diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-07 00:05:29 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-07 00:05:29 +0200 |
commit | 5559e568b6e5502ad51ec96fd531876c1191d641 (patch) | |
tree | bc6356b5bed0481cced4a7d7e7ef99bd225d91a7 /src/modules/px4iofirmware | |
parent | 863385dbc4243c8ecb19890a0dfce4a0b7ead9d6 (diff) | |
parent | d67089b23f58ac152253f58c5deaebbd57db0362 (diff) | |
download | px4-firmware-safelink.tar.gz px4-firmware-safelink.tar.bz2 px4-firmware-safelink.zip |
Merged master into safelinksafelink
Diffstat (limited to 'src/modules/px4iofirmware')
-rw-r--r-- | src/modules/px4iofirmware/controls.c | 206 | ||||
-rw-r--r-- | src/modules/px4iofirmware/dsm.c | 34 | ||||
-rw-r--r-- | src/modules/px4iofirmware/i2c.c | 5 | ||||
-rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 17 | ||||
-rw-r--r-- | src/modules/px4iofirmware/protocol.h | 44 | ||||
-rw-r--r-- | src/modules/px4iofirmware/px4io.c | 5 | ||||
-rw-r--r-- | src/modules/px4iofirmware/px4io.h | 5 | ||||
-rw-r--r-- | src/modules/px4iofirmware/registers.c | 53 | ||||
-rw-r--r-- | src/modules/px4iofirmware/sbus.c | 16 |
9 files changed, 232 insertions, 153 deletions
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 12258d9f0..4f5a86fcb 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -47,8 +47,8 @@ #include "px4io.h" #define RC_FAILSAFE_TIMEOUT 2000000 /**< two seconds failsafe timeout */ -#define RC_CHANNEL_HIGH_THRESH 5000 -#define RC_CHANNEL_LOW_THRESH -5000 +#define RC_CHANNEL_HIGH_THRESH 5000 /* 75% threshold */ +#define RC_CHANNEL_LOW_THRESH -8000 /* 10% threshold */ static bool ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len); @@ -144,10 +144,7 @@ controls_tick() { perf_begin(c_gather_sbus); - bool sbus_status = (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS); - bool sbus_failsafe, sbus_frame_drop; - sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop, PX4IO_RC_INPUT_CHANNELS); if (sbus_updated) { @@ -213,94 +210,105 @@ controls_tick() { /* update RC-received timestamp */ system_state.rc_channels_timestamp_received = hrt_absolute_time(); - /* do not command anything in failsafe, kick in the RC loss counter */ - if (!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) { - - /* update RC-received timestamp */ - system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received; - - /* 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; + /* update RC-received timestamp */ + system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received; + + /* 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; + } - /* and update the scaled/mapped version */ - unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; - if (mapped < PX4IO_CONTROL_CHANNELS) { + /* invert channel if requested */ + if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) { + scaled = -scaled; + } - /* 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; + /* and update the scaled/mapped version */ + unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; + if (mapped < PX4IO_CONTROL_CHANNELS) { - r_rc_values[mapped] = SIGNED_TO_REG(scaled); - assigned_channels |= (1 << mapped); + /* 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; + } + if (mapped == 3 && r_setup_rc_thr_failsafe) { + /* throttle failsafe detection */ + if (((raw < conf[PX4IO_P_RC_CONFIG_MIN]) && (raw < r_setup_rc_thr_failsafe)) || + ((raw > conf[PX4IO_P_RC_CONFIG_MAX]) && (raw > r_setup_rc_thr_failsafe))) { + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE; + } else { + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); + } } + + r_rc_values[mapped] = SIGNED_TO_REG(scaled); + assigned_channels |= (1 << mapped); + } } + } - /* set un-assigned controls to zero */ - for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { - if (!(assigned_channels & (1 << i))) - r_rc_values[i] = 0; + /* set un-assigned controls to zero */ + for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { + if (!(assigned_channels & (1 << i))) { + r_rc_values[i] = 0; } + } - /* set RC OK flag, as we got an update */ - r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK; + /* set RC OK flag, as we got an update */ + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK; + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_OK; - /* if we have enough channels (5) to control the vehicle, the mapping is ok */ - if (assigned_channels > 4) { - r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK; - } else { - r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK); - } + /* if we have enough channels (5) to control the vehicle, the mapping is ok */ + if (assigned_channels > 4) { + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK; + } else { + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK); } /* @@ -328,37 +336,42 @@ controls_tick() { * Handle losing RC input */ - /* this kicks in if the receiver is gone or the system went to failsafe */ - if (rc_input_lost || (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) { + /* if we are in failsafe, clear the override flag */ + if (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) { + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE); + } + + /* this kicks in if the receiver is gone, but there is not on failsafe (indicated by separate flag) */ + 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); + /* flag raw RC as lost */ + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_RC_OK); + /* Mark all channels as invalid, as we just lost the RX */ r_rc_valid = 0; + /* Set raw channel count to zero */ + r_raw_rc_count = 0; + /* Set the RC_LOST alarm */ r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST; } - /* this kicks in if the receiver is completely gone */ - if (rc_input_lost) { - - /* Set channel count to zero */ - r_raw_rc_count = 0; - } - /* * Check for manual override. * * The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we - * must have R/C input. + * must have R/C input (NO FAILSAFE!). * 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)) { + (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && + !(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) { bool override = false; @@ -381,10 +394,10 @@ controls_tick() { mixer_tick(); } else { - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE; + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE); } } else { - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE; + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE); } } @@ -407,8 +420,9 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len) if (*num_values > PX4IO_RC_INPUT_CHANNELS) *num_values = PX4IO_RC_INPUT_CHANNELS; - for (unsigned i = 0; i < *num_values; i++) + for (unsigned i = 0; i < *num_values; i++) { values[i] = ppm_buffer[i]; + } /* clear validity */ ppm_last_valid_decode = 0; diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c index 60eda2319..d3f365822 100644 --- a/src/modules/px4iofirmware/dsm.c +++ b/src/modules/px4iofirmware/dsm.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 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 @@ -162,6 +162,7 @@ dsm_guess_format(bool reset) 0xff, /* 8 channels (DX8) */ 0x1ff, /* 9 channels (DX9, etc.) */ 0x3ff, /* 10 channels (DX10) */ + 0x1fff, /* 13 channels (DX10t) */ 0x3fff /* 18 channels (DX10) */ }; unsigned votes10 = 0; @@ -368,11 +369,25 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) if (channel >= *num_values) *num_values = channel + 1; - /* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */ - if (dsm_channel_shift == 11) - value /= 2; + /* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding. */ + if (dsm_channel_shift == 10) + value *= 2; - value += 998; + /* + * Spektrum scaling is special. There are these basic considerations + * + * * Midpoint is 1520 us + * * 100% travel channels are +- 400 us + * + * We obey the original Spektrum scaling (so a default setup will scale from + * 1100 - 1900 us), but we do not obey the weird 1520 us center point + * and instead (correctly) center the center around 1500 us. This is in order + * to get something useful without requiring the user to calibrate on a digital + * link for no reason. + */ + + /* scaled integer for decent accuracy while staying efficient */ + value = ((((int)value - 1024) * 1000) / 1700) + 1500; /* * Store the decoded channel into the R/C input buffer, taking into @@ -400,6 +415,15 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) values[channel] = value; } + /* + * Spektrum likes to send junk in higher channel numbers to fill + * their packets. We don't know about a 13 channel model in their TX + * lines, so if we get a channel count of 13, we'll return 12 (the last + * data index that is stable). + */ + if (*num_values == 13) + *num_values = 12; + if (dsm_channel_shift == 11) { /* Set the 11-bit data indicator */ *num_values |= 0x8000; diff --git a/src/modules/px4iofirmware/i2c.c b/src/modules/px4iofirmware/i2c.c index 79b6546b3..6d1d1fc2d 100644 --- a/src/modules/px4iofirmware/i2c.c +++ b/src/modules/px4iofirmware/i2c.c @@ -64,12 +64,15 @@ #define rCCR REG(STM32_I2C_CCR_OFFSET) #define rTRISE REG(STM32_I2C_TRISE_OFFSET) +void i2c_reset(void); static int i2c_interrupt(int irq, void *context); static void i2c_rx_setup(void); static void i2c_tx_setup(void); static void i2c_rx_complete(void); static void i2c_tx_complete(void); +#ifdef DEBUG static void i2c_dump(void); +#endif static DMA_HANDLE rx_dma; static DMA_HANDLE tx_dma; @@ -331,6 +334,7 @@ i2c_tx_complete(void) i2c_tx_setup(); } +#ifdef DEBUG static void i2c_dump(void) { @@ -339,3 +343,4 @@ i2c_dump(void) debug("CCR 0x%08x TRISE 0x%08x", rCCR, rTRISE); debug("SR1 0x%08x SR2 0x%08x", rSR1, rSR2); } +#endif diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 5a834e07f..3a82a5821 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -192,7 +192,7 @@ mixer_tick(void) ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) /* and there is valid input via or mixer */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ) /* or direct PWM is set */ || (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) - /* or failsafe was set manually */ || (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) + /* or failsafe was set manually */ || ((r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) && !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) ) ); @@ -247,6 +247,7 @@ mixer_tick(void) actuator_count = mixed; in_mixer = false; + /* the pwm limit call takes care of out of band errors */ pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++) @@ -289,17 +290,17 @@ mixer_tick(void) up_pwm_servo_set(i, r_page_servos[i]); /* update S.BUS1 outputs */ - if (r_page_setup[PX4IO_P_SETUP_FEATURES] & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) { + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) { sbus1_output(r_page_servos, actuator_count); } /* update S.BUS2 outputs */ - if (r_page_setup[PX4IO_P_SETUP_FEATURES] & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) { + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) { sbus2_output(r_page_servos, actuator_count); } /* update safelink outputs */ - if (source != MIX_FAILSAFE && r_page_setup[PX4IO_P_SETUP_FEATURES] & PX4IO_P_SETUP_FEATURES_SAFELINK_OUT) { + if (source != MIX_FAILSAFE && r_setup_features & PX4IO_P_SETUP_FEATURES_SAFELINK_OUT) { safelink_output(r_page_servos, actuator_count); } @@ -309,17 +310,17 @@ mixer_tick(void) up_pwm_servo_set(i, r_page_servo_disarmed[i]); /* update S.BUS1 outputs */ - if (r_page_setup[PX4IO_P_SETUP_FEATURES] & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) { + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) { sbus1_output(r_page_servos, actuator_count); } /* update S.BUS2 outputs */ - if (r_page_setup[PX4IO_P_SETUP_FEATURES] & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) { + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) { sbus2_output(r_page_servos, actuator_count); } /* update safelink outputs */ - if (source != MIX_FAILSAFE && r_page_setup[PX4IO_P_SETUP_FEATURES] & PX4IO_P_SETUP_FEATURES_SAFELINK_OUT) { + if (source != MIX_FAILSAFE && r_setup_features & PX4IO_P_SETUP_FEATURES_SAFELINK_OUT) { safelink_output(r_page_servos, actuator_count); } } @@ -331,7 +332,7 @@ mixer_callback(uintptr_t handle, uint8_t control_index, float &control) { - if (control_group > 3) + if (control_group >= PX4IO_CONTROL_GROUPS) return -1; switch (source) { diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 0006b137c..b55ac698b 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -143,6 +143,7 @@ #define PX4IO_P_RAW_RC_FLAGS_FAILSAFE (1 << 1) /* receiver is in failsafe mode */ #define PX4IO_P_RAW_RC_FLAGS_RC_DSM11 (1 << 2) /* DSM decoding is 11 bit mode */ #define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK (1 << 3) /* Channel mapping is ok */ +#define PX4IO_P_RAW_RC_FLAGS_RC_OK (1 << 4) /* RC reception ok */ #define PX4IO_P_RAW_RC_NRSSI 2 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */ #define PX4IO_P_RAW_RC_DATA 3 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */ @@ -169,12 +170,12 @@ /* setup page */ #define PX4IO_PAGE_SETUP 50 #define PX4IO_P_SETUP_FEATURES 0 -#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) /* enable S.Bus v1 output */ -#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /* enable S.Bus v2 output */ -#define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /* enable PWM RSSI parsing */ -#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /* enable ADC RSSI parsing */ -#define PX4IO_P_SETUP_FEATURES_SAFELINK_IN (1 << 4) /* enable SAFELINK input parsing on S.BUS port */ -#define PX4IO_P_SETUP_FEATURES_SAFELINK_OUT (1 << 5) /* enable SAFELINK output on S.BUS port */ +#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) /**< enable S.Bus v1 output */ +#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /**< enable S.Bus v2 output */ +#define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /**< enable PWM RSSI parsing */ +#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /**< enable ADC RSSI parsing */ +#define PX4IO_P_SETUP_FEATURES_SAFELINK_IN (1 << 4) /**< enable SAFELINK input parsing on S.BUS port */ +#define PX4IO_P_SETUP_FEATURES_SAFELINK_OUT (1 << 5) /**< enable SAFELINK output on S.BUS port */ #define PX4IO_P_SETUP_ARMING 1 /* arming controls */ #define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */ @@ -196,6 +197,8 @@ #define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* hardware rev [1] power relay 2 */ #define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* hardware rev [1] accessory power 1 */ #define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* hardware rev [1] accessory power 2 */ +#else +#define PX4IO_P_SETUP_RELAYS_PAD 5 #endif #define PX4IO_P_SETUP_VBATT_SCALE 6 /* hardware rev [1] battery voltage correction factor (float) */ @@ -208,26 +211,33 @@ enum { /* DSM bind states */ dsm_bind_send_pulses, dsm_bind_reinit_uart }; - /* 8 */ -#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ + /* 8 */ +#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ -#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */ -#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */ +#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */ +#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */ -#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */ +#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */ + /* storage space of 12 occupied by CRC */ +#define PX4IO_P_SETUP_FORCE_SAFETY_OFF 12 /* force safety switch into + 'armed' (PWM enabled) state - this is a non-data write and + hence index 12 can safely be used. */ +#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */ + +#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */ /* autopilot control values, -10000..10000 */ -#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */ +#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */ #define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ #define PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ #define PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ #define PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ #define PX4IO_P_CONTROLS_GROUP_VALID 64 -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /* group 0 is valid / received */ -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /* group 1 is valid / received */ -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /* group 2 is valid / received */ -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /* group 3 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /**< group 0 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /**< group 1 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /**< group 2 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /**< group 3 is valid / received */ /* raw text load to the mixer parser - ignores offset */ #define PX4IO_PAGE_MIXERLOAD 52 @@ -309,7 +319,7 @@ struct IOPacket { #define PKT_COUNT(_p) ((_p).count_code & PKT_COUNT_MASK) #define PKT_CODE(_p) ((_p).count_code & PKT_CODE_MASK) -#define PKT_SIZE(_p) ((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p))) +#define PKT_SIZE(_p) ((size_t)((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p)))) static const uint8_t crc8_tab[256] __attribute__((unused)) = { diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c index d4c25911e..cd134ccb4 100644 --- a/src/modules/px4iofirmware/px4io.c +++ b/src/modules/px4iofirmware/px4io.c @@ -37,6 +37,7 @@ */ #include <nuttx/config.h> +#include <nuttx/arch.h> #include <stdio.h> // required for task_create #include <stdbool.h> @@ -303,14 +304,12 @@ user_start(int argc, char *argv[]) */ if (hrt_absolute_time() - last_debug_time > (1000 * 1000)) { - struct mallinfo minfo = mallinfo(); - isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x m=%u", (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG], (unsigned)r_status_flags, (unsigned)r_setup_arming, (unsigned)r_setup_features, - (unsigned)minfo.mxordblk); + (unsigned)mallinfo().mxordblk); last_debug_time = hrt_absolute_time(); } } diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index 0a159f7f5..b809ccf7e 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -53,7 +53,7 @@ */ #define PX4IO_SERVO_COUNT 8 #define PX4IO_CONTROL_CHANNELS 8 -#define PX4IO_CONTROL_GROUPS 2 +#define PX4IO_CONTROL_GROUPS 4 #define PX4IO_RC_INPUT_CHANNELS 18 #define PX4IO_RC_MAPPED_CONTROL_CHANNELS 8 /**< This is the maximum number of channels mapped/used */ @@ -109,6 +109,7 @@ extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */ #ifdef CONFIG_ARCH_BOARD_PX4IO_V1 #define r_setup_relays r_page_setup[PX4IO_P_SETUP_RELAYS] #endif +#define r_setup_rc_thr_failsafe r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] #define r_control_values (&r_page_controls[0]) #define r_safelink_values (&r_page_safelink[PX4IO_P_SAFELINK_BASE]) @@ -221,6 +222,8 @@ extern bool dsm_input(uint16_t *values, uint16_t *num_values); extern void dsm_bind(uint16_t cmd, int pulses); extern int sbus_init(const char *device); extern bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels); +extern