Merge branch 'master' into beta

5 files changed, 81 insertions, 48 deletions

diff --git a/src/modules/px4iofirmware/adc.c b/src/modules/px4iofirmware/adc.c
index 81566eb2a..2f5908ac5 100644
--- a/src/modules/px4iofirmware/adc.c
+++ b/src/modules/px4iofirmware/adc.c
@@ -83,6 +83,14 @@ adc_init(void)
 {
 	adc_perf = perf_alloc(PC_ELAPSED, "adc");
 
+	/* put the ADC into power-down mode */
+	rCR2 &= ~ADC_CR2_ADON;
+	up_udelay(10);
+
+	/* bring the ADC out of power-down mode */
+	rCR2 |= ADC_CR2_ADON;
+	up_udelay(10);
+
 	/* do calibration if supported */
 #ifdef ADC_CR2_CAL
 	rCR2 |= ADC_CR2_RSTCAL;
@@ -96,41 +104,25 @@ adc_init(void)
 
 	if (rCR2 & ADC_CR2_CAL)
 		return -1;
-
 #endif
 
-	/* arbitrarily configure all channels for 55 cycle sample time */
-	rSMPR1 = 0b00000011011011011011011011011011;
+	/*
+	 * Configure sampling time.
+	 * 
+	 * For electrical protection reasons, we want to be able to have
+	 * 10K in series with ADC inputs that leave the board. At 12MHz this
+	 * means we need 28.5 cycles of sampling time (per table 43 in the
+	 * datasheet).
+	 */
+	rSMPR1 = 0b00000000011011011011011011011011;
 	rSMPR2 = 0b00011011011011011011011011011011;
 
-	/* XXX for F2/4, might want to select 12-bit mode? */
-	rCR1 = 0;
-
-	/* enable the temperature sensor / Vrefint channel if supported*/
-	rCR2 =
-#ifdef ADC_CR2_TSVREFE
-		/* enable the temperature sensor in CR2 */
-		ADC_CR2_TSVREFE |
-#endif
-		0;
-
-#ifdef ADC_CCR_TSVREFE
-	/* enable temperature sensor in CCR */
-	rCCR = ADC_CCR_TSVREFE;
-#endif
+	rCR2 |=	ADC_CR2_TSVREFE;		/* enable the temperature sensor / Vrefint channel */
 
 	/* configure for a single-channel sequence */
 	rSQR1 = 0;
 	rSQR2 = 0;
-	rSQR3 = 0;	/* will be updated with the channel each tick */
-
-	/* power-cycle the ADC and turn it on */
-	rCR2 &= ~ADC_CR2_ADON;
-	up_udelay(10);
-	rCR2 |= ADC_CR2_ADON;
-	up_udelay(10);
-	rCR2 |= ADC_CR2_ADON;
-	up_udelay(10);
+	rSQR3 = 0;	/* will be updated with the channel at conversion time */
 
 	return 0;
 }
@@ -141,11 +133,12 @@ adc_init(void)
 uint16_t
 adc_measure(unsigned channel)
 {
+
 	perf_begin(adc_perf);
 
 	/* clear any previous EOC */
-	if (rSR & ADC_SR_EOC)
-		rSR &= ~ADC_SR_EOC;
+	rSR = 0;
+	(void)rDR;
 
 	/* run a single conversion right now - should take about 60 cycles (a few microseconds) max */
 	rSQR3 = channel;
@@ -158,7 +151,6 @@ adc_measure(unsigned channel)
 
 		/* never spin forever - this will give a bogus result though */
 		if (hrt_elapsed_time(&now) > 100) {
-			debug("adc timeout");
 			perf_end(adc_perf);
 			return 0xffff;
 		}
@@ -166,6 +158,7 @@ adc_measure(unsigned channel)
 
 	/* read the result and clear EOC */
 	uint16_t result = rDR;
+	rSR = 0;
 
 	perf_end(adc_perf);
 	return result;
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index 541eed0e1..5e2c92bf4 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -114,9 +114,20 @@ controls_tick() {
 
 	perf_begin(c_gather_sbus);
 	bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &rssi, PX4IO_RC_INPUT_CHANNELS);
+
+	bool sbus_status = (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS);
+
 	if (sbus_updated) {
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
 	}
+
+	/* switch S.Bus output pin as needed */
+	if (sbus_status != (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS)) {
+		#ifdef ENABLE_SBUS_OUT
+		ENABLE_SBUS_OUT((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS));
+		#endif
+	}
+
 	perf_end(c_gather_sbus);
 
