diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-09 16:04:32 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-09 16:04:32 +0100 |
commit | 773f70a9df376745523bf78f29d6747c8878c01d (patch) | |
tree | f63d9f6c2d4bb3bb3018b230ae9f42f89ff85c7a /src | |
parent | ac326beaaae7b38d65ad6d7d13f00dfeaa6ae520 (diff) | |
parent | f52f15c7914983ea1569e584e516d53d21cdde56 (diff) | |
download | px4-firmware-773f70a9df376745523bf78f29d6747c8878c01d.tar.gz px4-firmware-773f70a9df376745523bf78f29d6747c8878c01d.tar.bz2 px4-firmware-773f70a9df376745523bf78f29d6747c8878c01d.zip |
Merged origin/master into pubsub_cleanup
Diffstat (limited to 'src')
59 files changed, 2385 insertions, 1560 deletions
diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp index 71c0b70f0..771f2128f 100644 --- a/src/drivers/airspeed/airspeed.cpp +++ b/src/drivers/airspeed/airspeed.cpp @@ -92,7 +92,7 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval) : _comms_errors(perf_alloc(PC_COUNT, "airspeed_comms_errors")) { // enable debug() calls - _debug_enabled = true; + _debug_enabled = false; // work_cancel in the dtor will explode if we don't do this... memset(&_work, 0, sizeof(_work)); diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h index 4972e6914..7cfca7656 100644 --- a/src/drivers/boards/px4fmu-v2/board_config.h +++ b/src/drivers/boards/px4fmu-v2/board_config.h @@ -75,7 +75,7 @@ __BEGIN_DECLS /* PX4FMU GPIOs ***********************************************************************************/ /* LEDs */ -#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12) +#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12) /* External interrupts */ #define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0) @@ -87,7 +87,7 @@ __BEGIN_DECLS #define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0) #define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1) #define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4) -#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15) +#define GPIO_EXTI_MPU_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15) /* SPI1 off */ #define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5) @@ -98,7 +98,7 @@ __BEGIN_DECLS #define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13) #define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15) #define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7) -#define GPIO_SPI_CS_MPU (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2) +#define GPIO_SPI_CS_MPU_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2) /* SPI chip selects */ #define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) diff --git a/src/drivers/boards/px4io-v1/board_config.h b/src/drivers/boards/px4io-v1/board_config.h index c3f39addf..1be4877ba 100644 --- a/src/drivers/boards/px4io-v1/board_config.h +++ b/src/drivers/boards/px4io-v1/board_config.h @@ -58,11 +58,11 @@ /* PX4IO GPIOs **********************************************************************/ /* LEDs */ -#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\ +#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|\ GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14) -#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\ +#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|\ GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15) -#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\ +#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|\ GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10) /* Safety switch button *************************************************************/ diff --git a/src/drivers/boards/px4io-v2/board_config.h b/src/drivers/boards/px4io-v2/board_config.h index 8da555211..ef9bb5cad 100644 --- a/src/drivers/boards/px4io-v2/board_config.h +++ b/src/drivers/boards/px4io-v2/board_config.h @@ -74,9 +74,9 @@ /* LEDS **********************************************************************/ -#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14) -#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15) -#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13) +#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14) +#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15) +#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13) /* Safety switch button *******************************************************/ @@ -114,7 +114,7 @@ /* XXX these should be UART pins */ #define GPIO_SBUS_INPUT (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN11) #define GPIO_SBUS_OUTPUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10) -#define GPIO_SBUS_OENABLE (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4) +#define GPIO_SBUS_OENABLE (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4) /* * High-resolution timer diff --git a/src/drivers/boards/px4io-v2/px4iov2_init.c b/src/drivers/boards/px4io-v2/px4iov2_init.c index ccd01edf5..9f8c0eeb2 100644 --- a/src/drivers/boards/px4io-v2/px4iov2_init.c +++ b/src/drivers/boards/px4io-v2/px4iov2_init.c @@ -124,8 +124,6 @@ __EXPORT void stm32_boardinitialize(void) stm32_configgpio(GPIO_ADC_VSERVO); stm32_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */ - - stm32_gpiowrite(GPIO_SBUS_OUTPUT, false); stm32_configgpio(GPIO_SBUS_OUTPUT); /* sbus output enable is active low - disable it by default */ diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index 51f916f37..c3eea310f 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -189,6 +189,24 @@ ORB_DECLARE(output_pwm); /** get the maximum PWM value the output will send */ #define PWM_SERVO_GET_MAX_PWM _IOC(_PWM_SERVO_BASE, 19) +/** set the number of servos in (unsigned)arg - allows change of + * split between servos and GPIO */ +#define PWM_SERVO_SET_COUNT _IOC(_PWM_SERVO_BASE, 20) + +/** set the lockdown override flag to enable outputs in HIL */ +#define PWM_SERVO_SET_DISABLE_LOCKDOWN _IOC(_PWM_SERVO_BASE, 21) + +/** get the lockdown override flag to enable outputs in HIL */ +#define PWM_SERVO_GET_DISABLE_LOCKDOWN _IOC(_PWM_SERVO_BASE, 22) + +/* + * + * + * WARNING WARNING WARNING! DO NOT EXCEED 31 IN IOC INDICES HERE! + * + * + */ + /** set a single servo to a specific value */ #define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo) diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h index 6b87141e9..20763e265 100644 --- a/src/drivers/drv_rc_input.h +++ b/src/drivers/drv_rc_input.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 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 @@ -63,6 +63,11 @@ #define RC_INPUT_MAX_CHANNELS 18 /** + * Maximum RSSI value + */ +#define RC_INPUT_RSSI_MAX 255 + +/** * Input signal type, value is a control position from zero to 100 * percent. */ @@ -83,8 +88,11 @@ enum RC_INPUT_SOURCE { * on the board involved. */ struct rc_input_values { - /** decoding time */ - uint64_t timestamp; + /** publication time */ + uint64_t timestamp_publication; + + /** last valid reception time */ + uint64_t timestamp_last_signal; /** number of channels actually being seen */ uint32_t channel_count; @@ -92,6 +100,40 @@ struct rc_input_values { /** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 255: full reception */ int32_t rssi; + /** + * explicit failsafe flag: true on TX failure or TX out of range , false otherwise. + * Only the true state is reliable, as there are some (PPM) receivers on the market going + * into failsafe without telling us explicitly. + * */ + bool rc_failsafe; + + /** + * RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. + * True usally means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. + * Will remain false, if a RX with failsafe option continues to transmit frames after a link loss. + * */ + bool rc_lost; + + /** + * Number of lost RC frames. + * Note: intended purpose: observe the radio link quality if RSSI is not available + * This value must not be used to trigger any failsafe-alike funtionality. + * */ + uint16_t rc_lost_frame_count; + + /** + * Number of total RC frames. + * Note: intended purpose: observe the radio link quality if RSSI is not available + * This value must not be used to trigger any failsafe-alike funtionality. + * */ + uint16_t rc_total_frame_count; + + /** + * Length of a single PPM frame. + * Zero for non-PPM systems + */ + uint16_t rc_ppm_frame_length; + /** Input source */ enum RC_INPUT_SOURCE input_source; @@ -107,8 +149,12 @@ ORB_DECLARE(input_rc); #define _RC_INPUT_BASE 0x2b00 /** Fetch R/C input values into (rc_input_values *)arg */ - #define RC_INPUT_GET _IOC(_RC_INPUT_BASE, 0) +/** Enable RSSI input via ADC */ +#define RC_INPUT_ENABLE_RSSI_ANALOG _IOC(_RC_INPUT_BASE, 1) + +/** Enable RSSI input via PWM signal */ +#define RC_INPUT_ENABLE_RSSI_PWM _IOC(_RC_INPUT_BASE, 2) #endif /* _DRV_RC_INPUT_H */ diff --git a/src/drivers/drv_sbus.h b/src/drivers/drv_sbus.h new file mode 100644 index 000000000..927c904ec --- /dev/null +++ b/src/drivers/drv_sbus.h @@ -0,0 +1,58 @@ +/**************************************************************************** + * + * Copyright (c) 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 + * 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 drv_sbus.h + * + * Futaba S.BUS / S.BUS 2 compatible interface. + */ + +#ifndef _DRV_SBUS_H +#define _DRV_SBUS_H + +#include <stdint.h> +#include <sys/ioctl.h> + +#include "drv_orb_dev.h" + +/** + * Path for the default S.BUS device + */ +#define SBUS_DEVICE_PATH "/dev/sbus" + +#define _SBUS_BASE 0x2c00 + +/** Enable S.BUS version 1 / 2 output (0 to disable) */ +#define SBUS_SET_PROTO_VERSION _IOC(_SBUS_BASE, 0) + +#endif /* _DRV_SBUS_H */ diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index 49b72cf79..4c85c0cda 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -839,42 +839,24 @@ HMC5883::collect() /* scale values for output */ - /* - * 1) Scale raw value to SI units using scaling from datasheet. - * 2) Subtract static offset (in SI units) - * 3) Scale the statically calibrated values with a linear - * dynamically obtained factor - * - * Note: the static sensor offset is the number the sensor outputs - * at a nominally 'zero' input. Therefore the offset has to - * be subtracted. - * - * Example: A gyro outputs a value of 74 at zero angular rate - * the offset is 74 from the origin and subtracting - * 74 from all measurements centers them around zero. - */ - #ifdef PX4_I2C_BUS_ONBOARD if (_bus == PX4_I2C_BUS_ONBOARD) { - /* to align the sensor axes with the board, x and y need to be flipped */ - new_report.x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; - /* flip axes and negate value for y */ - new_report.y = ((-report.x * _range_scale) - _scale.y_offset) * _scale.y_scale; - /* z remains z */ - new_report.z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; - } else { -#endif - /* the standard external mag by 3DR has x pointing to the right, y pointing backwards, and z down, - * therefore switch x and y and invert y */ - new_report.x = ((-report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; - /* flip axes and negate value for y */ - new_report.y = ((report.x * _range_scale) - _scale.y_offset) * _scale.y_scale; - /* z remains z */ - new_report.z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; -#ifdef PX4_I2C_BUS_ONBOARD - } + // convert onboard so it matches offboard for the + // scaling below + report.y = -report.y; + report.x = -report.x; + } #endif + /* the standard external mag by 3DR has x pointing to the + * right, y pointing backwards, and z down, therefore switch x + * and y and invert y */ + new_report.x = ((-report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; + /* flip axes and negate value for y */ + new_report.y = ((report.x * _range_scale) - _scale.y_offset) * _scale.y_scale; + /* z remains z */ + new_report.z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; + if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) { if (_mag_topic != -1) { @@ -886,7 +868,6 @@ HMC5883::collect() if (_mag_topic < 0) debug("failed to create sensor_mag publication"); } - } /* post a report to the ring */ @@ -909,6 +890,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) struct mag_report report; ssize_t sz; int ret = 1; + uint8_t good_count = 0; // XXX do something smarter here int fd = (int)enable; @@ -931,31 +913,16 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) 1.0f, }; - float avg_excited[3] = {0.0f, 0.0f, 0.0f}; - unsigned i; - - warnx("starting mag scale calibration"); + float sum_excited[3] = {0.0f, 0.0f, 0.0f}; - /* do a simple demand read */ - sz = read(filp, (char *)&report, sizeof(report)); + /* expected axis scaling. The datasheet says that 766 will + * be places in the X and Y axes and 713 in the Z + * axis. Experiments show that in fact 766 is placed in X, + * and 713 in Y and Z. This is relative to a base of 660 + * LSM/Ga, giving 1.16 and 1.08 */ + float expected_cal[3] = { 1.16f, 1.08f, 1.08f }; - if (sz != sizeof(report)) { - warn("immediate read failed"); - ret = 1; - goto out; - } - - warnx("current measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z); - warnx("time: %lld", report.timestamp); - warnx("sampling 500 samples for scaling offset"); - - /* set the queue depth to 10 */ - /* don't do this for now, it can lead to a crash in start() respectively work_queue() */ -// if (OK != ioctl(filp, SENSORIOCSQUEUEDEPTH, 10)) { -// warn("failed to set queue depth"); -// ret = 1; -// goto out; -// } + warnx("starting mag scale calibration"); /* start the sensor polling at 50 Hz */ if (OK != ioctl(filp, SENSORIOCSPOLLRATE, 50)) { @@ -964,8 +931,9 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) goto out; } - /* Set to 2.5 Gauss */ - if (OK != ioctl(filp, MAGIOCSRANGE, 2)) { + /* Set to 2.5 Gauss. We ask for 3 to get the right part of + * the chained if statement above. */ + if (OK != ioctl(filp, MAGIOCSRANGE, 3)) { warnx("failed to set 2.5 Ga range"); ret = 1; goto out; @@ -989,8 +957,8 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) goto out; } - /* read the sensor 10x and report each value */ - for (i = 0; i < 500; i++) { + // discard 10 samples to let the sensor settle + for (uint8_t i = 0; i < 10; i++) { struct pollfd fds; /* wait for data to be ready */ @@ -1008,32 +976,69 @@ int HMC5883::calibrate(struct file *filp, unsigned enable) if (sz != sizeof(report)) { warn("periodic read failed"); + ret = -EIO; goto out; + } + } - } else { - avg_excited[0] += report.x; - avg_excited[1] += report.y; - avg_excited[2] += report.z; + /* read the sensor up to 50x, stopping when we have 10 good values */ + for (uint8_t i = 0; i < 50 && good_count < 10; i++) { + struct pollfd fds; + + /* wait for data to be ready */ + fds.fd = fd; + fds.events = POLLIN; + ret = ::poll(&fds, 1, 2000); + + if (ret != 1) { + warn("timed out waiting for sensor data"); + goto out; + } + + /* now go get it */ + sz = ::read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) { + warn("periodic read failed"); + ret = -EIO; + goto out; + } + float cal[3] = {fabsf(expected_cal[0] / report.x), + fabsf(expected_cal[1] / report.y), + fabsf(expected_cal[2] / report.z)}; + + if (cal[0] > 0.7f && cal[0] < 1.35f && + cal[1] > 0.7f && cal[1] < 1.35f && + cal[2] > 0.7f && cal[2] < 1.35f) { + good_count++; + sum_excited[0] += cal[0]; + sum_excited[1] += cal[1]; + sum_excited[2] += cal[2]; } //warnx("periodic read %u", i); //warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z); + //warnx("cal: %.6f %.6f %.6f", (double)cal[0], (double)cal[1], (double)cal[2]); } - avg_excited[0] /= i; - avg_excited[1] /= i; - avg_excited[2] /= i; + if (good_count < 5) { + warn("failed calibration"); + ret = -EIO; + goto out; + } - warnx("done. Performed %u reads", i); - warnx("measurement avg: %.6f %.6f %.6f", (double)avg_excited[0], (double)avg_excited[1], (double)avg_excited[2]); +#if 0 + warnx("measurement avg: %.6f %.6f %.6f", + (double)sum_excited[0]/good_count, + (double)sum_excited[1]/good_count, + (double)sum_excited[2]/good_count); +#endif float scaling[3]; - /* calculate axis scaling */ - scaling[0] = fabsf(1.16f / avg_excited[0]); - /* second axis inverted */ - scaling[1] = fabsf(1.16f / -avg_excited[1]); - scaling[2] = fabsf(1.08f / avg_excited[2]); + scaling[0] = sum_excited[0] / good_count; + scaling[1] = sum_excited[1] / good_count; + scaling[2] = sum_excited[2] / good_count; warnx("axes scaling: %.6f %.6f %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]); @@ -1166,6 +1171,8 @@ int HMC5883::set_excitement(unsigned enable) conf_reg &= ~0x03; } + // ::printf("set_excitement enable=%d regA=0x%x\n", (int)enable, (unsigned)conf_reg); + ret = write_reg(ADDR_CONF_A, conf_reg); if (OK != ret) @@ -1174,6 +1181,8 @@ int HMC5883::set_excitement(unsigned enable) uint8_t conf_reg_ret; read_reg(ADDR_CONF_A, conf_reg_ret); + //print_info(); + return !