valid = 0;
+	}
+
+	/*
+	 * Check for manual override.
+	 *
+	 * The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we
+	 * must have R/C input.
+	 * Override is enabled if either the hardcoded channel / value combination
+	 * is selected, or the AP has requested it.
+	 */
+	if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) && 
+		(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) {
+
+		bool override = false;
+
+		/*
+		 * Check mapped channel 5 (can be any remote channel,
+		 * depends on RC_MAP_OVER parameter);
+		 * If the value is 'high' then the pilot has
+		 * requested override.
+		 *
+		 */
+		if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(r_rc_values[4]) > RC_CHANNEL_HIGH_THRESH))
+			override = true;
+
+		if (override) {
+
+			r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
+
+			/* mix new RC input control values to servos */
+			if (dsm_updated || sbus_updated || ppm_updated)
+				mixer_tick();
+
+		} else {
+			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
+		}
+	}
+}
+
+static bool
+ppm_input(uint16_t *values, uint16_t *num_values)
+{
+	bool result = false;
+
+	/* avoid racing with PPM updates */
+	irqstate_t state = irqsave();
+
+	/*
+	 * If we have received a new PPM frame within the last 200ms, accept it
+	 * and then invalidate it.
+	 */
+	if (hrt_elapsed_time(&ppm_last_valid_decode) < 200000) {
+
+		/* PPM data exists, copy it */
+		*num_values = ppm_decoded_channels;
+		if (*num_values > MAX_CONTROL_CHANNELS)
+			*num_values = MAX_CONTROL_CHANNELS;
+
+		for (unsigned i = 0; i < *num_values; i++)
+			values[i] = ppm_buffer[i];
+
+		/* clear validity */
+		ppm_last_valid_decode = 0;
+
+		/* good if we got any channels */
+		result = (*num_values > 0);
+	}
+
+	irqrestore(state);
+
+	return result;
+}