 	/*
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c
index 0b8c4a6a8..e2da35939 100644
--- a/src/modules/px4iofirmware/px4io.c
+++ b/src/modules/px4iofirmware/px4io.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
@@ -196,6 +196,11 @@ user_start(int argc, char *argv[])
 	POWER_SERVO(true);
 #endif
 
+	/* turn off S.Bus out (if supported) */
+#ifdef ENABLE_SBUS_OUT
+	ENABLE_SBUS_OUT(false);
+#endif
+
 	/* start the safety switch handler */
 	safety_init();
 
@@ -205,6 +210,9 @@ user_start(int argc, char *argv[])
 	/* initialise the control inputs */
 	controls_init();
 
+	/* set up the ADC */
+	adc_init();
+
 	/* start the FMU interface */
 	interface_init();
 
@@ -223,24 +231,41 @@ user_start(int argc, char *argv[])
 	/* initialize PWM limit lib */
 	pwm_limit_init(&pwm_limit);
 
-#if 0
-	/* not enough memory, lock down */
-	if (minfo.mxordblk < 500) {
+	/*
+	 *    P O L I C E    L I G H T S
+	 *
+	 * Not enough memory, lock down.
+	 *
+	 * We might need to allocate mixers later, and this will
+	 * ensure that a developer doing a change will notice
+	 * that he just burned the remaining RAM with static
+	 * allocations. We don't want him to be able to
+	 * get past that point. This needs to be clearly
+	 * documented in the dev guide.
+         *
+	 */
+	if (minfo.mxordblk < 600) {
+
 		lowsyslog("ERR: not enough MEM");
 		bool phase = false;
 
-		if (phase) {
-			LED_AMBER(true);
-			LED_BLUE(false);
-		} else {
-			LED_AMBER(false);
-			LED_BLUE(true);
-		}
+		while (true) {
+
+			if (phase) {
+				LED_AMBER(true);
+				LED_BLUE(false);
+			} else {
+				LED_AMBER(false);
+				LED_BLUE(true);
+			}
+			up_udelay(250000);
 
-		phase = !phase;
-		usleep(300000);
+			phase = !phase;
+		}
 	}
-#endif
+
+	/* Start the failsafe led init */
+	failsafe_led_init();
 
 	/*
 	 * Run everything in a tight loop.
@@ -270,7 +295,6 @@ user_start(int argc, char *argv[])
 
                 check_reboot();
 
-#if 0
 		/* check for debug activity */
 		show_debug_messages();
 
@@ -287,7 +311,6 @@ user_start(int argc, char *argv[])
 				  (unsigned)minfo.mxordblk);
 			last_debug_time = hrt_absolute_time();
 		}
-#endif
 	}
 }
 
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index a0daa97ea..bffbc0ce2 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -160,6 +160,7 @@ extern pwm_limit_t pwm_limit;
 
 # define PX4IO_RELAY_CHANNELS		0
 # define POWER_SPEKTRUM(_s)		stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s))
+# define ENABLE_SBUS_OUT(_s)		stm32_gpiowrite(GPIO_SBUS_OENABLE, !(_s))
 
 # define VDD_SERVO_FAULT		(!stm32_gpioread(GPIO_SERVO_FAULT_DETECT))
 
@@ -183,6 +184,7 @@ extern void	mixer_handle_text(const void *buffer, size_t length);
  * Safety switch/LED.
  */
 extern void	safety_init(void);
+extern void	failsafe_led_init(void);
 
 /**
  * FMU communications
diff --git a/src/modules/px4iofirmware/safety.c b/src/modules/px4iofirmware/safety.c
index 83bd3026e..ff2e4af6e 100644
--- a/src/modules/px4iofirmware/safety.c
+++ b/src/modules/px4iofirmware/safety.c
@@ -83,7 +83,11 @@ safety_init(void)
 {
 	/* arrange for the button handler to be called at 10Hz */
 	hrt_call_every(&arming_call, 1000, 100000, safety_check_button, NULL);
+}
 
+void
+failsafe_led_init(void)
+{
 	/* arrange for the failsafe blinker to be called at 8Hz */
 	hrt_call_every(&failsafe_call, 1000, 125000, failsafe_blink, NULL);
 }
@@ -164,8 +168,8 @@ failsafe_blink(void *arg)
 	/* indicate that a serious initialisation error occured */
 	if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)) {
 		LED_AMBER(true);
-	    return;
-    }
+		return;
+	}
 
 	static bool failsafe = false;