(conf_reg == conf_reg_ret); } @@ -1212,6 +1221,10 @@ HMC5883::print_info() perf_print_counter(_comms_errors); perf_print_counter(_buffer_overflows); printf("poll interval: %u ticks\n", _measure_ticks); + printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset); + printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f range_ga %.2f\n", + (double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale, + (double)1.0/_range_scale, (double)_range_ga); _reports->print_info("report queue"); } diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index 51a059e39..05ae21c1f 100644 --- a/src/drivers/meas_airspeed/meas_airspeed.cpp +++ b/src/drivers/meas_airspeed/meas_airspeed.cpp @@ -77,7 +77,6 @@ #include <systemlib/err.h> #include <systemlib/param/param.h> #include <systemlib/perf_counter.h> -#include <mathlib/mathlib.h> #include <drivers/drv_airspeed.h> #include <drivers/drv_hrt.h> @@ -178,24 +177,17 @@ MEASAirspeed::collect() return ret; } - //uint16_t diff_pres_pa = (val[1]) | ((val[0] & ~(0xC0)) << 8); - uint16_t temp = (val[3] & 0xE0) << 8 | val[2]; - - // XXX leaving this in until new calculation method has been cross-checked - //diff_pres_pa = abs(diff_pres_pa - (16384 / 2.0f)); - //diff_pres_pa -= _diff_pres_offset; int16_t dp_raw = 0, dT_raw = 0; dp_raw = (val[0] << 8) + val[1]; - dp_raw = 0x3FFF & dp_raw; //mask the used bits + /* mask the used bits */ + dp_raw = 0x3FFF & dp_raw; dT_raw = (val[2] << 8) + val[3]; dT_raw = (0xFFE0 & dT_raw) >> 5; float temperature = ((200 * dT_raw) / 2047) - 50; - // XXX we may want to smooth out the readings to remove noise. - - // Calculate differential pressure. As its centered around 8000 - // and can go positive or negative, enforce absolute value -// uint16_t diff_press_pa = abs(dp_raw - (16384 / 2.0f)); + /* calculate differential pressure. As its centered around 8000 + * and can go positive or negative, enforce absolute value + */ const float P_min = -1.0f; const float P_max = 1.0f; float diff_press_pa = fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f) - _diff_pres_offset; @@ -204,7 +196,7 @@ MEASAirspeed::collect() struct differential_pressure_s report; - // Track maximum differential pressure measured (so we can work out top speed). + /* track maximum differential pressure measured (so we can work out top speed). */ if (diff_press_pa > _max_differential_pressure_pa) { _max_differential_pressure_pa = diff_press_pa; } @@ -394,7 +386,7 @@ test() err(1, "immediate read failed"); warnx("single read"); - warnx("diff pressure: %d pa", report.differential_pressure_pa); + warnx("diff pressure: %d pa", (double)report.differential_pressure_pa); /* start the sensor polling at 2Hz */ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index 30d6069b3..ec5f77d74 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012,2013 PX4 Development Team. All rights reserved. + * Copyright (C) 2012-2014 PX4 Development Team. All rights reserved. * Author: Marco Bauer <marco@wtns.de> * * Redistribution and use in source and binary forms, with or without @@ -65,7 +65,6 @@ #include <drivers/device/device.h> #include <drivers/drv_pwm_output.h> -#include <drivers/drv_gpio.h> #include <drivers/drv_hrt.h> #include <drivers/drv_rc_input.h> @@ -93,16 +92,12 @@ #define MOTOR_SPINUP_COUNTER 30 #define ESC_UORB_PUBLISH_DELAY 500000 + + + class MK : public device::I2C { public: - enum Mode { - MODE_NONE, - MODE_2PWM, - MODE_4PWM, - MODE_6PWM, - }; - enum MappingMode { MAPPING_MK = 0, MAPPING_PX4, @@ -120,8 +115,7 @@ public: virtual int init(unsigned motors); virtual ssize_t write(file *filp, const char *buffer, size_t len); - int set_mode(Mode mode); - int set_pwm_rate(unsigned rate); + int set_update_rate(unsigned rate); int set_motor_count(unsigned count); int set_motor_test(bool motortest); int set_overrideSecurityChecks(bool overrideSecurityChecks); @@ -133,7 +127,6 @@ private: static const unsigned _max_actuators = MAX_MOTORS; static const bool showDebug = false; - Mode _mode; int _update_rate; int _current_update_rate; int _task; @@ -180,33 +173,15 @@ private: static const GPIOConfig _gpio_tab[]; static const unsigned _ngpio; - void gpio_reset(void); - void gpio_set_function(uint32_t gpios, int function); - void gpio_write(uint32_t gpios, int function); - uint32_t gpio_read(void); - int gpio_ioctl(file *filp, int cmd, unsigned long arg); int mk_servo_arm(bool status); - int mk_servo_set(unsigned int chan, short val); int mk_servo_set_value(unsigned int chan, short val); int mk_servo_test(unsigned int chan); short scaling(float val, float inMin, float inMax, float outMin, float outMax); - - }; -const MK::GPIOConfig MK::_gpio_tab[] = { - {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, - {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, - {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1}, - {GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1}, - {GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1}, - {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1}, - {GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2}, - {GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2}, -}; -const unsigned MK::_ngpio = sizeof(MK::_gpio_tab) / sizeof(MK::_gpio_tab[0]); + const int blctrlAddr_quad_plus[] = { 2, 2, -2, -2, 0, 0, 0, 0 }; // Addresstranslator for Quad + configuration const int blctrlAddr_hexa_plus[] = { 0, 2, 2, -2, 1, -3, 0, 0 }; // Addresstranslator for Hexa + configuration @@ -247,8 +222,7 @@ MK *g_mk; MK::MK(int bus, const char *_device_path) : I2C("mkblctrl", "/dev/mkblctrl", bus, 0, I2C_BUS_SPEED), - _mode(MODE_NONE), - _update_rate(50), + _update_rate(400), _task(-1), _t_actuators(-1), _t_actuator_armed(-1), @@ -317,26 +291,23 @@ MK::init(unsigned motors) usleep(500000); - if (sizeof(_device) > 0) { - ret = register_driver(_device, &fops, 0666, (void *)this); + if (sizeof(_device) > 0) { + ret = register_driver(_device, &fops, 0666, (void *)this); - if (ret == OK) { + if (ret == OK) { log("creating alternate output device"); _primary_pwm_device = true; } - } - - /* reset GPIOs */ - gpio_reset(); + } /* start the IO interface task */ _task = task_spawn_cmd("mkblctrl", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 20, - 2048, - (main_t)&MK::task_main_trampoline, - nullptr); + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 20, + 2048, + (main_t)&MK::task_main_trampoline, + nullptr); if (_task < 0) { @@ -354,43 +325,7 @@ MK::task_main_trampoline(int argc, char *argv[]) } int -MK::set_mode(Mode mode) -{ - /* - * Configure for PWM output. - * - * Note that regardless of the configured mode, the task is always - * listening and mixing; the mode just selects which of the channels - * are presented on the output pins. - */ - switch (mode) { - case MODE_2PWM: - up_pwm_servo_deinit(); - _update_rate = UPDATE_RATE; /* default output rate */ - break; - - case MODE_4PWM: - up_pwm_servo_deinit(); - _update_rate = UPDATE_RATE; /* default output rate */ - break; - - case MODE_NONE: - debug("MODE_NONE"); - /* disable servo outputs and set a very low update rate */ - up_pwm_servo_deinit(); - _update_rate = UPDATE_RATE; - break; - - default: - return -EINVAL; - } - - _mode = mode; - return OK; -} - -int -MK::set_pwm_rate(unsigned rate) +MK::set_update_rate(unsigned rate) { if ((rate > 500) || (rate < 10)) return -EINVAL; @@ -621,11 +556,13 @@ MK::task_main() } } - if(!_overrideSecurityChecks) { + if (!_overrideSecurityChecks) { /* don't go under BLCTRL_MIN_VALUE */ + if (outputs.output[i] < BLCTRL_MIN_VALUE) { outputs.output[i] = BLCTRL_MIN_VALUE; } + } /* output to BLCtrl's */ @@ -675,21 +612,24 @@ MK::task_main() esc.esc[i].esc_current = (uint16_t) Motor[i].Current; esc.esc[i].esc_rpm = (uint16_t) 0; esc.esc[i].esc_setpoint = (float) Motor[i].SetPoint_PX4; + if (Motor[i].Version == 1) { // BLCtrl 2.0 (11Bit) - esc.esc[i].esc_setpoint_raw = (uint16_t) (Motor[i].SetPoint<<3) | Motor[i].SetPointLowerBits; + esc.esc[i].esc_setpoint_raw = (uint16_t)(Motor[i].SetPoint << 3) | Motor[i].SetPointLowerBits; + } else { // BLCtrl < 2.0 (8Bit) esc.esc[i].esc_setpoint_raw = (uint16_t) Motor[i].SetPoint; } + esc.esc[i].esc_temperature = (uint16_t) Motor[i].Temperature; esc.esc[i].esc_state = (uint16_t) Motor[i].State; esc.esc[i].esc_errorcount = (uint16_t) 0; - // if motortest is requested - do it... - if (_motortest == true) { - mk_servo_test(i); - } + // if motortest is requested - do it... + if (_motortest == true) { + mk_servo_test(i); + } } @@ -728,7 +668,7 @@ MK::mk_servo_arm(bool status) unsigned int MK::mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C) { - if(initI2C) { + if (initI2C) { I2C::init(); } @@ -781,8 +721,8 @@ MK::mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C) fprintf(stderr, "[mkblctrl] blctrl[%i] : found=%i\tversion=%i\tcurrent=%i\tmaxpwm=%i\ttemperature=%i\n", i, Motor[i].State, Motor[i].Version, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature); } - - if(!_overrideSecurityChecks) { + + if (!_overrideSecurityChecks) { if (foundMotorCount != 4 && foundMotorCount != 6 && foundMotorCount != 8) { _task_should_exit = true; } @@ -811,8 +751,8 @@ MK::mk_servo_set(unsigned int chan, short val) tmpVal = 0; } - Motor[chan].SetPoint = (uint8_t)(tmpVal>>3)&0xff; - Motor[chan].SetPointLowerBits = ((uint8_t)tmpVal%8)&0x07; + Motor[chan].SetPoint = (uint8_t)(tmpVal >> 3) & 0xff; + Motor[chan].SetPointLowerBits = ((uint8_t)tmpVal % 8) & 0x07; if (_armed == false) { Motor[chan].SetPoint = 0; @@ -1019,28 +959,6 @@ MK::ioctl(file *filp, int cmd, unsigned long arg) { int ret; - // XXX disabled, confusing users - - /* try it as a GPIO ioctl first */ - ret = gpio_ioctl(filp, cmd, arg); - - if (ret != -ENOTTY) - return ret; - - /* if we are in valid PWM mode, try it as a PWM ioctl as well */ - /* - switch (_mode) { - case MODE_2PWM: - case MODE_4PWM: - case MODE_6PWM: - ret = pwm_ioctl(filp, cmd, arg); - break; - - default: - debug("not in a PWM mode"); - break; - } - */ ret = pwm_ioctl(filp, cmd, arg); /* if nobody wants it, let CDev have it */ @@ -1075,6 +993,10 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg) ret = OK; break; + case PWM_SERVO_GET_UPDATE_RATE: + *(uint32_t *)arg = _update_rate; + break; + case PWM_SERVO_SET_SELECT_UPDATE_RATE: ret = OK; break; @@ -1084,6 +1006,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg) if (arg < 2150) { Motor[cmd - PWM_SERVO_SET(0)].RawPwmValue = (unsigned short)arg; mk_servo_set(cmd - PWM_SERVO_SET(0), scaling(arg, 1010, 2100, 0, 2047)); + } else { ret = -EINVAL; } @@ -1198,139 +1121,10 @@ MK::write(file *filp, const char *buffer, size_t len) return count * 2; } -void -MK::gpio_reset(void) -{ - /* - * Setup default GPIO config - all pins as GPIOs, GPIO driver chip - * to input mode. - */ - for (unsigned i = 0; i < _ngpio; i++) - stm32_configgpio(_gpio_tab[i].input); - - stm32_gpiowrite(GPIO_GPIO_DIR, 0); - stm32_configgpio(GPIO_GPIO_DIR); -} - -void -MK::gpio_set_function(uint32_t gpios, int function) -{ - /* - * GPIOs 0 and 1 must have the same direction as they are buffered - * by a shared 2-port driver. Any attempt to set either sets both. - */ - if (gpios & 3) { - gpios |= 3; - - /* flip the buffer to output mode if required */ - if (GPIO_SET_OUTPUT == function) - stm32_gpiowrite(GPIO_GPIO_DIR, 1); - } - - /* configure selected GPIOs as required */ - for (unsigned i = 0; i < _ngpio; i++) { - if (gpios & (1 << i)) { - switch (function) { - case GPIO_SET_INPUT: - stm32_configgpio(_gpio_tab[i].input); - break; - - case GPIO_SET_OUTPUT: - stm32_configgpio(_gpio_tab[i].output); - break; - - case GPIO_SET_ALT_1: - if (_gpio_tab[i].alt != 0) - stm32_configgpio(_gpio_tab[i].alt); - - break; - } - } - } - - /* flip buffer to input mode if required */ - if ((GPIO_SET_INPUT == function) && (gpios & 3)) - stm32_gpiowrite(GPIO_GPIO_DIR, 0); -} - -void -MK::gpio_write(uint32_t gpios, int function) -{ - int value = (function == GPIO_SET) ? 1 : 0; - - for (unsigned i = 0; i < _ngpio; i++) - if (gpios & (1 << i)) - stm32_gpiowrite(_gpio_tab[i].output, value); -} - -uint32_t -MK::gpio_read(void) -{ - uint32_t bits = 0; - - for (unsigned i = 0; i < _ngpio; i++) - if (stm32_gpioread(_gpio_tab[i].input)) - bits |= (1 << i); - - return bits; -} - -int -MK::gpio_ioctl(struct file *filp, int cmd, unsigned long arg) -{ - int ret = OK; - - lock(); - - switch (cmd) { - - case GPIO_RESET: - gpio_reset(); - break; - - case GPIO_SET_OUTPUT: - case GPIO_SET_INPUT: - case GPIO_SET_ALT_1: - gpio_set_function(arg, cmd); - break; - - case GPIO_SET_ALT_2: - case GPIO_SET_ALT_3: - case GPIO_SET_ALT_4: - ret = -EINVAL; - break; - - case GPIO_SET: - case GPIO_CLEAR: - gpio_write(arg, cmd); - break; - - case GPIO_GET: - *(uint32_t *)arg = gpio_read(); - break; - - default: - ret = -ENOTTY; - } - - unlock(); - - return ret; -} namespace { -enum PortMode { - PORT_MODE_UNSET = 0, - PORT_FULL_GPIO, - PORT_FULL_SERIAL, - PORT_FULL_PWM, - PORT_GPIO_AND_SERIAL, - PORT_PWM_AND_SERIAL, - PORT_PWM_AND_GPIO, -}; - enum MappingMode { MAPPING_MK = 0, MAPPING_PX4, @@ -1341,20 +1135,11 @@ enum FrameType { FRAME_X, }; -PortMode g_port_mode; int -mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, int px4mode, int frametype, bool overrideSecurityChecks) +mk_new_mode(int update_rate, int motorcount, bool motortest, int px4mode, int frametype, bool overrideSecurityChecks) { - uint32_t gpio_bits; int shouldStop = 0; - MK::Mode servo_mode; - - /* reset to all-inputs */ - g_mk->ioctl(0, GPIO_RESET, 0); - - gpio_bits = 0; - servo_mode = MK::MODE_NONE; /* native PX4 addressing) */ g_mk->set_px4mode(px4mode); @@ -1368,7 +1153,6 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, /* ovveride security checks if enabled */ g_mk->set_overrideSecurityChecks(overrideSecurityChecks); - /* count used motors */ do { if (g_mk->mk_check_for_blctrl(8, false, false) != 0) { @@ -1383,86 +1167,54 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, true, false)); - /* (re)set the PWM output mode */ - g_mk->set_mode(servo_mode); - - - if ((servo_mode != MK::MODE_NONE) && (update_rate != 0)) - g_mk->set_pwm_rate(update_rate); + g_mk->set_update_rate(update_rate); return OK; } int -mk_start(unsigned bus, unsigned motors, char *device_path) -{ - int ret = OK; - - if (g_mk == nullptr) { - - g_mk = new MK(bus, device_path); - - if (g_mk == nullptr) { - ret = -ENOMEM; - - } else { - ret = g_mk->init(motors); - - if (ret != OK) { - delete g_mk; - g_mk = nullptr; - } - } - } - - return ret; -} - - -int -mk_check_for_i2c_esc_bus(char *device_path, int motors) +mk_start(unsigned motors, char *device_path) { int ret; - if (g_mk == nullptr) { + // try i2c3 first + g_mk = new MK(3, device_path); - g_mk = new MK(3, device_path); + if (!g_mk) + return -ENOMEM; - if (g_mk == nullptr) { - return -1; - - } else { - ret = g_mk->mk_check_for_blctrl(8, false, true); - delete g_mk; - g_mk = nullptr; - - if (ret > 0) { - return 3; - } + if (OK == g_mk->init(motors)) { + warnx("[mkblctrl] scanning i2c3...\n"); + ret = g_mk->mk_check_for_blctrl(8, false, true); + if (ret > 0) { + return OK; } + } + delete g_mk; + g_mk = nullptr; - g_mk = new MK(1, device_path); - - if (g_mk == nullptr) { - return -1; + // fallback to bus 1 + g_mk = new MK(1, device_path); - } else { - ret = g_mk->mk_check_for_blctrl(8, false, true); - delete g_mk; - g_mk = nullptr; + if (!g_mk) + return -ENOMEM; - if (ret > 0) { - return 1; - } + if (OK == g_mk->init(motors)) { + warnx("[mkblctrl] scanning i2c1...\n"); + ret = g_mk->mk_check_for_blctrl(8, false, true); + if (ret > 0) { + return OK; } } - return -1; -} + delete g_mk; + g_mk = nullptr; + return -ENXIO; +} } // namespace @@ -1472,10 +1224,8 @@ extern "C" __EXPORT int mkblctrl_main(int argc, char *argv[]); int mkblctrl_main(int argc, char *argv[]) { - PortMode port_mode = PORT_FULL_PWM; int pwm_update_rate_in_hz = UPDATE_RATE; int motorcount = 8; - int bus = -1; int px4mode = MAPPING_PX4; int frametype = FRAME_PLUS; // + plus is default bool motortest = false; @@ -1489,18 +1239,6 @@ mkblctrl_main(int argc, char *argv[]) */ for (int i = 1; i < argc; i++) { - /* look for the optional i2c bus parameter */ - if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) { - if (argc > i + 1) { - bus = atoi(argv[i + 1]); - newMode = true; - - } else { - errx(1, "missing argument for i2c bus (-b)"); - return 1; - } - } - /* look for the optional frame parameter */ if (strcmp(argv[i], "-mkmode") == 0 || strcmp(argv[i], "--mkmode") == 0) { if (argc > i + 1) { @@ -1560,51 +1298,43 @@ mkblctrl_main(int argc, char *argv[]) fprintf(stderr, "mkblctrl: help:\n"); fprintf(stderr, " [-mkmode {+/x}] [-b i2c_bus_number] [-d devicename] [--override-security-checks] [-h / --help]\n\n"); fprintf(stderr, "\t -mkmode {+/x} \t\t Type of frame, if Mikrokopter motor order is used.\n"); - fprintf(stderr, "\t -b {i2c_bus_number} \t\t Set the i2c bus where the ESCs are connected to (default autoscan).\n"); fprintf(stderr, "\t -d {devicepath & name}\t\t Create alternate pwm device.\n"); fprintf(stderr, "\t --override-security-checks \t\t Disable all security checks (arming and number of ESCs). Used to test single Motors etc. (DANGER !!!)\n"); fprintf(stderr, "\n"); fprintf(stderr, "Motortest:\n"); fprintf(stderr, "First you have to start mkblctrl, the you can enter Motortest Mode with:\n"); fprintf(stderr, "mkblctrl -t\n"); - fprintf(stderr, "This will spin up once every motor in order of motoraddress. (DANGER !!!)\n"); + fprintf(stderr, "This will spin up once every motor in order of motoraddress. (DANGER !!!)\n"); exit(1); } if (!motortest) { - if (g_mk == nullptr) { - if (bus == -1) { - bus = mk_check_for_i2c_esc_bus(devicepath, motorcount); - } - - if (bus != -1) { - if (mk_start(bus, motorcount, devicepath) != OK) { - errx(1, "failed to start the MK-BLCtrl driver"); - } - } else { - errx(1, "failed to start the MK-BLCtrl driver (cannot find i2c esc's)"); - } - - /* parameter set ? */ - if (newMode) { - /* switch parameter */ - return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks); - } - - exit(0); - } else { - errx(1, "MK-BLCtrl driver already running"); - } - - } else { - if (g_mk == nullptr) { - errx(1, "MK-BLCtrl driver not running. You have to start it first."); - - } else { - g_mk->set_motor_test(motortest); - exit(0); - - } - } + if (g_mk == nullptr) { + if (mk_start(motorcount, devicepath) != OK) { + errx(1, "failed to start the MK-BLCtrl driver"); + } + + /* parameter set ? */ + if (newMode) { + /* switch parameter */ + return mk_new_mode(pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks); + } + + exit(0); + + } else { + errx(1, "MK-BLCtrl driver already running"); + } + + } else { + if (g_mk == nullptr) { + errx(1, "MK-BLCtrl driver not running. You have to start it first."); + + } else { + g_mk->set_motor_test(motortest); + exit(0); + + } + } } diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index b28d318d7..0fbd84924 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -626,7 +626,7 @@ PX4FMU::task_main() #ifdef HRT_PPM_CHANNEL // see if we have new PPM input data - if (ppm_last_valid_decode != rc_in.timestamp) { + if (ppm_last_valid_decode != rc_in.timestamp_last_signal) { // we have a new PPM frame. Publish it. rc_in.channel_count = ppm_decoded_channels; @@ -638,7 +638,15 @@ PX4FMU::task_main() rc_in.values[i] = ppm_buffer[i]; } - rc_in.timestamp = ppm_last_valid_decode; + rc_in.timestamp_publication = ppm_last_valid_decode; + rc_in.timestamp_last_signal = ppm_last_valid_decode; + + rc_in.rc_ppm_frame_length = ppm_frame_length; + rc_in.rssi = RC_INPUT_RSSI_MAX; + rc_in.rc_failsafe = false; + rc_in.rc_lost = false; + rc_in.rc_lost_frame_count = 0; + rc_in.rc_total_frame_count = 0; /* lazily advertise on first publication */ if (to_input_rc == 0) { @@ -1006,6 +1014,40 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) break; + case PWM_SERVO_SET_COUNT: { + /* change the number of outputs that are enabled for + * PWM. This is used to change the split between GPIO + * and PWM under control of the flight config + * parameters. Note that this does not allow for + * changing a set of pins to be used for serial on + * FMUv1 + */ + switch (arg) { + case 0: + set_mode(MODE_NONE); + break; + + case 2: + set_mode(MODE_2PWM); + break; + + case 4: + set_mode(MODE_4PWM); + break; + +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) + case 6: + set_mode(MODE_6PWM); + break; +#endif + + default: + ret = -EINVAL; + break; + } + break; + } + case MIXERIOCRESET: if (_mixers != nullptr) { delete _mixers; @@ -1108,10 +1150,12 @@ PX4FMU::sensor_reset(int ms) stm32_configgpio(GPIO_SPI_CS_GYRO_OFF); stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF); stm32_configgpio(GPIO_SPI_CS_BARO_OFF); + stm32_configgpio(GPIO_SPI_CS_MPU_OFF); stm32_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0); stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0); stm32_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0); + stm32_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0); stm32_configgpio(GPIO_SPI1_SCK_OFF); stm32_configgpio(GPIO_SPI1_MISO_OFF); @@ -1124,10 +1168,12 @@ PX4FMU::sensor_reset(int ms) stm32_configgpio(GPIO_GYRO_DRDY_OFF); stm32_configgpio(GPIO_MAG_DRDY_OFF); stm32_configgpio(GPIO_ACCEL_DRDY_OFF); + stm32_configgpio(GPIO_EXTI_MPU_DRDY_OFF); stm32_gpiowrite(GPIO_GYRO_DRDY_OFF, 0); stm32_gpiowrite(GPIO_MAG_DRDY_OFF, 0); stm32_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0); + stm32_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0); /* set the sensor rail off */ stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN); @@ -1160,6 +1206,13 @@ PX4FMU::sensor_reset(int ms) stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); + + // // XXX bring up the EXTI pins again + // stm32_configgpio(GPIO_GYRO_DRDY); + // stm32_configgpio(GPIO_MAG_DRDY); + // stm32_configgpio(GPIO_ACCEL_DRDY); + // stm32_configgpio(GPIO_EXTI_MPU_DRDY); + #endif #endif } @@ -1432,7 +1485,6 @@ void sensor_reset(int ms) { int fd; - int ret; fd = open(PX4FMU_DEVICE_PATH, O_RDWR); diff --git a/src/drivers/px4fmu/module.mk b/src/drivers/px4fmu/module.mk index d918abd57..05bc7a5b3 100644 --- a/src/drivers/px4fmu/module.mk +++ b/src/drivers/px4fmu/module.mk @@ -3,5 +3,4 @@ # MODULE_COMMAND = fmu -SRCS = fmu.cpp \ - ../../modules/systemlib/pwm_limit/pwm_limit.c +SRCS = fmu.cpp diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 0ca35d2f2..efcf4d12b 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -61,6 +61,7 @@ #include <drivers/device/device.h> #include <drivers/drv_rc_input.h> #include <drivers/drv_pwm_output.h> +#include <drivers/drv_sbus.h> #include <drivers/drv_gpio.h> #include <drivers/drv_hrt.h> #include <drivers/drv_mixer.h> @@ -238,6 +239,7 @@ private: unsigned _update_interval; ///< Subscription interval limiting send rate bool _rc_handling_disabled; ///< If set, IO does not evaluate, but only forward the RC values unsigned _rc_chan_count; ///< Internal copy of the last seen number of RC channels + uint64_t _rc_last_valid; ///< last valid timestamp volatile int _task; ///< worker task id volatile bool _task_should_exit; ///< worker terminate flag @@ -270,9 +272,11 @@ private: orb_advert_t _to_servorail; ///< servorail status orb_advert_t _to_safety; ///< status of safety - actuator_outputs_s _outputs; ///<mixed outputs + actuator_outputs_s _outputs; ///< mixed outputs + servorail_status_s _servorail_status; ///< servorail status bool _primary_pwm_device; ///< true if we are the default PWM output + bool _lockdown_override; ///< allow to override the safety lockdown float _battery_amp_per_volt; ///< current sensor amps/volt float _battery_amp_bias; ///< current sensor bias @@ -443,14 +447,14 @@ private: * @param vservo vservo register * @param vrssi vrssi register */ - void io_handle_vservo(uint16_t vbatt, uint16_t ibatt); + void io_handle_vservo(uint16_t vservo, uint16_t vrssi); }; namespace { -PX4IO *g_dev; +PX4IO *g_dev = nullptr; } @@ -466,6 +470,7 @@ PX4IO::PX4IO(device::Device *interface) : _update_interval(0), _rc_handling_disabled(false), _rc_chan_count(0), + _rc_last_valid(0), _task(-1), _task_should_exit(false), _mavlink_fd(-1), @@ -489,6 +494,7 @@ PX4IO::PX4IO(device::Device *interface) : _to_servorail(0), _to_safety(0), _primary_pwm_device(false), + _lockdown_override(false), _battery_amp_per_volt(90.0f / 5.0f), // this matches the 3DR current sensor _battery_amp_bias(0), _battery_mamphour_total(0), @@ -504,7 +510,8 @@ PX4IO::PX4IO(device::Device *interface) : /* open MAVLink text channel */ _mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0); - _debug_enabled = true; + _debug_enabled = false; + _servorail_status.rssi_v = 0; } PX4IO::~PX4IO() @@ -578,6 +585,12 @@ PX4IO::init() /* get some parameters */ unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION); + if (protocol == _io_reg_get_error) { + log("failed to communicate with IO"); + mavlink_log_emergency(_mavlink_fd, "[IO] failed to communicate with IO, abort."); + return -1; + } + if (protocol != PX4IO_PROTOCOL_VERSION) { log("protocol/firmware mismatch"); mavlink_log_emergency(_mavlink_fd, "[IO] protocol/firmware mismatch, abort."); @@ -772,8 +785,6 @@ PX4IO::task_main() hrt_abstime poll_last = 0; hrt_abstime orb_check_last = 0; - log("starting"); - _thread_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0); /* @@ -807,8 +818,6 @@ PX4IO::task_main() fds[0].fd = _t_actuator_controls_0; fds[0].events = POLLIN; - log("ready"); - /* lock against the ioctl handler */ lock(); @@ -1043,13 +1052,19 @@ PX4IO::io_set_arming_state() uint16_t set = 0; uint16_t clear = 0; - if (armed.armed && !armed.lockdown) { + if (armed.armed) { set |= PX4IO_P_SETUP_ARMING_FMU_ARMED; } else { clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED; } + if (armed.lockdown && !_lockdown_override) { + set |= PX4IO_P_SETUP_ARMING_LOCKDOWN; + } else { + clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN; + } + if (armed.ready_to_arm) { set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; @@ -1300,6 +1315,7 @@ PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt) /* voltage is scaled to mV */ battery_status.voltage_v = vbatt / 1000.0f; + battery_status.voltage_filtered_v = vbatt / 1000.0f; /* ibatt contains the raw ADC count, as 12 bit ADC @@ -1331,19 +1347,18 @@ PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt) void PX4IO::io_handle_vservo(uint16_t vservo, uint16_t vrssi) { - servorail_status_s servorail_status; - servorail_status.timestamp = hrt_absolute_time(); + _servorail_status.timestamp = hrt_absolute_time(); /* voltage is scaled to mV */ - servorail_status.voltage_v = vservo * 0.001f; - servorail_status.rssi_v = vrssi * 0.001f; + _servorail_status.voltage_v = vservo * 0.001f; + _servorail_status.rssi_v = vrssi * 0.001f; /* lazily publish the servorail voltages */ if (_to_servorail > 0) { - orb_publish(ORB_ID(servorail_status), _to_servorail, &servorail_status); + orb_publish(ORB_ID(servorail_status), _to_servorail, &_servorail_status); } else { - _to_servorail = orb_advertise(ORB_ID(servorail_status), &servorail_status); + _to_servorail = orb_advertise(ORB_ID(servorail_status), &_servorail_status); } } @@ -1353,7 +1368,10 @@ PX4IO::io_get_status() uint16_t regs[6]; int ret; - /* get STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT in that order */ + /* get + * STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT, + * STATUS_VSERVO, STATUS_VRSSI, STATUS_PRSSI + * in that order */ ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, ®s[0], sizeof(regs) / sizeof(regs[0])); if (ret != OK) @@ -1390,7 +1408,8 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc) * * This should be the common case (9 channel R/C control being a reasonable upper bound). */ - input_rc.timestamp = hrt_absolute_time(); + input_rc.timestamp_publication = hrt_absolute_time(); + ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT, ®s[0], prolog + 9); if (ret != OK) @@ -1400,13 +1419,25 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc) * Get the channel count any any extra channels. This is no more expensive than reading the * channel count once. */ - channel_count = regs[0]; + channel_count = regs[PX4IO_P_RAW_RC_COUNT]; if (channel_count != _rc_chan_count) perf_count(_perf_chan_count); _rc_chan_count = channel_count; + input_rc.rc_ppm_frame_length = regs[PX4IO_P_RAW_RC_DATA]; + input_rc.rssi = regs[PX4IO_P_RAW_RC_NRSSI]; + input_rc.rc_failsafe = (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_FAILSAFE); + input_rc.rc_lost_frame_count = regs[PX4IO_P_RAW_LOST_FRAME_COUNT]; + input_rc.rc_total_frame_count = regs[PX4IO_P_RAW_FRAME_COUNT]; + + /* rc_lost has to be set before the call to this function */ + if (!input_rc.rc_lost && !input_rc.rc_failsafe) + _rc_last_valid = input_rc.timestamp_publication; + + input_rc.timestamp_last_signal = _rc_last_valid; + if (channel_count > 9) { ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, ®s[prolog + 9], channel_count - 9); @@ -1423,13 +1454,12 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc) int PX4IO::io_publish_raw_rc() { - /* if no raw RC, just don't publish */ - if (!(_status & PX4IO_P_STATUS_FLAGS_RC_OK)) - return OK; /* fetch values from IO */ rc_input_values rc_val; - rc_val.timestamp = hrt_absolute_time(); + + /* set the RC status flag ORDER MATTERS! */ + rc_val.rc_lost = !(_status & PX4IO_P_STATUS_FLAGS_RC_OK); int ret = io_get_raw_rc_input(rc_val); @@ -1448,6 +1478,11 @@ PX4IO::io_publish_raw_rc() } else { rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN; + + /* we do not know the RC input, only publish if RC OK flag is set */ + /* if no raw RC, just don't publish */ + if (!(_status & PX4IO_P_STATUS_FLAGS_RC_OK)) + return OK; } /* lazily advertise on first publication */ @@ -1664,7 +1699,18 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries) total_len++; } - int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, total_len / 2); + int ret; + + for (int i = 0; i < 30; i++) { + /* failed, but give it a 2nd shot */ + ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, total_len / 2); + + if (ret) { + usleep(333); + } else { + break; + } + } /* print mixer chunk */ if (debuglevel > 5 || ret) { @@ -1688,7 +1734,18 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries) msg->text[0] = '\n'; msg->text[1] = '\0'; - int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2); + int ret; + + for (int i = 0; i < 30; i++) { + /* failed, but give it a 2nd shot */ + ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2); + + if (ret) { + usleep(333); + } else { + break; + } + } if (ret) return ret; @@ -1734,15 +1791,14 @@ PX4IO::print_status() printf("%u bytes free\n", io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM)); uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS); - printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s%s\n", + uint16_t io_status_flags = flags; + printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s\n", flags, ((flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED) ? " OUTPUTS_ARMED" : ""), ((flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? " SAFETY_OFF" : " SAFETY_SAFE"), ((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""), ((flags & PX4IO_P_STATUS_FLAGS_RC_OK) ? " RC_OK" : " RC_FAIL"), ((flags & PX4IO_P_STATUS_FLAGS_RC_PPM) ? " PPM" : ""), - (((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (!(flags & PX4IO_P_STATUS_FLAGS_RC_DSM11))) ? " DSM10" : ""), - (((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (flags & PX4IO_P_STATUS_FLAGS_RC_DSM11)) ? " DSM11" : ""), ((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? " SBUS" : ""), ((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"), ((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PWM_PASSTHROUGH" : ""), @@ -1801,8 +1857,17 @@ PX4IO::print_status() printf("\n"); - if (raw_inputs > 0) { - int frame_len = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_RC_DATA); + flags = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_FLAGS); + printf("R/C flags: 0x%04x%s%s%s%s%s\n", flags, + (((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (!(flags & PX4IO_P_RAW_RC_FLAGS_RC_DSM11))) ? " DSM10" : ""), + (((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (flags & PX4IO_P_RAW_RC_FLAGS_RC_DSM11)) ? " DSM11" : ""), + ((flags & PX4IO_P_RAW_RC_FLAGS_FRAME_DROP) ? " FRAME_DROP" : ""), + ((flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) ? " FAILSAFE" : ""), + ((flags & PX4IO_P_RAW_RC_FLAGS_MAPPING_OK) ? " MAPPING_OK" : "") + ); + + if ((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_PPM)) { + int frame_len = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_DATA); printf("RC data (PPM frame len) %u us\n", frame_len); if ((frame_len - raw_inputs * 2000 - 3000) < 0) { @@ -1828,16 +1893,23 @@ PX4IO::print_status() printf("\n"); /* setup and state */ - printf("features 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES)); + uint16_t features = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES); + printf("features 0x%04x%s%s%s%s\n", features, + ((features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) ? " S.BUS1_OUT" : ""), + ((features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) ? " S.BUS2_OUT" : ""), + ((features & PX4IO_P_SETUP_FEATURES_PWM_RSSI) ? " RSSI_PWM" : ""), + ((features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) ? " RSSI_ADC" : "") + ); uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING); - printf("arming 0x%04x%s%s%s%s%s%s\n", + printf("arming 0x%04x%s%s%s%s%s%s%s\n", arming, - ((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : " FMU_DISARMED"), - ((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : " IO_ARM_DENIED"), - ((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""), - ((arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ? " FAILSAFE_CUSTOM" : ""), - ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""), - ((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : "")); + ((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : " FMU_DISARMED"), + ((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : " IO_ARM_DENIED"), + ((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""), + ((arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ? " FAILSAFE_CUSTOM" : ""), + ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""), + ((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : ""), + ((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) ? " LOCKDOWN" : "")); #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 printf("rates 0x%04x default %u alt %u relays 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES), @@ -2034,6 +2106,14 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) *(unsigned *)arg = _max_actuators; break; + case PWM_SERVO_SET_DISABLE_LOCKDOWN: + _lockdown_override = arg; + break; + + case PWM_SERVO_GET_DISABLE_LOCKDOWN: + *(unsigned *)arg = _lockdown_override; + break; + case DSM_BIND_START: io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down); usleep(500000); @@ -2250,6 +2330,38 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) break; + case RC_INPUT_ENABLE_RSSI_ANALOG: + + if (arg) { + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_ADC_RSSI); + } else { + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, PX4IO_P_SETUP_FEATURES_ADC_RSSI, 0); + } + + break; + + case RC_INPUT_ENABLE_RSSI_PWM: + + if (arg) { + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_PWM_RSSI); + } else { + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, PX4IO_P_SETUP_FEATURES_PWM_RSSI, 0); + } + + break; + + case SBUS_SET_PROTO_VERSION: + + if (arg == 1) { + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS1_OUT); + } else if (arg == 2) { + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS2_OUT); + } else { + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT), 0); + } + + break; + default: /* not a recognized value */ ret = -ENOTTY; @@ -2358,8 +2470,10 @@ start(int argc, char *argv[]) /* create the driver - it will set g_dev */ (void)new PX4IO(interface); - if (g_dev == nullptr) + if (g_dev == nullptr) { + delete interface; errx(1, "driver alloc failed"); + } if (OK != g_dev->init()) { delete g_dev; @@ -2621,7 +2735,7 @@ monitor(void) /* clear screen */ printf("\033[2J"); - unsigned cancels = 3; + unsigned cancels = 2; for (;;) { pollfd fds[1]; @@ -2635,17 +2749,17 @@ monitor(void) read(0, &c, 1); if (cancels-- == 0) { - printf("\033[H"); /* move cursor home and clear screen */ + printf("\033[2J\033[H"); /* move cursor home and clear screen */ exit(0); } } if (g_dev != nullptr) { - printf("\033[H"); /* move cursor home and clear screen */ + printf("\033[2J\033[H"); /* move cursor home and clear screen */ (void)g_dev->print_status(); (void)g_dev->print_debug(); - printf("[ Use 'px4io debug <N>' for more output. Hit <enter> three times to exit monitor mode ]\n"); + printf("\n\n\n[ Use 'px4io debug <N>' for more output. Hit <enter> three times to exit monitor mode ]\n"); } else { errx(1, "driver not loaded, exiting"); @@ -2657,13 +2771,72 @@ void if_test(unsigned mode) { device::Device *interface = get_interface(); + int result; - int result = interface->ioctl(1, mode); /* XXX magic numbers */ - delete interface; + if (interface) { + result = interface->ioctl(1, mode); /* XXX magic numbers */ + delete interface; + } else { + errx(1, "interface not loaded, exiting"); + } errx(0, "test returned %d", result); } +void +lockdown(int argc, char *argv[]) +{ + if (g_dev != nullptr) { + + if (argc > 2 && !strcmp(argv[2], "disable")) { + + warnx("WARNING: ACTUATORS WILL BE LIVE IN HIL! PROCEED?"); + warnx("Press 'y' to enable, any other key to abort."); + + /* check if user wants to abort */ + char c; + + struct pollfd fds; + int ret; + hrt_abstime start = hrt_absolute_time(); + const unsigned long timeout = 5000000; + + while (hrt_elapsed_time(&start) < timeout) { + fds.fd = 0; /* stdin */ + fds.events = POLLIN; + ret = poll(&fds, 1, 0); + + if (ret > 0) { + + read(0, &c, 1); + + if (c != 'y') { + exit(0); + } else if (c == 'y') { + break; + } + } + + usleep(10000); + } + + if (hrt_elapsed_time(&start) > timeout) + errx(1, "TIMEOUT! ABORTED WITHOUT CHANGES."); + + (void)g_dev->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 1); + + warnx("WARNING: ACTUATORS ARE NOW LIVE IN HIL!"); + } else { + (void)g_dev->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 0); + warnx("ACTUATORS ARE NOW SAFE IN HIL."); + } + + } else { + errx(1, "driver not loaded, exiting"); + } + exit(0); +} + } /* namespace */ int @@ -2688,6 +2861,7 @@ px4io_main(int argc, char *argv[]) printf("[px4io] loaded, detaching first\n"); /* stop the driver */ delete g_dev; + g_dev = nullptr; } PX4IO_Uploader *up; @@ -2760,18 +2934,30 @@ px4io_main(int argc, char *argv[]) } if (g_dev == nullptr) { warnx("px4io is not started, still attempting upgrade"); - } else { - uint16_t arg = atol(argv[2]); - int ret = g_dev->ioctl(nullptr, PX4IO_REBOOT_BOOTLOADER, arg); - if (ret != OK) { - printf("reboot failed - %d\n", ret); - exit(1); + + /* allocate the interface */ + device::Device *interface = get_interface(); + + /* create the driver - it will set g_dev */ + (void)new PX4IO(interface); + + if (g_dev == nullptr) { + delete interface; + errx(1, "driver alloc failed"); } + } - // tear down the px4io instance - delete g_dev; + uint16_t arg = atol(argv[2]); + int ret = g_dev->ioctl(nullptr, PX4IO_REBOOT_BOOTLOADER, arg); + if (ret != OK) { + printf("reboot failed - %d\n", ret); + exit(1); } + // tear down the px4io instance + delete g_dev; + g_dev = nullptr; + // upload the specified firmware const char *fn[2]; fn[0] = argv[3]; @@ -2829,6 +3015,7 @@ px4io_main(int