void sbus1_output(uint16_t *values, uint16_t num_values); +extern void sbus2_output(uint16_t *values, uint16_t num_values); extern void sbus1_output(uint16_t *values, uint16_t num_values); extern void sbus2_output(uint16_t *values, uint16_t num_values); diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 19fae3dc2..03849cf65 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -119,7 +119,6 @@ uint16_t r_page_raw_rc_input[] = [PX4IO_P_RAW_RC_DATA] = 0, [PX4IO_P_RAW_FRAME_COUNT] = 0, [PX4IO_P_RAW_LOST_FRAME_COUNT] = 0, - [PX4IO_P_RAW_RC_DATA] = 0, [PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_RC_INPUT_CHANNELS)] = 0 }; @@ -170,6 +169,9 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_PWM_ALTRATE] = 200, #ifdef CONFIG_ARCH_BOARD_PX4IO_V1 [PX4IO_P_SETUP_RELAYS] = 0, +#else + /* this is unused, but we will pad it for readability (the compiler pads it automatically) */ + [PX4IO_P_SETUP_RELAYS_PAD] = 0, #endif #ifdef ADC_VSERVO [PX4IO_P_SETUP_VSERVO_SCALE] = 10000, @@ -179,6 +181,7 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_SET_DEBUG] = 0, [PX4IO_P_SETUP_REBOOT_BL] = 0, [PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0, + [PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = 0, }; #ifdef CONFIG_ARCH_BOARD_PX4IO_V2 @@ -474,9 +477,18 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) #ifdef ENABLE_SBUS_OUT ENABLE_SBUS_OUT(value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT)); - /* disable the conflicting options */ - if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT)) { - value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | PX4IO_P_SETUP_FEATURES_ADC_RSSI); + /* disable the conflicting options with SBUS 1 */ + if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT)) { + value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | + PX4IO_P_SETUP_FEATURES_ADC_RSSI | + PX4IO_P_SETUP_FEATURES_SBUS2_OUT); + } + + /* disable the conflicting options with SBUS 2 */ + if (value & (PX4IO_P_SETUP_FEATURES_SBUS2_OUT)) { + value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | + PX4IO_P_SETUP_FEATURES_ADC_RSSI | + PX4IO_P_SETUP_FEATURES_SBUS1_OUT); } #endif @@ -527,18 +539,22 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) break; case PX4IO_P_SETUP_PWM_DEFAULTRATE: - if (value < 50) + if (value < 50) { value = 50; - if (value > 400) + } + if (value > 400) { value = 400; + } pwm_configure_rates(r_setup_pwm_rates, value, r_setup_pwm_altrate); break; case PX4IO_P_SETUP_PWM_ALTRATE: - if (value < 50) + if (value < 50) { value = 50; - if (value > 400) + } + if (value > 400) { value = 400; + } pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value); break; @@ -570,8 +586,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) } // check the magic value - if (value != PX4IO_REBOOT_BL_MAGIC) + if (value != PX4IO_REBOOT_BL_MAGIC) { break; + } // we schedule a reboot rather than rebooting // immediately to allow the IO board to ACK @@ -580,7 +597,19 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) break; case PX4IO_P_SETUP_DSM: - dsm_bind(value & 0x0f, (value >> 4) & 7); + dsm_bind(value & 0x0f, (value >> 4) & 0xF); + break; + + case PX4IO_P_SETUP_FORCE_SAFETY_OFF: + if (value == PX4IO_FORCE_SAFETY_MAGIC) { + r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF; + } + break; + + case PX4IO_P_SETUP_RC_THR_FAILSAFE_US: + if (value > 650 && value < 2350) { + r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = value; + } break; default: @@ -654,7 +683,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) { disabled = true; - } else if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) { + } else if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) { count++; } @@ -696,7 +725,7 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val { #define SELECT_PAGE(_page_name) \ do { \ - *values = &_page_name[0]; \ + *values = (uint16_t *)&_page_name[0]; \ *num_values = sizeof(_page_name) / sizeof(_page_name[0]); \ } while(0) diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index d89021d24..1db22b7fc 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -104,7 +104,7 @@ int sbus_init(const char *device) { if (sbus_fd < 0) - sbus_fd = open(device, O_RDONLY | O_NONBLOCK); + sbus_fd = open(device, O_RDWR | O_NONBLOCK); if (sbus_fd >= 0) { struct termios t; @@ -133,21 +133,15 @@ sbus_init(const char *device) void sbus1_output(uint16_t *values, uint16_t num_values) { - /* - * S.BUS2 outputs are defined as: - * - */ - #warning SBUS1 output is not yet implemented + char a = 'A'; + write(sbus_fd, &a, 1); } void sbus2_output(uint16_t *values, uint16_t num_values) { - /* - * S.BUS2 outputs are defined as: - * - */ - #warning SBUS2 output is not yet implemented + char b = 'B'; + write(sbus_fd, &b, 1); } bool |