argc, char *argv[]) /* stop the driver */ delete g_dev; + g_dev = nullptr; exit(0); } @@ -2883,6 +3070,63 @@ px4io_main(int argc, char *argv[]) if (!strcmp(argv[1], "bind")) bind(argc, argv); + if (!strcmp(argv[1], "lockdown")) + lockdown(argc, argv); + + if (!strcmp(argv[1], "sbus1_out")) { + /* we can cheat and call the driver directly, as it + * doesn't reference filp in ioctl() + */ + int ret = g_dev->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 1); + + if (ret != 0) { + errx(ret, "S.BUS v1 failed"); + } + + exit(0); + } + + if (!strcmp(argv[1], "sbus2_out")) { + /* we can cheat and call the driver directly, as it + * doesn't reference filp in ioctl() + */ + int ret = g_dev->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 2); + + if (ret != 0) { + errx(ret, "S.BUS v2 failed"); + } + + exit(0); + } + + if (!strcmp(argv[1], "rssi_analog")) { + /* we can cheat and call the driver directly, as it + * doesn't reference filp in ioctl() + */ + int ret = g_dev->ioctl(nullptr, RC_INPUT_ENABLE_RSSI_ANALOG, 1); + + if (ret != 0) { + errx(ret, "RSSI analog failed"); + } + + exit(0); + } + + if (!strcmp(argv[1], "rssi_pwm")) { + /* we can cheat and call the driver directly, as it + * doesn't reference filp in ioctl() + */ + int ret = g_dev->ioctl(nullptr, RC_INPUT_ENABLE_RSSI_PWM, 1); + + if (ret != 0) { + errx(ret, "RSSI PWM failed"); + } + + exit(0); + } + out: - errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug',\n 'recovery', 'limit', 'current', 'bind', 'checkcrc', 'forceupdate' or 'update'"); + errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug <level>',\n" + "'recovery', 'limit <rate>', 'current', 'bind', 'checkcrc',\n" + "'forceupdate', 'update', 'sbus1_out', 'sbus2_out', 'rssi_analog' or 'rssi_pwm'"); } diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp index 41f93a8ee..dd8abbac5 100644 --- a/src/drivers/px4io/px4io_uploader.cpp +++ b/src/drivers/px4io/px4io_uploader.cpp @@ -51,6 +51,7 @@ #include <poll.h> #include <termios.h> #include <sys/stat.h> +#include <nuttx/arch.h> #include <crc32.h> @@ -120,8 +121,15 @@ PX4IO_Uploader::upload(const char *filenames[]) cfsetspeed(&t, 115200); tcsetattr(_io_fd, TCSANOW, &t); - /* look for the bootloader */ - ret = sync(); + /* look for the bootloader for 150 ms */ + for (int i = 0; i < 15; i++) { + ret = sync(); + if (ret == OK) { + break; + } else { + usleep(10000); + } + } if (ret != OK) { /* this is immediately fatal */ @@ -226,6 +234,11 @@ PX4IO_Uploader::upload(const char *filenames[]) close(_fw_fd); close(_io_fd); _io_fd = -1; + + // sleep for enough time for the IO chip to boot. This makes + // forceupdate more reliably startup IO again after update + up_udelay(100*1000); + return ret; } diff --git a/src/drivers/px4io/uploader.h b/src/drivers/px4io/uploader.h index 22387a3e2..55f63eef9 100644 --- a/src/drivers/px4io/uploader.h +++ b/src/drivers/px4io/uploader.h @@ -91,7 +91,7 @@ private: void drain(); int send(uint8_t c); int send(uint8_t *p, unsigned count); - int get_sync(unsigned timeout = 1000); + int get_sync(unsigned timeout = 40); int sync(); int get_info(int param, uint32_t &val); int erase(); diff --git a/src/modules/sdlog2/sdlog2_version.h b/src/lib/version/version.h index c6a9ba638..af733aaf0 100644 --- a/src/modules/sdlog2/sdlog2_version.h +++ b/src/lib/version/version.h @@ -33,15 +33,15 @@ ****************************************************************************/ /** - * @file sdlog2_version.h + * @file version.h * * Tools for system version detection. * * @author Anton Babushkin <anton.babushkin@me.com> */ -#ifndef SDLOG2_VERSION_H_ -#define SDLOG2_VERSION_H_ +#ifndef VERSION_H_ +#define VERSION_H_ /* GIT_VERSION is defined at build time via a Makefile call to the @@ -59,4 +59,4 @@ #define HW_ARCH "PX4FMU_V2" #endif -#endif /* SDLOG2_VERSION_H_ */ +#endif /* VERSION_H_ */ diff --git a/src/mainpage.dox b/src/mainpage.dox new file mode 100644 index 000000000..7ca410341 --- /dev/null +++ b/src/mainpage.dox @@ -0,0 +1,9 @@ +/** +\mainpage PX4 Autopilot Flight Control Stack and Middleware + +This software repository offers a middleware for micro aerial vehicles capable of running efficiently on a 168 MHz Cortex M4F processor and a state of the art flight control stack supporting multicopter and fixed wing aircraft. It can be easily used for experimental air (and ground) vehicles as well, as the application on a spherical blimp shows. + +http://pixhawk.org + + +*/
\ No newline at end of file diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index add7312de..54219a34a 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -154,6 +154,16 @@ static bool on_usb_power = false; static float takeoff_alt = 5.0f; +static struct vehicle_status_s status; + +/* armed topic */ +static struct actuator_armed_s armed; + +static struct safety_s safety; + +/* flags for control apps */ +struct vehicle_control_mode_s control_mode; + /* tasks waiting for low prio thread */ typedef enum { LOW_PRIO_TASK_NONE = 0, @@ -204,12 +214,15 @@ void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicl transition_result_t check_main_state_machine(struct vehicle_status_s *current_status); -void print_reject_mode(const char *msg); +void print_reject_mode(struct vehicle_status_s *current_status, const char *msg); void print_reject_arm(const char *msg); void print_status(); +int arm(); +int disarm(); + transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos); /** @@ -277,6 +290,16 @@ int commander_main(int argc, char *argv[]) exit(0); } + if (!strcmp(argv[1], "arm")) { + arm(); + exit(0); + } + + if (!strcmp(argv[1], "disarm")) { + disarm(); + exit(0); + } + usage("unrecognized command"); exit(1); } @@ -344,6 +367,30 @@ void print_status() static orb_advert_t control_mode_pub; static orb_advert_t status_pub; +int arm() +{ + int arming_res = arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_ARMED, &armed); + + if (arming_res == TRANSITION_CHANGED) { + mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline"); + return 0; + } else { + return 1; + } +} + +int disarm() +{ + int arming_res = arming_state_transition(&status, &safety, &control_mode, ARMING_STATE_STANDBY, &armed); + + if (arming_res == TRANSITION_CHANGED) { + mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline"); + return 0; + } else { + return 1; + } +} + void handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_control_mode_s *control_mode, struct vehicle_command_s *cmd, struct actuator_armed_s *armed) { /* result of the command */ @@ -537,16 +584,6 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe } -static struct vehicle_status_s status; - -/* armed topic */ -static struct actuator_armed_s armed; - -static struct safety_s safety; - -/* flags for control apps */ -struct vehicle_control_mode_s control_mode; - int commander_thread_main(int argc, char *argv[]) { /* not yet initialized */ @@ -583,6 +620,8 @@ int commander_thread_main(int argc, char *argv[]) /* make sure we are in preflight state */ memset(&status, 0, sizeof(status)); status.condition_landed = true; // initialize to safe value + // We want to accept RC inputs as default + status.rc_input_blocked = false; /* armed topic */ orb_advert_t armed_pub; @@ -1039,7 +1078,7 @@ int commander_thread_main(int argc, char *argv[]) } /* ignore RC signals if in offboard control mode */ - if (!status.offboard_control_signal_found_once && sp_man.timestamp != 0) { + if (!status.offboard_control_signal_found_once && sp_man.timestamp != 0 && !status.rc_input_blocked) { /* start RC input check */ if (hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) { /* handle the case where RC signal was regained */ @@ -1366,7 +1405,7 @@ check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_sta { /* main mode switch */ if (!isfinite(sp_man->mode_switch)) { - warnx("mode sw not finite"); + /* default to manual if signal is invalid */ current_status->mode_switch = MODE_SWITCH_MANUAL; } else if (sp_man->mode_switch > STICK_ON_OFF_LIMIT) { @@ -1433,7 +1472,7 @@ check_main_state_machine(struct vehicle_status_s *current_status) break; // changed successfully or already in this state // else fallback to SEATBELT - print_reject_mode("EASY"); + print_reject_mode(current_status, "EASY"); } res = main_state_transition(current_status, MAIN_STATE_SEATBELT); @@ -1442,7 +1481,7 @@ check_main_state_machine(struct vehicle_status_s *current_status) break; // changed successfully or already in this mode if (current_status->assisted_switch != ASSISTED_SWITCH_EASY) // don't print both messages - print_reject_mode("SEATBELT"); + print_reject_mode(current_status, "SEATBELT"); // else fallback to MANUAL res = main_state_transition(current_status, MAIN_STATE_MANUAL); @@ -1456,7 +1495,7 @@ check_main_state_machine(struct vehicle_status_s *current_status) break; // changed successfully or already in this state // else fallback to SEATBELT (EASY likely will not work too) - print_reject_mode("AUTO"); + print_reject_mode(current_status, "AUTO"); res = main_state_transition(current_status, MAIN_STATE_SEATBELT); if (res != TRANSITION_DENIED) @@ -1475,16 +1514,25 @@ check_main_state_machine(struct vehicle_status_s *current_status) } void -print_reject_mode(const char *msg) +print_reject_mode(struct vehicle_status_s *current_status, const char *msg) { hrt_abstime t = hrt_absolute_time(); if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) { last_print_mode_reject_time = t; char s[80]; - sprintf(s, "#audio: warning: reject %s", msg); + sprintf(s, "#audio: REJECT %s", msg); mavlink_log_critical(mavlink_fd, s); - tune_negative(); + + // only buzz if armed, because else we're driving people nuts indoors + // they really need to look at the leds as well. + if (current_status->arming_state == ARMING_STATE_ARMED) { + tune_negative(); + } else { + + // Always show the led indication + led_negative(); + } } } @@ -1758,7 +1806,15 @@ void *commander_low_prio_loop(void *arg) } else if ((int)(cmd.param4) == 1) { /* RC calibration */ answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); - calib_ret = do_rc_calibration(mavlink_fd); + /* disable RC control input completely */ + status.rc_input_blocked = true; + calib_ret = OK; + mavlink_log_info(mavlink_fd, "CAL: Disabling RC IN"); + + } else if ((int)(cmd.param4) == 2) { + /* RC trim calibration */ + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + calib_ret = do_trim_calibration(mavlink_fd); } else if ((int)(cmd.param5) == 1) { /* accelerometer calibration */ @@ -1769,6 +1825,18 @@ void *commander_low_prio_loop(void *arg) /* airspeed calibration */ answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); calib_ret = do_airspeed_calibration(mavlink_fd); + } else if ((int)(cmd.param4) == 0) { + /* RC calibration ended - have we been in one worth confirming? */ + if (status.rc_input_blocked) { + answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED); + /* enable RC control input */ + status.rc_input_blocked = false; + mavlink_log_info(mavlink_fd, "CAL: Re-enabling RC IN"); + } + + /* this always succeeds */ + calib_ret = OK; + } if (calib_ret == OK) @@ -1827,6 +1895,10 @@ void *commander_low_prio_loop(void *arg) break; } + case VEHICLE_CMD_START_RX_PAIR: + /* handled in the IO driver */ + break; + default: answer_command(cmd, VEHICLE_CMD_RESULT_UNSUPPORTED); break; diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index 21a1c4c2c..033e7dc88 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -124,10 +124,15 @@ void tune_neutral() void tune_negative() { + led_negative(); + ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEGATIVE_TUNE); +} + +void led_negative() +{ blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME; rgbled_set_color(RGBLED_COLOR_RED); rgbled_set_mode(RGBLED_MODE_BLINK_FAST); - ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEGATIVE_TUNE); } int tune_arm() diff --git a/src/modules/commander/commander_helper.h b/src/modules/commander/commander_helper.h index d0393f45a..af25a5e97 100644 --- a/src/modules/commander/commander_helper.h +++ b/src/modules/commander/commander_helper.h @@ -62,6 +62,9 @@ int tune_arm(void); int tune_low_bat(void); int tune_critical_bat(void); void tune_stop(void); + +void led_negative(); + int blink_msg_state(); int led_init(void); diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp index 90ede499a..41f3ca0aa 100644 --- a/src/modules/commander/rc_calibration.cpp +++ b/src/modules/commander/rc_calibration.cpp @@ -53,17 +53,16 @@ #endif static const int ERROR = -1; -int do_rc_calibration(int mavlink_fd) +int do_trim_calibration(int mavlink_fd) { - mavlink_log_info(mavlink_fd, "trim calibration starting"); - int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint)); + usleep(200000); struct manual_control_setpoint_s sp; bool changed; orb_check(sub_man, &changed); if (!changed) { - mavlink_log_critical(mavlink_fd, "no manual control, aborting"); + mavlink_log_critical(mavlink_fd, "no inputs, aborting"); return ERROR; } @@ -82,12 +81,12 @@ int do_rc_calibration(int mavlink_fd) int save_ret = param_save_default(); if (save_ret != 0) { - mavlink_log_critical(mavlink_fd, "TRIM CAL: WARN: auto-save of params failed"); + mavlink_log_critical(mavlink_fd, "TRIM: SAVE FAIL"); close(sub_man); return ERROR; } - mavlink_log_info(mavlink_fd, "trim calibration done"); + mavlink_log_info(mavlink_fd, "trim cal done"); close(sub_man); return OK; } diff --git a/src/modules/commander/rc_calibration.h b/src/modules/commander/rc_calibration.h index 9aa6faafa..45efedf55 100644 --- a/src/modules/commander/rc_calibration.h +++ b/src/modules/commander/rc_calibration.h @@ -41,6 +41,6 @@ #include <stdint.h> -int do_rc_calibration(int mavlink_fd); +int do_trim_calibration(int mavlink_fd); #endif /* RC_CALIBRATION_H_ */ diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 92b1b45be..e1dabfd21 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -352,10 +352,10 @@ l_input_rc(const struct listener *l) const unsigned port_width = 8; - for (unsigned i = 0; (i * port_width) < (rc_raw.channel_count + port_width); i++) { + for (unsigned i = 0; (i * port_width) < rc_raw.channel_count; i++) { /* Channels are sent in MAVLink main loop at a fixed interval */ mavlink_msg_rc_channels_raw_send(chan, - rc_raw.timestamp / 1000, + rc_raw.timestamp_publication / 1000, i, (rc_raw.channel_count > (i * port_width) + 0) ? rc_raw.values[(i * port_width) + 0] : UINT16_MAX, (rc_raw.channel_count > (i * port_width) + 1) ? rc_raw.values[(i * port_width) + 1] : UINT16_MAX, 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..941500f0d 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.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 @@ -59,6 +59,11 @@ static perf_counter_t c_gather_ppm; void controls_init(void) { + /* no channels */ + r_raw_rc_count = 0; + system_state.rc_channels_timestamp_received = 0; + system_state.rc_channels_timestamp_valid = 0; + /* DSM input (USART1) */ dsm_init("/dev/ttyS0"); @@ -97,26 +102,64 @@ controls_tick() { /* receive signal strenght indicator (RSSI). 0 = no connection, 255: perfect connection */ uint16_t rssi = 0; +#ifdef ADC_RSSI + if (r_setup_features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) { + unsigned counts = adc_measure(ADC_RSSI); + if (counts != 0xffff) { + /* use 1:1 scaling on 3.3V ADC input */ + unsigned mV = counts * 3300 / 4096; + + /* scale to 0..253 */ + rssi = mV / 13; + } + } +#endif + perf_begin(c_gather_dsm); uint16_t temp_count = r_raw_rc_count; bool dsm_updated = dsm_input(r_raw_rc_values, &temp_count); if (dsm_updated) { - r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; + r_raw_rc_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; r_raw_rc_count = temp_count & 0x7fff; if (temp_count & 0x8000) - r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM11; + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11; else - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11; + r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_DSM11; + + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP); + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); - rssi = 255; } perf_end(c_gather_dsm); 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); + + bool sbus_failsafe, sbus_frame_drop; + bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop, PX4IO_RC_INPUT_CHANNELS); + if (sbus_updated) { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS; + + rssi = 255; + + if (sbus_frame_drop) { + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FRAME_DROP; + rssi = 100; + } else { + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP); + } + + if (sbus_failsafe) { + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE; + rssi = 0; + } else { + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); + } + } + perf_end(c_gather_sbus); /* @@ -125,13 +168,12 @@ controls_tick() { * 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, &r_page_status[PX4IO_P_STATUS_RC_DATA]); + bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_raw_rc_input[PX4IO_P_RAW_RC_DATA]); if (ppm_updated) { - /* XXX sample RSSI properly here */ - rssi = 255; - r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM; + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP); + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); } perf_end(c_gather_ppm); @@ -139,6 +181,9 @@ controls_tick() { if (r_raw_rc_count > PX4IO_RC_INPUT_CHANNELS) r_raw_rc_count = PX4IO_RC_INPUT_CHANNELS; + /* store RSSI */ + r_page_raw_rc_input[PX4IO_P_RAW_RC_NRSSI] = rssi; + /* * In some cases we may have received a frame, but input has still * been lost. @@ -150,97 +195,100 @@ controls_tick() { */ 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; + /* 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; - /* and update the scaled/mapped version */ - unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; - if (mapped < PX4IO_CONTROL_CHANNELS) { + /* and update the scaled/mapped version */ + unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; + if (mapped < PX4IO_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; + /* 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); + 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; + } - /* - * 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 || rssi == 0) { - rc_input_lost = true; - } else { - /* set RC OK flag */ + /* set RC OK flag, as we got an update */ r_status_flags |= PX4IO_P_STATUS_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); + } } /* @@ -253,7 +301,7 @@ controls_tick() { * 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) { + if (hrt_elapsed_time(&system_state.rc_channels_timestamp_received) > 200000) { rc_input_lost = true; /* clear the input-kind flags here */ @@ -261,24 +309,32 @@ controls_tick() { 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) { + /* 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)) { /* Clear the RC input status flag, clear manual override flag */ r_status_flags &= ~( PX4IO_P_STATUS_FLAGS_OVERRIDE | PX4IO_P_STATUS_FLAGS_RC_OK); + /* Mark all channels as invalid, as we just lost the RX */ + r_rc_valid = 0; + /* Set the RC_LOST alarm */ r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST; + } - /* Mark the arrays as empty */ + /* this kicks in if the receiver is completely gone */ + if (rc_input_lost) { + + /* Set channel count to zero */ r_raw_rc_count = 0; - r_rc_valid = 0; } /* diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index e55ef784a..f39fcf7ec 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -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 @@ -71,6 +71,7 @@ extern "C" { static bool mixer_servos_armed = false; static bool should_arm = false; static bool should_always_enable_pwm = false; +static volatile bool in_mixer = false; /* selected control values and count for mixing */ enum mixer_source { @@ -95,6 +96,7 @@ static void mixer_set_failsafe(); void mixer_tick(void) { + /* check that we are receiving fresh data from the FMU */ if (hrt_elapsed_time(&system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) { @@ -199,13 +201,17 @@ mixer_tick(void) } - } else if (source != MIX_NONE) { + } else if (source != MIX_NONE && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) { float outputs[PX4IO_SERVO_COUNT]; unsigned mixed; /* mix */ + + /* poor mans mutex */ + in_mixer = true; mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT); + in_mixer = false; 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); @@ -217,14 +223,25 @@ mixer_tick(void) } } - if ((should_arm || should_always_enable_pwm) && !mixer_servos_armed) { + /* set arming */ + bool needs_to_arm = (should_arm || should_always_enable_pwm); + + /* check any conditions that prevent arming */ + if (r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) { + needs_to_arm = false; + } + if (!should_arm && !should_always_enable_pwm) { + needs_to_arm = false; + } + + if (needs_to_arm && !mixer_servos_armed) { /* need to arm, but not armed */ up_pwm_servo_arm(true); mixer_servos_armed = true; r_status_flags |= PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED; isr_debug(5, "> PWM enabled"); - } else if ((!should_arm && !should_always_enable_pwm) && mixer_servos_armed) { + } else if (!needs_to_arm && mixer_servos_armed) { /* armed but need to disarm */ up_pwm_servo_arm(false); mixer_servos_armed = false; @@ -297,12 +314,17 @@ mixer_callback(uintptr_t handle, static char mixer_text[256]; /* large enough for one mixer */ static unsigned mixer_text_length = 0; -void +int mixer_handle_text(const void *buffer, size_t length) { /* do not allow a mixer change while safety off */ if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) { - return; + return 1; + } + + /* abort if we're in the mixer */ + if (in_mixer) { + return 1; } px4io_mixdata *msg = (px4io_mixdata *)buffer; @@ -310,7 +332,7 @@ mixer_handle_text(const void *buffer, size_t length) isr_debug(2, "mix txt %u", length); if (length < sizeof(px4io_mixdata)) - return; + return 0; unsigned text_length = length - sizeof(px4io_mixdata); @@ -328,13 +350,16 @@ mixer_handle_text(const void *buffer, size_t length) case F2I_MIXER_ACTION_APPEND: isr_debug(2, "append %d", length); + /* disable mixing during the update */ + r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK; + /* check for overflow - this would be really fatal */ if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) { r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK; - return; + return 0; } - /* append mixer text and nul-terminate */ + /* append mixer text and nul-terminate, guard against overflow */ memcpy(&mixer_text[mixer_text_length], msg->text, text_length); mixer_text_length += text_length; mixer_text[mixer_text_length] = '\0'; @@ -369,6 +394,8 @@ mixer_handle_text(const void *buffer, size_t length) break; } + + return 0; } static void diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index e5bef6eb3..d48c6c529 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -111,7 +111,6 @@ #define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */ #define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */ #define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */ -#define PX4IO_P_STATUS_FLAGS_RC_DSM11 (1 << 13) /* DSM input is 11 bit data */ #define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */ #define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* [1] VBatt is very close to regulator dropout */ @@ -128,8 +127,6 @@ #define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */ #define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */ #define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */ -#define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */ -#define PX4IO_P_STATUS_RC_DATA 10 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */ /* array of post-mix actuator outputs, -10000..10000 */ #define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ @@ -140,7 +137,17 @@ /* array of raw RC input values, microseconds */ #define PX4IO_PAGE_RAW_RC_INPUT 4 #define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */ -#define PX4IO_P_RAW_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT channels from here */ +#define PX4IO_P_RAW_RC_FLAGS 1 /* RC detail status flags */ +#define PX4IO_P_RAW_RC_FLAGS_FRAME_DROP (1 << 0) /* single frame drop */ +#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_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) */ +#define PX4IO_P_RAW_FRAME_COUNT 4 /* Number of total received frames (wrapping counter) */ +#define PX4IO_P_RAW_LOST_FRAME_COUNT 5 /* Number of total dropped frames (wrapping counter) */ +#define PX4IO_P_RAW_RC_BASE 6 /* CONFIG_RC_INPUT_COUNT channels from here */ /* array of scaled RC input values, -10000..10000 */ #define PX4IO_PAGE_RC_INPUT 5 @@ -157,6 +164,10 @@ /* 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_ARMING 1 /* arming controls */ #define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */ @@ -166,6 +177,7 @@ #define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */ #define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE (1 << 5) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */ #define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 6) /* Disable the IO-internal evaluation of the RC */ +#define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 7) /* If set, the system operates normally, but won't actuate any servos */ #define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ #define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c index 0b8c4a6a8..d4c25911e 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. @@ -270,11 +295,12 @@ user_start(int argc, char *argv[]) check_reboot(); -#if 0 - /* check for debug activity */ + /* check for debug activity (default: none) */ show_debug_messages(); - /* post debug state at ~1Hz */ + /* post debug state at ~1Hz - this is via an auxiliary serial port + * DEFAULTS TO OFF! + */ if (hrt_absolute_time() - last_debug_time > (1000 * 1000)) { struct mallinfo minfo = mallinfo(); @@ -287,7 +313,6 @@ 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..bb224f388 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -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 @@ -96,8 +96,9 @@ extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */ #define r_raw_rc_count r_page_raw_rc_input[PX4IO_P_RAW_RC_COUNT] #define r_raw_rc_values (&r_page_raw_rc_input[PX4IO_P_RAW_RC_BASE]) +#define r_raw_rc_flags r_page_raw_rc_input[PX4IO_P_RAW_RC_FLAGS] #define r_rc_valid r_page_rc_input[PX4IO_P_RC_VALID] -#define r_rc_values (&r_page_rc_input[PX4IO_P_RAW_RC_BASE]) +#define r_rc_values (&r_page_rc_input[PX4IO_P_RC_BASE]) #define r_setup_features r_page_setup[PX4IO_P_SETUP_FEATURES] #define r_setup_arming r_page_setup[PX4IO_P_SETUP_ARMING] @@ -115,7 +116,8 @@ extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */ */ struct sys_state_s { - volatile uint64_t rc_channels_timestamp; + volatile uint64_t rc_channels_timestamp_received; + volatile uint64_t rc_channels_timestamp_valid; /** * Last FMU receive time, in microseconds since system boot @@ -160,6 +162,7 @@ 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)) @@ -177,12 +180,13 @@ extern pwm_limit_t pwm_limit; * Mixer */ extern void mixer_tick(void); -extern void mixer_handle_text(const void *buffer, size_t length); +extern int 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 @@ -213,7 +217,7 @@ extern int dsm_init(const char *device); 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, uint16_t *rssi, uint16_t max_channels); +extern bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels); /** global debug level for isr_debug() */ extern volatile uint8_t debug_level; diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index ad4473073..1335f52e1 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -90,8 +90,6 @@ uint16_t r_page_status[] = { [PX4IO_P_STATUS_VSERVO] = 0, [PX4IO_P_STATUS_VRSSI] = 0, [PX4IO_P_STATUS_PRSSI] = 0, - [PX4IO_P_STATUS_NRSSI] = 0, - [PX4IO_P_STATUS_RC_DATA] = 0 }; /** @@ -116,6 +114,12 @@ uint16_t r_page_servos[PX4IO_SERVO_COUNT]; uint16_t r_page_raw_rc_input[] = { [PX4IO_P_RAW_RC_COUNT] = 0, + [PX4IO_P_RAW_RC_FLAGS] = 0, + [PX4IO_P_RAW_RC_NRSSI] = 0, + [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 }; @@ -144,7 +148,12 @@ uint16_t r_page_scratch[32]; */ volatile uint16_t r_page_setup[] = { +#ifdef CONFIG_ARCH_BOARD_PX4IO_V2 + /* default to RSSI ADC functionality */ + [PX4IO_P_SETUP_FEATURES] = PX4IO_P_SETUP_FEATURES_ADC_RSSI, +#else [PX4IO_P_SETUP_FEATURES] = 0, +#endif [PX4IO_P_SETUP_ARMING] = 0, [PX4IO_P_SETUP_PWM_RATES] = 0, [PX4IO_P_SETUP_PWM_DEFAULTRATE] = 50, @@ -162,14 +171,22 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0, }; -#define PX4IO_P_SETUP_FEATURES_VALID (0) +#ifdef CONFIG_ARCH_BOARD_PX4IO_V2 +#define PX4IO_P_SETUP_FEATURES_VALID (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | \ + PX4IO_P_SETUP_FEATURES_SBUS2_OUT | \ + PX4IO_P_SETUP_FEATURES_ADC_RSSI | \ + PX4IO_P_SETUP_FEATURES_PWM_RSSI) +#else +#define PX4IO_P_SETUP_FEATURES_VALID 0 +#endif #define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_FMU_ARMED | \ PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \ PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | \ PX4IO_P_SETUP_ARMING_IO_ARM_OK | \ PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM | \ PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE | \ - PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) + PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED | \ + PX4IO_P_SETUP_ARMING_LOCKDOWN) #define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1) #define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) @@ -382,7 +399,10 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num /* handle text going to the mixer parser */ case PX4IO_PAGE_MIXERLOAD: - mixer_handle_text(values, num_values * sizeof(*values)); + if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || + (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { + return mixer_handle_text(values, num_values * sizeof(*values)); + } break; default: @@ -435,9 +455,35 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_P_SETUP_FEATURES: value &= PX4IO_P_SETUP_FEATURES_VALID; - r_setup_features = value; - /* no implemented feature selection at this point */ + /* some of the options conflict - give S.BUS out precedence, then ADC RSSI, then PWM RSSI */ + + /* switch S.Bus output pin as needed */ + #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); + } + #endif + + /* disable the conflicting options with ADC RSSI */ + if (value & (PX4IO_P_SETUP_FEATURES_ADC_RSSI)) { + value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | + PX4IO_P_SETUP_FEATURES_SBUS1_OUT | + PX4IO_P_SETUP_FEATURES_SBUS2_OUT); + } + + /* disable the conflicting options with PWM RSSI (without effect here, but for completeness) */ + if (value & (PX4IO_P_SETUP_FEATURES_PWM_RSSI)) { + value &= ~(PX4IO_P_SETUP_FEATURES_ADC_RSSI | + PX4IO_P_SETUP_FEATURES_SBUS1_OUT | + PX4IO_P_SETUP_FEATURES_SBUS2_OUT); + } + + /* apply changes */ + r_setup_features = value; break; @@ -453,11 +499,6 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) * lockup of the IO arming state. */ - // XXX do not reset IO's safety state by FMU for now - // if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && !(value & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { - // r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; - // } - if (value & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) { r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK; } @@ -509,8 +550,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_P_SETUP_REBOOT_BL: if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || - (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) || - (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { // don't allow reboot while armed break; } @@ -540,8 +580,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) * do not allow a RC config change while outputs armed */ if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || - (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) || - (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { break; } diff --git a/src/modules/px4iofirmware/safety.c b/src/modules/px4iofirmware/safety.c index cdb54a80a..ff2e4af6e 100644 --- a/src/modules/px4iofirmware/safety.c +++ b/src/modules/px4iofirmware/safety.c @@ -45,7 +45,6 @@ #include "px4io.h" static struct hrt_call arming_call; -static struct hrt_call heartbeat_call; static struct hrt_call failsafe_call; /* @@ -84,7 +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); } @@ -165,8 +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; diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index 11ccd7356..f6ec542eb 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.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 @@ -87,7 +87,7 @@ static unsigned partial_frame_count; unsigned sbus_frame_drops; -static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels); +static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels); int sbus_init(const char *device) @@ -118,7 +118,7 @@ sbus_init(const char *device) } bool -sbus_input(uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels) +sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels) { ssize_t ret; hrt_abstime now; @@ -175,7 +175,7 @@ sbus_input(uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_ * decode it. */ partial_frame_count = 0; - return sbus_decode(now, values, num_values, rssi, max_channels); + return sbus_decode(now, values, num_values, sbus_failsafe, sbus_frame_drop, max_channels); } /* @@ -215,14 +215,36 @@ static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = { }; static bool -sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_values) +sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_values) { /* check frame boundary markers to avoid out-of-sync cases */ - if ((frame[0] != 0x0f) || (frame[24] != 0x00)) { + if ((frame[0] != 0x0f)) { sbus_frame_drops++; return false; } + switch (frame[24]) { + case 0x00: + /* this is S.BUS 1 */ + break; + case 0x03: + /* S.BUS 2 SLOT0: RX battery and external voltage */ + break; + case 0x83: + /* S.BUS 2 SLOT1 */ + break; + case 0x43: + case 0xC3: + case 0x23: + case 0xA3: + case 0x63: + case 0xE3: + break; + default: + /* we expect one of the bits above, but there are some we don't know yet */ + break; + } + /* we have received something we think is a frame */ last_frame_time = frame_time; @@ -267,20 +289,22 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint /* decode and handle failsafe and frame-lost flags */ if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FAILSAFE_BIT)) { /* failsafe */ /* report that we failed to read anything valid off the receiver */ - *rssi = 0; - return false; + *sbus_failsafe = true; + *sbus_frame_drop = true; } else if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FRAMELOST_BIT)) { /* a frame was lost */ - /* set a special warning flag or try to calculate some kind of RSSI information - to be implemented + /* set a special warning flag * * Attention! This flag indicates a skipped frame only, not a total link loss! Handling this * condition as fail-safe greatly reduces the reliability and range of the radio link, * e.g. by prematurely issueing return-to-launch!!! */ - *rssi = 100; // XXX magic number indicating bad signal, but not a signal loss (yet) + *sbus_failsafe = false; + *sbus_frame_drop = true; + } else { + *sbus_failsafe = false; + *sbus_frame_drop = false; } - *rssi = 255; - return true; } diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 06b1eddaa..c4fafb5a6 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -85,13 +85,13 @@ #include <systemlib/systemlib.h> #include <systemlib/param/param.h> +#include <version/version.h> #include <mavlink/mavlink_log.h> #include "logbuffer.h" #include "sdlog2_format.h" #include "sdlog2_messages.h" -#include "sdlog2_version.h" #define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \ log_msgs_written++; \ @@ -108,13 +108,13 @@ static bool main_thread_should_exit = false; /**< Deamon exit flag */ static bool thread_running = false; /**< Deamon status flag */ static int deamon_task; /**< Handle of deamon task / thread */ static bool logwriter_should_exit = false; /**< Logwriter thread exit flag */ -static const int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log folders */ +static const int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log dirs */ static const int MAX_NO_LOGFILE = 999; /**< Maximum number of log files */ static const int LOG_BUFFER_SIZE_DEFAULT = 8192; static const int MAX_WRITE_CHUNK = 512; static const int MIN_BYTES_TO_WRITE = 512; -static const char *mountpoint = "/fs/microsd"; +static const char *log_root = "/fs/microsd/log"; static int mavlink_fd = -1; struct logbuffer_s lb; @@ -122,14 +122,17 @@ struct logbuffer_s lb; static pthread_mutex_t logbuffer_mutex; static pthread_cond_t logbuffer_cond; -static char folder_path[64]; +static char log_dir[32]; /* statistics counters */ -static unsigned long log_bytes_written = 0; static uint64_t start_time = 0; +static unsigned long log_bytes_written = 0; static unsigned long log_msgs_written = 0; static unsigned long log_msgs_skipped = 0; +/* GPS time, used for log files naming */ +static uint64_t gps_time = 0; + /* current state of logging */ static bool logging_enabled = false; /* enable logging on start (-e option) */ @@ -138,11 +141,14 @@ static bool log_on_start = false; static bool log_when_armed = false; /* delay = 1 / rate (rate defined by -r option) */ static useconds_t sleep_delay = 0; +/* use date/time for naming directories and files (-t option) */ +static bool log_name_timestamp = false; /* helper flag to track system state changes */ static bool flag_system_armed = false; static pthread_t logwriter_pthread = 0; +static pthread_attr_t logwriter_attr; /** * Log buffer writing thread. Open and close file here. @@ -203,14 +209,14 @@ static void handle_command(struct vehicle_command_s *cmd); static void handle_status(struct vehicle_status_s *cmd); /** - * Create folder for current logging session. Store folder name in 'log_folder'. + * Create dir for current logging session. Store dir name in 'log_dir'. */ -static int create_logfolder(void); +static int create_log_dir(void); /** * Select first free log file name and open it. */ -static int open_logfile(void); +static int open_log_file(void); static void sdlog2_usage(const char *reason) @@ -218,11 +224,12 @@ sdlog2_usage(const char *reason) if (reason) fprintf(stderr, "%s\n", reason); - errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a\n" + errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a -t\n" "\t-r\tLog rate in Hz, 0 means unlimited rate\n" "\t-b\tLog buffer size in KiB, default is 8\n" "\t-e\tEnable logging by default (if not, can be started by command)\n" - "\t-a\tLog only when armed (can be still overriden by command)\n"); + "\t-a\tLog only when armed (can be still overriden by command)\n" + "\t-t\tUse date/time for naming log directories and files\n"); } /** @@ -280,82 +287,112 @@ int sdlog2_main(int argc, char *argv[]) exit(1); } -int create_logfolder() +int create_log_dir() { - /* make folder on sdcard */ - uint16_t folder_number = 1; // start with folder sess001 + /* create dir on sdcard if needed */ + uint16_t dir_number = 1; // start with dir sess001 int mkdir_ret; - /* look for the next folder that does not exist */ - while (folder_number <= MAX_NO_LOGFOLDER) { - /* set up folder path: e.g. /fs/microsd/sess001 */ - sprintf(folder_path, "%s/sess%03u", mountpoint, folder_number); - mkdir_ret = mkdir(folder_path, S_IRWXU | S_IRWXG | S_IRWXO); - /* the result is -1 if the folder exists */ + if (log_name_timestamp && gps_time != 0) { + /* use GPS date for log dir naming: e.g. /fs/microsd/2014-01-19 */ + time_t gps_time_sec = gps_time / 1000000; + struct tm t; + gmtime_r(&gps_time_sec, &t); + int n = snprintf(log_dir, sizeof(log_dir), "%s/", log_root); + strftime(log_dir + n, sizeof(log_dir) - n, "%Y-%m-%d", &t); + mkdir_ret = mkdir(log_dir, S_IRWXU | S_IRWXG | S_IRWXO); - if (mkdir_ret == 0) { - /* folder does not exist, success */ - break; + if (mkdir_ret == OK) { + warnx("log dir created: %s", log_dir); + + } else if (errno != EEXIST) { + warn("failed creating new dir: %s", log_dir); + return -1; + } + + } else { + /* look for the next dir that does not exist */ + while (dir_number <= MAX_NO_LOGFOLDER) { + /* format log dir: e.g. /fs/microsd/sess001 */ + sprintf(log_dir, "%s/sess%03u", log_root, dir_number); + mkdir_ret = mkdir(log_dir, S_IRWXU | S_IRWXG | S_IRWXO); - } else if (mkdir_ret == -1) { - /* folder exists already */ - folder_number++; + if (mkdir_ret == 0) { + warnx("log dir created: %s", log_dir); + break; + + } else if (errno != EEXIST) { + warn("failed creating new dir: %s", log_dir); + return -1; + } + + /* dir exists already */ + dir_number++; continue; + } - } else { - warn("failed creating new folder"); + if (dir_number >= MAX_NO_LOGFOLDER) { + /* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */ + warnx("all %d possible dirs exist already", MAX_NO_LOGFOLDER); return -1; } } - if (folder_number >= MAX_NO_LOGFOLDER) { - /* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */ - warnx("all %d possible folders exist already.", MAX_NO_LOGFOLDER); - return -1; - } - + /* print logging path, important to find log file later */ + warnx("log dir: %s", log_dir); + mavlink_log_info(mavlink_fd, "[sdlog2] log dir: %s", log_dir); return 0; } -int open_logfile() +int open_log_file() { - /* make folder on sdcard */ - uint16_t file_number = 1; // start with file log001 - /* string to hold the path to the log */ - char path_buf[64] = ""; - - int fd = 0; - - /* look for the next file that does not exist */ - while (file_number <= MAX_NO_LOGFILE) { - /* set up file path: e.g. /fs/microsd/sess001/log001.bin */ - sprintf(path_buf, "%s/log%03u.bin", folder_path, file_number); + char log_file_name[16] = ""; + char log_file_path[48] = ""; + + if (log_name_timestamp && gps_time != 0) { + /* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */ + time_t gps_time_sec = gps_time / 1000000; + struct tm t; + gmtime_r(&gps_time_sec, &t); + strftime(log_file_name, sizeof(log_file_name), "%H_%M_%S.bin", &t); + snprintf(log_file_path, sizeof(log_file_path), "%s/%s", log_dir, log_file_name); + + } else { + uint16_t file_number = 1; // start with file log001 + + /* look for the next file that does not exist */ + while (file_number <= MAX_NO_LOGFILE) { + /* format log file path: e.g. /fs/microsd/sess001/log001.bin */ + snprintf(log_file_name, sizeof(log_file_name), "log%03u.bin", file_number); + snprintf(log_file_path, sizeof(log_file_path), "%s/%s", log_dir, log_file_name); + + if (!file_exist(log_file_path)) { + break; + } - if (file_exist(path_buf)) { file_number++; - continue; } - fd = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC); - - if (fd == 0) { - warn("opening %s failed", path_buf); + if (file_number > MAX_NO_LOGFILE) { + /* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */ + warnx("all %d possible files exist already", MAX_NO_LOGFILE); + return -1; } + } - warnx("logging to: %s.", path_buf); - mavlink_log_info(mavlink_fd, "[sdlog2] log: %s", path_buf); + int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC); - return fd; - } + if (fd < 0) { + warn("failed opening log: %s", log_file_name); + mavlink_log_info(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name); - if (file_number > MAX_NO_LOGFILE) { - /* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */ - warnx("all %d possible files exist already.", MAX_NO_LOGFILE); - return -1; + } else { + warnx("log file: %s", log_file_name); + mavlink_log_info(mavlink_fd, "[sdlog2] log file: %s", log_file_name); } - return 0; + return fd; } static void *logwriter_thread(void *arg) @@ -363,9 +400,12 @@ static void *logwriter_thread(void *arg) /* set name */ prctl(PR_SET_NAME, "sdlog2_writer", 0); - struct logbuffer_s *logbuf = (struct logbuffer_s *)arg; + int log_fd = open_log_file(); - int log_fd = open_logfile(); + if (log_fd < 0) + return; + + struct logbuffer_s *logbuf = (struct logbuffer_s *)arg; /* write log messages formats, version and parameters */ log_bytes_written += write_formats(log_fd); @@ -443,14 +483,20 @@ static void *logwriter_thread(void *arg) fsync(log_fd); close(log_fd); - return OK; + return; } void sdlog2_start_log() { - warnx("start logging."); + warnx("start logging"); mavlink_log_info(mavlink_fd, "[sdlog2] start logging"); + /* create log dir if needed */ + if (create_log_dir() != 0) { + mavlink_log_critical(mavlink_fd, "[sdlog2] error creating log dir"); + errx(1, "error creating log dir"); + } + /* initialize statistics counter */ log_bytes_written = 0; start_time = hrt_absolute_time(); @@ -458,30 +504,28 @@ void sdlog2_start_log() log_msgs_skipped = 0; /* initialize log buffer emptying thread */ - pthread_attr_t receiveloop_attr; - pthread_attr_init(&receiveloop_attr); + pthread_attr_init(&logwriter_attr); struct sched_param param; /* low priority, as this is expensive disk I/O */ param.sched_priority = SCHED_PRIORITY_DEFAULT - 40; - (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); + (void)pthread_attr_setschedparam(&logwriter_attr, ¶m); - pthread_attr_setstacksize(&receiveloop_attr, 2048); + pthread_attr_setstacksize(&logwriter_attr, 2048); logwriter_should_exit = false; /* start log buffer emptying thread */ - if (0 != pthread_create(&logwriter_pthread, &receiveloop_attr, logwriter_thread, &lb)) { + if (0 != pthread_create(&logwriter_pthread, &logwriter_attr, logwriter_thread, &lb)) { errx(1, "error creating logwriter thread"); } logging_enabled = true; - // XXX we have to destroy the attr at some point } void sdlog2_stop_log() { - warnx("stop logging."); + warnx("stop logging"); mavlink_log_info(mavlink_fd, "[sdlog2] stop logging"); logging_enabled = false; @@ -501,6 +545,7 @@ void sdlog2_stop_log() } logwriter_pthread = 0; + pthread_attr_destroy(&logwriter_attr); sdlog2_status(); } @@ -569,8 +614,8 @@ int write_parameters(int fd) } case PARAM_TYPE_FLOAT: - param_get(param, &value); - break; + param_get(param, &value); + break; default: break; @@ -588,18 +633,25 @@ int sdlog2_thread_main(int argc, char *argv[]) mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); if (mavlink_fd < 0) { - warnx("failed to open MAVLink log stream, start mavlink app first."); + warnx("failed to open MAVLink log stream, start mavlink app first"); } /* log buffer size */ int log_buffer_size = LOG_BUFFER_SIZE_DEFAULT; + logging_enabled = false; + log_on_start = false; + log_when_armed = false; + log_name_timestamp = false; + + flag_system_armed = false; + /* work around some stupidity in task_create's argv handling */ argc -= 2; argv += 2; int ch; - while ((ch = getopt(argc, argv, "r:b:ea")) != EOF) { + while ((ch = getopt(argc, argv, "r:b:eat")) != EOF) { switch (ch) { case 'r': { unsigned long r = strtoul(optarg, NULL, 10); @@ -632,49 +684,52 @@ int sdlog2_thread_main(int argc, char *argv[]) log_when_armed = true; break; + case 't': + log_name_timestamp = true; + break; + case '?': if (optopt == 'c') { - warnx("Option -%c requires an argument.", optopt); + warnx("option -%c requires an argument", optopt); } else if (isprint(optopt)) { - warnx("Unknown option `-%c'.", optopt); + warnx("unknown option `-%c'", optopt); } else { - warnx("Unknown option character `\\x%x'.", optopt); + warnx("unknown option character `\\x%x'", optopt); } default: sdlog2_usage("unrecognized flag"); - errx(1, "exiting."); + errx(1, "exiting"); } } - if (!file_exist(mountpoint)) { - errx(1, "logging mount point %s not present, exiting.", mountpoint); - } + gps_time = 0; + + /* create log root dir */ + int mkdir_ret = mkdir(log_root, S_IRWXU | S_IRWXG | S_IRWXO); - if (create_logfolder()) { - errx(1, "unable to create logging folder, exiting."); + if (mkdir_ret != 0 && errno != EEXIST) { + err("failed creating log root dir: %s", log_root); } + /* copy conversion scripts */ const char *converter_in = "/etc/logging/conv.zip"; - char *converter_out = malloc(120); - sprintf(converter_out, "%s/conv.zip", folder_path); + char *converter_out = malloc(64); + snprintf(converter_out, 64, "%s/conv.zip", log_root); - if (file_copy(converter_in, converter_out)) { - errx(1, "unable to copy conversion scripts, exiting."); + if (file_copy(converter_in, converter_out) != OK) { + warn("unable to copy conversion scripts"); } free(converter_out); - /* only print logging path, important to find log file later */ - warnx("logging to directory: %s", folder_path); - /* initialize log buffer with specified size */ - warnx("log buffer size: %i bytes.", log_buffer_size); + warnx("log buffer size: %i bytes", log_buffer_size); if (OK != logbuffer_init(&lb, log_buffer_size)) { - errx(1, "can't allocate log buffer, exiting."); + errx(1, "can't allocate log buffer, exiting"); } struct vehicle_status_s buf_status; @@ -895,7 +950,7 @@ int sdlog2_thread_main(int argc, char *argv[]) * differs from the number of messages in the above list. */ if (fdsc_count > fdsc) { - warn("WARNING: Not enough space for poll fds allocated. Check %s:%d.", __FILE__, __LINE__); + warn("WARNING: Not enough space for poll fds allocated. Check %s:%d", __FILE__, __LINE__); fdsc_count = fdsc; } @@ -919,19 +974,27 @@ int sdlog2_thread_main(int argc, char *argv[]) uint16_t differential_pressure_counter = 0; /* enable logging on start if needed */ - if (log_on_start) + if (log_on_start) { + /* check GPS topic to get GPS time */ + if (log_name_timestamp) { + if (OK == orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos)) { + gps_time = buf.gps_pos.time_gps_usec; + } + } + sdlog2_start_log(); + } while (!main_thread_should_exit) { /* decide use usleep() or blocking poll() */ bool use_sleep = sleep_delay > 0 && logging_enabled; /* poll all topics if logging enabled or only management (first 2) if not */ - int poll_ret = poll(fds, logging_enabled ? fdsc_count : 2, use_sleep ? 0 : poll_timeout); + int poll_ret = poll(fds, logging_enabled ? fdsc_count : 3, use_sleep ? 0 : poll_timeout); /* handle the poll result */ if (poll_ret < 0) { - warnx("ERROR: poll error, stop logging."); + warnx("ERROR: poll error, stop logging"); main_thread_should_exit = true; } else if (poll_ret > 0) { @@ -960,6 +1023,17 @@ int sdlog2_thread_main(int argc, char *argv[]) handled_topics++; } + /* --- GPS POSITION - LOG MANAGEMENT --- */ + if (fds[ifds++].revents & POLLIN) { + orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); + + if (log_name_timestamp) { + gps_time = buf.gps_pos.time_gps_usec; + } + + handled_topics++; + } + if (!logging_enabled || !check_data || handled_topics >= poll_ret) { continue; } @@ -988,7 +1062,7 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- GPS POSITION --- */ if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); + // Don't orb_copy, it's already done few lines above log_msg.msg_type = LOG_GPS_MSG; log_msg.body.log_GPS.gps_time = buf.gps_pos.time_gps_usec; log_msg.body.log_GPS.fix_type = buf.gps_pos.fix_type; @@ -1279,7 +1353,7 @@ int sdlog2_thread_main(int argc, char *argv[]) free(lb.data); - warnx("exiting."); + warnx("exiting"); thread_running = false; @@ -1292,8 +1366,8 @@ void sdlog2_status() float mebibytes = kibibytes / 1024.0f; float seconds = ((float)(hrt_absolute_time() - start_time)) / 1000000.0f; - warnx("wrote %lu msgs, %4.2f MiB (average %5.3f KiB/s), skipped %lu msgs.", log_msgs_written, (double)mebibytes, (double)(kibibytes / seconds), log_msgs_skipped); - mavlink_log_info(mavlink_fd, "[sdlog2] wrote %lu msgs, skipped %lu msgs.", log_msgs_written, log_msgs_skipped); + warnx("wrote %lu msgs, %4.2f MiB (average %5.3f KiB/s), skipped %lu msgs", log_msgs_written, (double)mebibytes, (double)(kibibytes / seconds), log_msgs_skipped); + mavlink_log_info(mavlink_fd, "[sdlog2] wrote %lu msgs, skipped %lu msgs", log_msgs_written, log_msgs_skipped); } /** @@ -1312,7 +1386,7 @@ int file_copy(const char *file_old, const char *file_new) int ret = 0; if (source == NULL) { - warnx("failed opening input file to copy."); + warnx("failed opening input file to copy"); return 1; } @@ -1320,7 +1394,7 @@ int file_copy(const char *file_old, const char *file_new) if (target == NULL) { fclose(source); - warnx("failed to open output file to copy."); + warnx("failed to open output file to copy"); return 1; } @@ -1331,7 +1405,7 @@ int file_copy(const char *file_old, const char *file_new) ret = fwrite(buf, 1, nread, target); if (ret <= 0) { - warnx("error writing file."); + warnx("error writing file"); ret = 1; break; } diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index bbc84ef93..30659fd3a 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -381,14 +381,73 @@ PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.00459340659f); #endif PARAM_DEFINE_FLOAT(BAT_C_SCALING, 0.0124); /* scaling for 3DR power brick */ +/** + * Roll control channel mapping. + * + * The channel index (starting from 1 for channel 1) indicates + * which channel should be used for reading roll inputs from. + * A value of zero indicates the switch is not assigned. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_ROLL, 1); + +/** + * Pitch control channel mapping. + * + * The channel index (starting from 1 for channel 1) indicates + * which channel should be used for reading pitch inputs from. + * A value of zero indicates the switch is not assigned. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_PITCH, 2); + +/** + * Throttle control channel mapping. + * + * The channel index (starting from 1 for channel 1) indicates + * which channel should be used for reading throttle inputs from. + * A value of zero indicates the switch is not assigned. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3); + +/** + * Yaw control channel mapping. + * + * The channel index (starting from 1 for channel 1) indicates + * which channel should be used for reading yaw inputs from. + * A value of zero indicates the switch is not assigned. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_YAW, 4); -PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 5); +/** + * Mode switch channel mapping. + * + * This is the main flight mode selector. + * The channel index (starting from 1 for channel 1) indicates + * which channel should be used for deciding about the main mode. + * A value of zero indicates the switch is not assigned. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0); PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0); -PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 6); +PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0); PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0); //PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0); diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index ff6c5882e..b50a694eb 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -797,7 +797,6 @@ Sensors::accel_init() #endif - warnx("using system accel"); close(fd); } } @@ -837,7 +836,6 @@ Sensors::gyro_init() #endif - warnx("using system gyro"); close(fd); } } @@ -1278,6 +1276,9 @@ Sensors::rc_poll() orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + if (rc_input.rc_lost) + return; + struct manual_control_setpoint_s manual_control; struct actuator_controls_s actuator_group_3; @@ -1322,7 +1323,7 @@ Sensors::rc_poll() channel_limit = _rc_max_chan_count; /* we are accepting this message */ - _rc_last_valid = rc_input.timestamp; + _rc_last_valid = rc_input.timestamp_last_signal; /* Read out values from raw message */ for (unsigned int i = 0; i < channel_limit; i++) { @@ -1371,9 +1372,9 @@ Sensors::rc_poll() } _rc.chan_count = rc_input.channel_count; - _rc.timestamp = rc_input.timestamp; + _rc.timestamp = rc_input.timestamp_last_signal; - manual_control.timestamp = rc_input.timestamp; + manual_control.timestamp = rc_input.timestamp_last_signal; /* roll input - rolling right is stick-wise and rotation-wise positive */ manual_control.roll = limit_minus_one_to_one(_rc.chan[_rc.function[ROLL]].scaled); @@ -1404,18 +1405,6 @@ Sensors::rc_poll() manual_control.yaw *= _parameters.rc_scale_yaw; } - /* mode switch input */ - manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled); - - /* land switch input */ - manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled); - - /* assisted switch input */ - manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled); - - /* mission switch input */ - manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled); - /* flaps */ if (_rc.function[FLAPS] >= 0) { @@ -1434,6 +1423,16 @@ Sensors::rc_poll() manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled); } + /* land switch input */ + if (_rc.function[RETURN] >= 0) { + manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled); + } + + /* assisted switch input */ + if (_rc.function[ASSISTED] >= 0) { + manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled); + } + // if (_rc.function[OFFBOARD_MODE] >= 0) { // manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled); // } @@ -1507,9 +1506,6 @@ void Sensors::task_main() { - /* inform about start */ - warnx("Initializing.."); - /* start individual sensors */ accel_init(); gyro_init(); @@ -1548,8 +1544,8 @@ Sensors::task_main() raw.adc_voltage_v[3] = 0.0f; memset(&_battery_status, 0, sizeof(_battery_status)); - _battery_status.voltage_v = 0.0f; - _battery_status.voltage_filtered_v = 0.0f; + _battery_status.voltage_v = -1.0f; + _battery_status.voltage_filtered_v = -1.0f; _battery_status.current_a = -1.0f; _battery_status.discharged_mah = -1.0f; diff --git a/src/modules/systemlib/cpuload.c b/src/modules/systemlib/cpuload.c index afc5b072c..ccc516f39 100644 --- a/src/modules/systemlib/cpuload.c +++ b/src/modules/systemlib/cpuload.c @@ -93,8 +93,7 @@ void cpuload_initialize_once() #endif /* CONFIG_SCHED_WORKQUEUE */ // perform static initialization of "system" threads - for (system_load.total_count = 0; system_load.total_count < static_tasks_count; system_load.total_count++) - { + for (system_load.total_count = 0; system_load.total_count < static_tasks_count; system_load.total_count++) { system_load.tasks[system_load.total_count].start_time = now; system_load.tasks[system_load.total_count].total_runtime = 0; system_load.tasks[system_load.total_count].curr_start_time = 0; diff --git a/src/modules/systemlib/cpuload.h b/src/modules/systemlib/cpuload.h index c7aa18d3c..16d132fdb 100644 --- a/src/modules/systemlib/cpuload.h +++ b/src/modules/systemlib/cpuload.h @@ -40,15 +40,15 @@ __BEGIN_DECLS #include <nuttx/sched.h> struct system_load_taskinfo_s { - uint64_t total_runtime; ///< Runtime since start (start_time - total_runtime)/(start_time - current_time) = load - uint64_t curr_start_time; ///< Start time of the current scheduling slot - uint64_t start_time; ///< FIRST start time of task - FAR struct tcb_s *tcb; ///< - bool valid; ///< Task is currently active / valid + uint64_t total_runtime; ///< Runtime since start (start_time - total_runtime)/(start_time - current_time) = load + uint64_t curr_start_time; ///< Start time of the current scheduling slot + uint64_t start_time; ///< FIRST start time of task + FAR struct tcb_s *tcb; ///< + bool valid; ///< Task is currently active / valid }; struct system_load_s { - uint64_t start_time; ///< Global start time of measurements + uint64_t start_time; ///< Global start time of measurements struct system_load_taskinfo_s tasks[CONFIG_MAX_TASKS]; uint8_t initialized; int total_count; diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk index 8c6c300d6..3953b757d 100644 --- a/src/modules/systemlib/module.mk +++ b/src/modules/systemlib/module.mk @@ -51,5 +51,6 @@ SRCS = err.c \ mavlink_log.c \ rc_check.c \ otp.c \ - board_serial.c + board_serial.c \ + pwm_limit/pwm_limit.c diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.c b/src/modules/systemlib/pwm_limit/pwm_limit.c index cac3dc82a..190b315f1 100644 --- a/src/modules/systemlib/pwm_limit/pwm_limit.c +++ b/src/modules/systemlib/pwm_limit/pwm_limit.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * Author: Julian Oes <joes@student.ethz.ch> * * Redistribution and use in source and binary forms, with or without @@ -44,38 +44,53 @@ #include <math.h> #include <stdbool.h> #include <drivers/drv_hrt.h> +#include <stdio.h> void pwm_limit_init(pwm_limit_t *limit) { - limit->state = LIMIT_STATE_OFF; + limit->state = PWM_LIMIT_STATE_INIT; limit->time_armed = 0; return; } -void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, float *output, uint16_t *effective_pwm, pwm_limit_t *limit) +void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, const float *output, uint16_t *effective_pwm, pwm_limit_t *limit) { + /* first evaluate state changes */ switch (limit->state) { - case LIMIT_STATE_OFF: - if (armed) - limit->state = LIMIT_STATE_RAMP; - limit->time_armed = hrt_absolute_time(); + case PWM_LIMIT_STATE_INIT: + + if (armed) { + + /* set arming time for the first call */ + if (limit->time_armed == 0) { + limit->time_armed = hrt_absolute_time(); + } + + if (hrt_elapsed_time(&limit->time_armed) >= INIT_TIME_US) { + limit->state = PWM_LIMIT_STATE_OFF; + } + } break; - case LIMIT_STATE_INIT: - if (!armed) - limit->state = LIMIT_STATE_OFF; - else if (hrt_absolute_time() - limit->time_armed >= INIT_TIME_US) - limit->state = LIMIT_STATE_RAMP; + case PWM_LIMIT_STATE_OFF: + if (armed) { + limit->state = PWM_LIMIT_STATE_RAMP; + + /* reset arming time, used for ramp timing */ + limit->time_armed = hrt_absolute_time(); + } break; - case LIMIT_STATE_RAMP: - if (!armed) - limit->state = LIMIT_STATE_OFF; - else if (hrt_absolute_time() - limit->time_armed >= INIT_TIME_US + RAMP_TIME_US) - limit->state = LIMIT_STATE_ON; + case PWM_LIMIT_STATE_RAMP: + if (!armed) { + limit->state = PWM_LIMIT_STATE_OFF; + } else if (hrt_elapsed_time(&limit->time_armed) >= RAMP_TIME_US) { + limit->state = PWM_LIMIT_STATE_ON; + } break; - case LIMIT_STATE_ON: - if (!armed) - limit->state = LIMIT_STATE_OFF; + case PWM_LIMIT_STATE_ON: + if (!armed) { + limit->state = PWM_LIMIT_STATE_OFF; + } break; default: break; @@ -86,44 +101,47 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_ /* then set effective_pwm based on state */ switch (limit->state) { - case LIMIT_STATE_OFF: - case LIMIT_STATE_INIT: + case PWM_LIMIT_STATE_OFF: + case PWM_LIMIT_STATE_INIT: for (unsigned i=0; i<num_channels; i++) { effective_pwm[i] = disarmed_pwm[i]; - output[i] = 0.0f; } break; - case LIMIT_STATE_RAMP: + case PWM_LIMIT_STATE_RAMP: + { + hrt_abstime diff = hrt_elapsed_time(&limit->time_armed); - progress = (hrt_absolute_time() - INIT_TIME_US - limit->time_armed)*10000 / RAMP_TIME_US; - for (unsigned i=0; i<num_channels; i++) { - - uint16_t ramp_min_pwm; - - /* if a disarmed pwm value was set, blend between disarmed and min */ - if (disarmed_pwm[i] > 0) { - - /* safeguard against overflows */ - uint16_t disarmed = disarmed_pwm[i]; - if (disarmed > min_pwm[i]) - disarmed = min_pwm[i]; - - uint16_t disarmed_min_diff = min_pwm[i] - disarmed; - ramp_min_pwm = disarmed + (disarmed_min_diff * progress) / 10000; - } else { - - /* no disarmed pwm value set, choose min pwm */ - ramp_min_pwm = min_pwm[i]; - } + progress = diff * 10000 / RAMP_TIME_US; + + for (unsigned i=0; i<num_channels; i++) { + + uint16_t ramp_min_pwm; + + /* if a disarmed pwm value was set, blend between disarmed and min */ + if (disarmed_pwm[i] > 0) { - effective_pwm[i] = output[i] * (max_pwm[i] - ramp_min_pwm)/2 + (max_pwm[i] + ramp_min_pwm)/2; - output[i] = (float)progress/10000.0f * output[i]; + /* safeguard against overflows */ + unsigned disarmed = disarmed_pwm[i]; + if (disarmed > min_pwm[i]) { + disarmed = min_pwm[i]; + } + + unsigned disarmed_min_diff = min_pwm[i] - disarmed; + ramp_min_pwm = disarmed + (disarmed_min_diff * progress) / 10000; + + } else { + + /* no disarmed pwm value set, choose min pwm */ + ramp_min_pwm = min_pwm[i]; + } + + effective_pwm[i] = output[i] * (max_pwm[i] - ramp_min_pwm)/2 + (max_pwm[i] + ramp_min_pwm)/2; + } } break; - case LIMIT_STATE_ON: + case PWM_LIMIT_STATE_ON: for (unsigned i=0; i<num_channels; i++) { effective_pwm[i] = output[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2; - /* effective_output stays the same */ } break; default: diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.h b/src/modules/systemlib/pwm_limit/pwm_limit.h index 9974770be..6a667ac6f 100644 --- a/src/modules/systemlib/pwm_limit/pwm_limit.h +++ b/src/modules/systemlib/pwm_limit/pwm_limit.h @@ -46,6 +46,8 @@ #include <stdint.h> #include <stdbool.h> +__BEGIN_DECLS + /* * time for the ESCs to initialize * (this is not actually needed if PWM is sent right after boot) @@ -56,21 +58,21 @@ */ #define RAMP_TIME_US 2500000 +enum pwm_limit_state { + PWM_LIMIT_STATE_OFF = 0, + PWM_LIMIT_STATE_INIT, + PWM_LIMIT_STATE_RAMP, + PWM_LIMIT_STATE_ON +}; + typedef struct { - enum { - LIMIT_STATE_OFF = 0, - LIMIT_STATE_INIT, - LIMIT_STATE_RAMP, - LIMIT_STATE_ON - } state; + enum pwm_limit_state state; uint64_t time_armed; } pwm_limit_t; -__BEGIN_DECLS - __EXPORT void pwm_limit_init(pwm_limit_t *limit); -__EXPORT void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, float *output, uint16_t *effective_pwm, pwm_limit_t *limit); +__EXPORT void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, const float *output, uint16_t *effective_pwm, pwm_limit_t *limit); __END_DECLS diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 1c184d3a7..6ea48a680 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -206,6 +206,7 @@ struct vehicle_status_s bool rc_signal_found_once; bool rc_signal_lost; /**< true if RC reception lost */ + bool rc_input_blocked; /**< set if RC input should be ignored */ bool offboard_control_signal_found_once; bool offboard_control_signal_lost; diff --git a/src/systemcmds/eeprom/eeprom.c b/src/systemcmds/eeprom/eeprom.c deleted file mode 100644 index 2aed80e01..000000000 --- a/src/systemcmds/eeprom/eeprom.c +++ /dev/null @@ -1,265 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> - * - * 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 eeprom.c - * - * EEPROM service and utility app. - */ - -#include <nuttx/config.h> - -#include <stdio.h> -#include <stdlib.h> -#include <string.h> -#include <stdbool.h> -#include <unistd.h> -#include <fcntl.h> -#include <sys/mount.h> -#include <sys/ioctl.h> -#include <sys/stat.h> - -#include <nuttx/i2c.h> -#include <nuttx/mtd.h> -#include <nuttx/fs/nxffs.h> -#include <nuttx/fs/ioctl.h> - -#include <board_config.h> - -#include "systemlib/systemlib.h" -#include "systemlib/param/param.h" -#include "systemlib/err.h" - -#ifndef PX4_I2C_BUS_ONBOARD -# error PX4_I2C_BUS_ONBOARD not defined, cannot locate onboard EEPROM -#endif - -__EXPORT int eeprom_main(int argc, char *argv[]); - -static void eeprom_attach(void); -static void eeprom_start(void); -static void eeprom_erase(void); -static void eeprom_ioctl(unsigned operation); -static void eeprom_save(const char *name); -static void eeprom_load(const char *name); -static void eeprom_test(void); - -static bool attached = false; -static bool started = false; -static struct mtd_dev_s *eeprom_mtd; - -int eeprom_main(int argc, char *argv[]) -{ - if (argc >= 2) { - if (!strcmp(argv[1], "start")) - eeprom_start(); - - if (!strcmp(argv[1], "save_param")) - eeprom_save(argv[2]); - - if (!strcmp(argv[1], "load_param")) - eeprom_load(argv[2]); - - if (!strcmp(argv[1], "erase")) - eeprom_erase(); - - if (!strcmp(argv[1], "test")) - eeprom_test(); - - if (0) { /* these actually require a file on the filesystem... */ - - if (!strcmp(argv[1], "reformat")) - eeprom_ioctl(FIOC_REFORMAT); - - if (!strcmp(argv[1], "repack")) - eeprom_ioctl(FIOC_OPTIMIZE); - } - } - - errx(1, "expected a command, try 'start'\n\t'save_param /eeprom/parameters'\n\t'load_param /eeprom/parameters'\n\t'erase'\n"); -} - - -static void -eeprom_attach(void) -{ - /* find the right I2C */ - struct i2c_dev_s *i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD); - /* this resets the I2C bus, set correct bus speed again */ - I2C_SETFREQUENCY(i2c, 400000); - - if (i2c == NULL) - errx(1, "failed to locate I2C bus"); - - /* start the MTD driver, attempt 5 times */ - for (int i = 0; i < 5; i++) { - eeprom_mtd = at24c_initialize(i2c); - if (eeprom_mtd) { - /* abort on first valid result */ - if (i > 0) { - warnx("warning: EEPROM needed %d attempts to attach", i+1); - } - break; - } - } - - /* if last attempt is still unsuccessful, abort */ - if (eeprom_mtd == NULL) - errx(1, "failed to initialize EEPROM driver"); - - attached = true; -} - -static void -eeprom_start(void) -{ - int ret; - - if (started) - errx(1, "EEPROM already mounted"); - - if (!attached) - eeprom_attach(); - - /* start NXFFS */ - ret = nxffs_initialize(eeprom_mtd); - - if (ret < 0) - errx(1, "failed to initialize NXFFS - erase EEPROM to reformat"); - - /* mount the EEPROM */ - ret = mount(NULL, "/eeprom", "nxffs", 0, NULL); - - if (ret < 0) - errx(1, "failed to mount /eeprom - erase EEPROM to reformat"); - - started = true; - warnx("mounted EEPROM at /eeprom"); - exit(0); -} - -extern int at24c_nuke(void); - -static void -eeprom_erase(void) -{ - if (!attached) - eeprom_attach(); - - if (at24c_nuke()) - errx(1, "erase failed"); - - errx(0, "erase done, reboot now"); -} - -static void -eeprom_ioctl(unsigned operation) -{ - int fd; - - fd = open("/eeprom/.", 0); - - if (fd < 0) - err(1, "open /eeprom"); - - if (ioctl(fd, operation, 0) < 0) - err(1, "ioctl"); - - exit(0); -} - -static void -eeprom_save(const char *name) -{ - if (!started) - errx(1, "must be started first"); - - if (!name) - err(1, "missing argument for device name, try '/eeprom/parameters'"); - - warnx("WARNING: 'eeprom save_param' deprecated - use 'param save' instead"); - - /* delete the file in case it exists */ - unlink(name); - - /* create the file */ - int fd = open(name, O_WRONLY | O_CREAT | O_EXCL); - - if (fd < 0) - err(1, "opening '%s' failed", name); - - int result = param_export(fd, false); - close(fd); - - if (result < 0) { - unlink(name); - errx(1, "error exporting to '%s'", name); - } - - exit(0); -} - -static void -eeprom_load(const char *name) -{ - if (!started) - errx(1, "must be started first"); - - if (!name) - err(1, "missing argument for device name, try '/eeprom/parameters'"); - - warnx("WARNING: 'eeprom load_param' deprecated - use 'param load' instead"); - - int fd = open(name, O_RDONLY); - - if (fd < 0) - err(1, "open '%s'", name); - - int result = param_load(fd); - close(fd); - - if (result < 0) - errx(1, "error importing from '%s'", name); - - exit(0); -} - -extern void at24c_test(void); - -static void -eeprom_test(void) -{ - at24c_test(); - exit(0); -} diff --git a/src/systemcmds/hw_ver/hw_ver.c b/src/systemcmds/hw_ver/hw_ver.c new file mode 100644 index 000000000..4b84523cc --- /dev/null +++ b/src/systemcmds/hw_ver/hw_ver.c @@ -0,0 +1,73 @@ +/**************************************************************************** + * + * Copyright (c) 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 + * 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 hw_ver.c + * + * Show and test hardware version. + */ + +#include <nuttx/config.h> + +#include <stdio.h> +#include <string.h> +#include <errno.h> +#include <version/version.h> + +__EXPORT int hw_ver_main(int argc, char *argv[]); + +int +hw_ver_main(int argc, char *argv[]) +{ + if (argc >= 2) { + if (!strcmp(argv[1], "show")) { + printf(HW_ARCH "\n"); + exit(0); + } + + if (!strcmp(argv[1], "compare")) { + if (argc >= 3) { + int ret = strcmp(HW_ARCH, argv[2]) != 0; + if (ret == 0) { + printf("hw_ver match: %s\n", HW_ARCH); + } + exit(ret); + + } else { + errx(1, "not enough arguments, try 'compare PX4FMU_1'"); + } + } + } + + errx(1, "expected a command, try 'show' or 'compare'"); +} diff --git a/src/systemcmds/eeprom/module.mk b/src/systemcmds/hw_ver/module.mk index 07f3945be..3cc08b6a1 100644 --- a/src/systemcmds/eeprom/module.mk +++ b/src/systemcmds/hw_ver/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# Copyright (c) 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 @@ -32,8 +32,12 @@ ############################################################################ # -# EEPROM file system driver +# Show and test hardware version # -MODULE_COMMAND = eeprom -SRCS = 24xxxx_mtd.c eeprom.c +MODULE_COMMAND = hw_ver +SRCS = hw_ver.c + +MODULE_STACKSIZE = 1024 + +MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/eeprom/24xxxx_mtd.c b/src/systemcmds/mtd/24xxxx_mtd.c index e34be44e3..e34be44e3 100644 --- a/src/systemcmds/eeprom/24xxxx_mtd.c +++ b/src/systemcmds/mtd/24xxxx_mtd.c diff --git a/src/systemcmds/mtd/module.mk b/src/systemcmds/mtd/module.mk index 686656597..b3fceceb5 100644 --- a/src/systemcmds/mtd/module.mk +++ b/src/systemcmds/mtd/module.mk @@ -3,4 +3,4 @@ # MODULE_COMMAND = mtd -SRCS = mtd.c +SRCS = mtd.c 24xxxx_mtd.c diff --git a/src/systemcmds/mtd/mtd.c b/src/systemcmds/mtd/mtd.c index baef9dccc..0a88d40f3 100644 --- a/src/systemcmds/mtd/mtd.c +++ b/src/systemcmds/mtd/mtd.c @@ -62,26 +62,43 @@ #include "systemlib/param/param.h" #include "systemlib/err.h" +#include <board_config.h> + __EXPORT int mtd_main(int argc, char *argv[]); -#ifndef CONFIG_MTD_RAMTRON +#ifndef CONFIG_MTD /* create a fake command with decent warnx to not confuse users */ int mtd_main(int argc, char *argv[]) { - errx(1, "RAMTRON not enabled, skipping."); + errx(1, "MTD not enabled, skipping."); } #else -static void mtd_attach(void); +#ifdef CONFIG_MTD_RAMTRON +static void ramtron_attach(void); +#else + +#ifndef PX4_I2C_BUS_ONBOARD +# error PX4_I2C_BUS_ONBOARD not defined, cannot locate onboard EEPROM +#endif + +static void at24xxx_attach(void); +#endif static void mtd_start(char *partition_names[], unsigned n_partitions); static void mtd_test(void); static void mtd_erase(char *partition_names[], unsigned n_partitions); +static void mtd_readtest(char *partition_names[], unsigned n_partitions); +static void mtd_rwtest(char *partition_names[], unsigned n_partitions); +static void mtd_print_info(); +static int mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks, + unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions); static bool attached = false; static bool started = false; static struct mtd_dev_s *mtd_dev; +static unsigned n_partitions_current = 0; /* note, these will be equally sized */ static char *partition_names_default[] = {"/fs/mtd_params", "/fs/mtd_waypoints"}; @@ -93,9 +110,8 @@ int mtd_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { /* start mapping according to user request */ - if (argc > 3) { + if (argc >= 3) { mtd_start(argv + 2, argc - 2); - } else { mtd_start(partition_names_default, n_partitions_default); } @@ -104,28 +120,49 @@ int mtd_main(int argc, char *argv[]) if (!strcmp(argv[1], "test")) mtd_test(); + if (!strcmp(argv[1], "readtest")) { + if (argc >= 3) { + mtd_readtest(argv + 2, argc - 2); + } else { + mtd_readtest(partition_names_default, n_partitions_default); + } + } + + if (!strcmp(argv[1], "rwtest")) { + if (argc >= 3) { + mtd_rwtest(argv + 2, argc - 2); + } else { + mtd_rwtest(partition_names_default, n_partitions_default); + } + } + + if (!strcmp(argv[1], "status")) + mtd_status(); + if (!strcmp(argv[1], "erase")) { - if (argc < 3) { - errx(1, "usage: mtd erase <PARTITION_PATH..>"); + if (argc >= 3) { + mtd_erase(argv + 2, argc - 2); + } else { + mtd_erase(partition_names_default, n_partitions_default); } - mtd_erase(argv + 2, argc - 2); } } - errx(1, "expected a command, try 'start', 'erase' or 'test'"); + errx(1, "expected a command, try 'start', 'erase', 'status', 'readtest', 'rwtest' or 'test'"); } struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev); struct mtd_dev_s *mtd_partition(FAR struct mtd_dev_s *mtd, off_t firstblock, off_t nblocks); +#ifdef CONFIG_MTD_RAMTRON static void -mtd_attach(void) +ramtron_attach(void) { /* find the right spi */ struct spi_dev_s *spi = up_spiinitialize(2); /* this resets the spi bus, set correct bus speed again */ - SPI_SETFREQUENCY(spi, 40 * 1000 * 1000); + SPI_SETFREQUENCY(spi, 10 * 1000 * 1000); SPI_SETBITS(spi, 8); SPI_SETMODE(spi, SPIDEV_MODE3); SPI_SELECT(spi, SPIDEV_FLASH, false); @@ -133,7 +170,7 @@ mtd_attach(void) if (spi == NULL) errx(1, "failed to locate spi bus"); - /* start the MTD driver, attempt 5 times */ + /* start the RAMTRON driver, attempt 5 times */ for (int i = 0; i < 5; i++) { mtd_dev = ramtron_initialize(spi); @@ -151,8 +188,44 @@ mtd_attach(void) if (mtd_dev == NULL) errx(1, "failed to initialize mtd driver"); + int ret = mtd_dev->ioctl(mtd_dev, MTDIOC_SETSPEED, (unsigned long)10*1000*1000); + if (ret != OK) + warnx(1, "failed to set bus speed"); + attached = true; } +#else + +static void +at24xxx_attach(void) +{ + /* find the right I2C */ + struct i2c_dev_s *i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD); + /* this resets the I2C bus, set correct bus speed again */ + I2C_SETFREQUENCY(i2c, 400000); + + if (i2c == NULL) + errx(1, "failed to locate I2C bus"); + + /* start the MTD driver, attempt 5 times */ + for (int i = 0; i < 5; i++) { + mtd_dev = at24c_initialize(i2c); + if (mtd_dev) { + /* abort on first valid result */ + if (i > 0) { + warnx("warning: EEPROM needed %d attempts to attach", i+1); + } + break; + } + } + + /* if last attempt is still unsuccessful, abort */ + if (mtd_dev == NULL) + errx(1, "failed to initialize EEPROM driver"); + + attached = true; +} +#endif static void mtd_start(char *partition_names[], unsigned n_partitions) @@ -162,46 +235,28 @@ mtd_start(char *partition_names[], unsigned n_partitions) if (started) errx(1, "mtd already mounted"); - if (!attached) - mtd_attach(); + if (!attached) { + #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 + at24xxx_attach(); + #else + ramtron_attach(); + #endif + } if (!mtd_dev) { warnx("ERROR: Failed to create RAMTRON FRAM MTD instance"); exit(1); } + unsigned long blocksize, erasesize, neraseblocks; + unsigned blkpererase, nblocks, partsize; - /* Get the geometry of the FLASH device */ - - FAR struct mtd_geometry_s geo; - - ret = mtd_dev->ioctl(mtd_dev, MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo)); - - if (ret < 0) { - warnx("ERROR: mtd->ioctl failed: %d", ret); + ret = mtd_get_geometry(&blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize, n_partitions); + if (ret) exit(3); - } - - warnx("Flash Geometry:"); - warnx(" blocksize: %lu", (unsigned long)geo.blocksize); - warnx(" erasesize: %lu", (unsigned long)geo.erasesize); - warnx(" neraseblocks: %lu", (unsigned long)geo.neraseblocks); - - /* Determine the size of each partition. Make each partition an even - * multiple of the erase block size (perhaps not using some space at the - * end of the FLASH). - */ - - unsigned blkpererase = geo.erasesize / geo.blocksize; - unsigned nblocks = (geo.neraseblocks / n_partitions) * blkpererase; - unsigned partsize = nblocks * geo.blocksize; - - warnx(" No. partitions: %u", n_partitions); - warnx(" Partition size: %lu Blocks (%lu bytes)", (unsigned long)nblocks, (unsigned long)partsize); /* Now create MTD FLASH partitions */ - warnx("Creating partitions"); FAR struct mtd_dev_s *part[n_partitions]; char blockname[32]; @@ -210,9 +265,6 @@ mtd_start(char *partition_names[], unsigned n_partitions) for (offset = 0, i = 0; i < n_partitions; offset += nblocks, i++) { - warnx(" Partition %d. Block offset=%lu, size=%lu", - i, (unsigned long)offset, (unsigned long)nblocks); - /* Create the partition */ part[i] = mtd_partition(mtd_dev, offset, nblocks); @@ -244,18 +296,98 @@ mtd_start(char *partition_names[], unsigned n_partitions) } } + n_partitions_current = n_partitions; + started = true; exit(0); } -static void +int mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks, + unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions) +{ + /* Get the geometry of the FLASH device */ + + FAR struct mtd_geometry_s geo; + + int ret = mtd_dev->ioctl(mtd_dev, MTDIOC_GEOMETRY, (unsigned long)((uintptr_t)&geo)); + + if (ret < 0) { + warnx("ERROR: mtd->ioctl failed: %d", ret); + return ret; + } + + *blocksize = geo.blocksize; + *erasesize = geo.blocksize; + *neraseblocks = geo.neraseblocks; + + /* Determine the size of each partition. Make each partition an even + * multiple of the erase block size (perhaps not using some space at the + * end of the FLASH). + */ + + *blkpererase = geo.erasesize / geo.blocksize; + *nblocks = (geo.neraseblocks / n_partitions) * *blkpererase; + *partsize = *nblocks * geo.blocksize; + + return ret; +} + +/* + get partition size in bytes + */ +static ssize_t mtd_get_partition_size(void) +{ + unsigned long blocksize, erasesize, neraseblocks; + unsigned blkpererase, nblocks, partsize = 0; + + int ret = mtd_get_geometry(&blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize, n_partitions_current); + if (ret != OK) { + errx(1, "Failed to get geometry"); + } + return partsize; +} + +void mtd_print_info() +{ + if (!attached) + exit(1); + + unsigned long blocksize, erasesize, neraseblocks; + unsigned blkpererase, nblocks, partsize; + + int ret = mtd_get_geometry(&blocksize, &erasesize, &neraseblocks, &blkpererase, &nblocks, &partsize, n_partitions_current); + if (ret) + exit(3); + + warnx("Flash Geometry:"); + + printf(" blocksize: %lu\n", blocksize); + printf(" erasesize: %lu\n", erasesize); + printf(" neraseblocks: %lu\n", neraseblocks); + printf(" No. partitions: %u\n", n_partitions_current); + printf(" Partition size: %u Blocks (%u bytes)\n", nblocks, partsize); + printf(" TOTAL SIZE: %u KiB\n", neraseblocks * erasesize / 1024); + +} + +void mtd_test(void) { warnx("This test routine does not test anything yet!"); exit(1); } -static void +void +mtd_status(void) +{ + if (!attached) + errx(1, "MTD driver not started"); + + mtd_print_info(); + exit(0); +} + +void mtd_erase(char *partition_names[], unsigned n_partitions) { uint8_t v[64]; @@ -267,7 +399,7 @@ mtd_erase(char *partition_names[], unsigned n_partitions) if (fd == -1) { errx(1, "Failed to open partition"); } - while (write(fd, &v, sizeof(v)) == sizeof(v)) { + while (write(fd, v, sizeof(v)) == sizeof(v)) { count += sizeof(v); } printf("Erased %lu bytes\n", (unsigned long)count); @@ -276,4 +408,82 @@ mtd_erase(char *partition_names[], unsigned n_partitions) exit(0); } +/* + readtest is useful during startup to validate the device is + responding on the bus. It relies on the driver returning an error on + bad reads (the ramtron driver does return an error) + */ +void +mtd_readtest(char *partition_names[], unsigned n_partitions) +{ + ssize_t expected_size = mtd_get_partition_size(); + + uint8_t v[128]; + for (uint8_t i = 0; i < n_partitions; i++) { + uint32_t count = 0; + printf("reading %s expecting %u bytes\n", partition_names[i], expected_size); + int fd = open(partition_names[i], O_RDONLY); + if (fd == -1) { + errx(1, "Failed to open partition"); + } + while (read(fd, v, sizeof(v)) == sizeof(v)) { + count += sizeof(v); + } + if (count != expected_size) { + errx(1,"Failed to read partition - got %u/%u bytes", count, expected_size); + } + close(fd); + } + printf("readtest OK\n"); + exit(0); +} + +/* + rwtest is useful during startup to validate the device is + responding on the bus for both reads and writes. It reads data in + blocks and writes the data back, then reads it again, failing if the + data isn't the same + */ +void +mtd_rwtest(char *partition_names[], unsigned n_partitions) +{ + ssize_t expected_size = mtd_get_partition_size(); + + uint8_t v[128], v2[128]; + for (uint8_t i = 0; i < n_partitions; i++) { + uint32_t count = 0; + off_t offset = 0; + printf("rwtest %s testing %u bytes\n", partition_names[i], expected_size); + int fd = open(partition_names[i], O_RDWR); + if (fd == -1) { + errx(1, "Failed to open partition"); + } + while (read(fd, v, sizeof(v)) == sizeof(v)) { + count += sizeof(v); + if (lseek(fd, offset, SEEK_SET) != offset) { + errx(1, "seek failed"); + } + if (write(fd, v, sizeof(v)) != sizeof(v)) { + errx(1, "write failed"); + } + if (lseek(fd, offset, SEEK_SET) != offset) { + errx(1, "seek failed"); + } + if (read(fd, v2, sizeof(v2)) != sizeof(v2)) { + errx(1, "read failed"); + } + if (memcmp(v, v2, sizeof(v2)) != 0) { + errx(1, "memcmp failed"); + } + offset += sizeof(v); + } + if (count != expected_size) { + errx(1,"Failed to read partition - got %u/%u bytes", count, expected_size); + } + close(fd); + } + printf("rwtest OK\n"); + exit(0); +} + #endif diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c index 580fdc62f..0cbba0a37 100644 --- a/src/systemcmds/param/param.c +++ b/src/systemcmds/param/param.c @@ -320,7 +320,7 @@ do_set(const char* name, const char* val) char* end; f = strtod(val,&end); param_set(param, &f); - printf(" -> new: %f\n", f); + printf(" -> new: %4.4f\n", (double)f); } diff --git a/src/systemcmds/ramtron/module.mk b/src/systemcmds/ramtron/module.mk deleted file mode 100644 index e4eb1d143..000000000 --- a/src/systemcmds/ramtron/module.mk +++ /dev/null @@ -1,6 +0,0 @@ -# -# RAMTRON file system driver -# - -MODULE_COMMAND = ramtron -SRCS = ramtron.c diff --git a/src/systemcmds/ramtron/ramtron.c b/src/systemcmds/ramtron/ramtron.c deleted file mode 100644 index 03c713987..000000000 --- a/src/systemcmds/ramtron/ramtron.c +++ /dev/null @@ -1,279 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> - * - * 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 ramtron.c - * - * ramtron service and utility app. - */ - -#include <nuttx/config.h> - -#include <stdio.h> -#include <stdlib.h> -#include <string.h> -#include <stdbool.h> -#include <unistd.h> -#include <fcntl.h> -#include <sys/mount.h> -#include <sys/ioctl.h> -#include <sys/stat.h> - -#include <nuttx/spi.h> -#include <nuttx/mtd.h> -#include <nuttx/fs/nxffs.h> -#include <nuttx/fs/ioctl.h> - -#include <arch/board/board.h> - -#include "systemlib/systemlib.h" -#include "systemlib/param/param.h" -#include "systemlib/err.h" - -__EXPORT int ramtron_main(int argc, char *argv[]); - -#ifndef CONFIG_MTD_RAMTRON - -/* create a fake command with decent message to not confuse users */ -int ramtron_main(int argc, char *argv[]) -{ - errx(1, "RAMTRON not enabled, skipping."); -} -#else - -static void ramtron_attach(void); -static void ramtron_start(void); -static void ramtron_erase(void); -static void ramtron_ioctl(unsigned operation); -static void ramtron_save(const char *name); -static void ramtron_load(const char *name); -static void ramtron_test(void); - -static bool attached = false; -static bool started = false; -static struct mtd_dev_s *ramtron_mtd; - -int ramtron_main(int argc, char *argv[]) -{ - if (argc >= 2) { - if (!strcmp(argv[1], "start")) - ramtron_start(); - - if (!strcmp(argv[1], "save_param")) - ramtron_save(argv[2]); - - if (!strcmp(argv[1], "load_param")) - ramtron_load(argv[2]); - - if (!strcmp(argv[1], "erase")) - ramtron_erase(); - - if (!strcmp(argv[1], "test")) - ramtron_test(); - - if (0) { /* these actually require a file on the filesystem... */ - - if (!strcmp(argv[1], "reformat")) - ramtron_ioctl(FIOC_REFORMAT); - - if (!strcmp(argv[1], "repack")) - ramtron_ioctl(FIOC_OPTIMIZE); - } - } - - errx(1, "expected a command, try 'start'\n\t'save_param /ramtron/parameters'\n\t'load_param /ramtron/parameters'\n\t'erase'\n"); -} - -struct mtd_dev_s *ramtron_initialize(FAR struct spi_dev_s *dev); - - -static void -ramtron_attach(void) -{ - /* find the right spi */ - struct spi_dev_s *spi = up_spiinitialize(2); - /* this resets the spi bus, set correct bus speed again */ - // xxx set in ramtron driver, leave this out -// SPI_SETFREQUENCY(spi, 4000000); - SPI_SETFREQUENCY(spi, 375000000); - SPI_SETBITS(spi, 8); - SPI_SETMODE(spi, SPIDEV_MODE3); - SPI_SELECT(spi, SPIDEV_FLASH, false); - - if (spi == NULL) - errx(1, "failed to locate spi bus"); - - /* start the MTD driver, attempt 5 times */ - for (int i = 0; i < 5; i++) { - ramtron_mtd = ramtron_initialize(spi); - if (ramtron_mtd) { - /* abort on first valid result */ - if (i > 0) { - warnx("warning: ramtron needed %d attempts to attach", i+1); - } - break; - } - } - - /* if last attempt is still unsuccessful, abort */ - if (ramtron_mtd == NULL) - errx(1, "failed to initialize ramtron driver"); - - attached = true; -} - -static void -ramtron_start(void) -{ - int ret; - - if (started) - errx(1, "ramtron already mounted"); - - if (!attached) - ramtron_attach(); - - /* start NXFFS */ - ret = nxffs_initialize(ramtron_mtd); - - if (ret < 0) - errx(1, "failed to initialize NXFFS - erase ramtron to reformat"); - - /* mount the ramtron */ - ret = mount(NULL, "/ramtron", "nxffs", 0, NULL); - - if (ret < 0) - errx(1, "failed to mount /ramtron - erase ramtron to reformat"); - - started = true; - warnx("mounted ramtron at /ramtron"); - exit(0); -} - -//extern int at24c_nuke(void); - -static void -ramtron_erase(void) -{ - if (!attached) - ramtron_attach(); - -// if (at24c_nuke()) - errx(1, "erase failed"); - - errx(0, "erase done, reboot now"); -} - -static void -ramtron_ioctl(unsigned operation) -{ - int fd; - - fd = open("/ramtron/.", 0); - - if (fd < 0) - err(1, "open /ramtron"); - - if (ioctl(fd, operation, 0) < 0) - err(1, "ioctl"); - - exit(0); -} - -static void -ramtron_save(const char *name) -{ - if (!started) - errx(1, "must be started first"); - - if (!name) - err(1, "missing argument for device name, try '/ramtron/parameters'"); - - warnx("WARNING: 'ramtron save_param' deprecated - use 'param save' instead"); - - /* delete the file in case it exists */ - unlink(name); - - /* create the file */ - int fd = open(name, O_WRONLY | O_CREAT | O_EXCL); - - if (fd < 0) - err(1, "opening '%s' failed", name); - - int result = param_export(fd, false); - close(fd); - - if (result < 0) { - unlink(name); - errx(1, "error exporting to '%s'", name); - } - - exit(0); -} - -static void -ramtron_load(const char *name) -{ - if (!started) - errx(1, "must be started first"); - - if (!name) - err(1, "missing argument for device name, try '/ramtron/parameters'"); - - warnx("WARNING: 'ramtron load_param' deprecated - use 'param load' instead"); - - int fd = open(name, O_RDONLY); - - if (fd < 0) - err(1, "open '%s'", name); - - int result = param_load(fd); - close(fd); - - if (result < 0) - errx(1, "error importing from '%s'", name); - - exit(0); -} - -//extern void at24c_test(void); - -static void -ramtron_test(void) -{ -// at24c_test(); - exit(0); -} - -#endif diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk index 28e214a6c..beb9ad13d 100644 --- a/src/systemcmds/tests/module.mk +++ b/src/systemcmds/tests/module.mk @@ -29,4 +29,6 @@ SRCS = test_adc.c \ test_param.c \ test_ppm_loopback.c \ test_rc.c \ - test_mount.c + test_conv.cpp \ + test_mount.c \ + test_mtd.c diff --git a/src/systemcmds/tests/test_conv.cpp b/src/systemcmds/tests/test_conv.cpp new file mode 100644 index 000000000..50dece816 --- /dev/null +++ b/src/systemcmds/tests/test_conv.cpp @@ -0,0 +1,76 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 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 test_conv.cpp + * Tests conversions used across the system. + * + */ + +#include <nuttx/config.h> + +#include <sys/types.h> + +#include <stdio.h> +#include <poll.h> +#include <stdlib.h> +#include <unistd.h> +#include <fcntl.h> +#include <errno.h> + +#include "tests.h" + +#include <math.h> +#include <float.h> + +#include <systemlib/err.h> +#include <unit_test/unit_test.h> +#include <px4iofirmware/protocol.h> + +int test_conv(int argc, char *argv[]) +{ + warnx("Testing system conversions"); + + for (int i = -10000; i <= 10000; i+=1) { + float f = i/10000.0f; + float fres = REG_TO_FLOAT(FLOAT_TO_REG(f)); + if (fabsf(f - fres) > 0.0001f) { + warnx("conversion fail: input: %8.4f, intermediate: %d, result: %8.4f", f, REG_TO_SIGNED(FLOAT_TO_REG(f)), fres); + return 1; + } + } + + warnx("All conversions clean"); + + return 0; +} diff --git a/src/systemcmds/tests/test_file.c b/src/systemcmds/tests/test_file.c index 83d09dd5e..96be1e8df 100644 --- a/src/systemcmds/tests/test_file.c +++ b/src/systemcmds/tests/test_file.c @@ -54,7 +54,7 @@ #include "tests.h" -int check_user_abort(int fd); +static int check_user_abort(int fd); int check_user_abort(int fd) { /* check if user wants to abort */ diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp index 4da86042d..df382e2c6 100644 --- a/src/systemcmds/tests/test_mixer.cpp +++ b/src/systemcmds/tests/test_mixer.cpp @@ -48,9 +48,13 @@ #include <errno.h> #include <string.h> #include <time.h> +#include <math.h> #include <systemlib/err.h> #include <systemlib/mixer/mixer.h> +#include <systemlib/pwm_limit/pwm_limit.h> +#include <drivers/drv_hrt.h> +#include <drivers/drv_pwm_output.h> #include "tests.h" @@ -59,8 +63,22 @@ static int mixer_callback(uintptr_t handle, uint8_t control_index, float &control); +const unsigned output_max = 8; +static float actuator_controls[output_max]; + int test_mixer(int argc, char *argv[]) { + /* + * PWM limit structure + */ + pwm_limit_t pwm_limit; + static bool should_arm = false; + uint16_t r_page_servo_disarmed[output_max]; + uint16_t r_page_servo_control_min[output_max]; + uint16_t r_page_servo_control_max[output_max]; + uint16_t r_page_servos[output_max]; + uint16_t servo_predicted[output_max]; + warnx("testing mixer"); char *filename = "/etc/mixers/IO_pass.mix"; @@ -164,6 +182,174 @@ int test_mixer(int argc, char *argv[]) if (mixer_group.count() != 8) return 1; + /* execute the mixer */ + + float outputs[output_max]; + unsigned mixed; + const int jmax = 5; + + pwm_limit_init(&pwm_limit); + should_arm = true; + + /* run through arming phase */ + for (int i = 0; i < output_max; i++) { + actuator_controls[i] = 0.1f; + r_page_servo_disarmed[i] = PWM_LOWEST_MIN; + r_page_servo_control_min[i] = PWM_DEFAULT_MIN; + r_page_servo_control_max[i] = PWM_DEFAULT_MAX; + } + + warnx("ARMING TEST: STARTING RAMP"); + unsigned sleep_quantum_us = 10000; + + hrt_abstime starttime = hrt_absolute_time(); + unsigned sleepcount = 0; + + while (hrt_elapsed_time(&starttime) < INIT_TIME_US + RAMP_TIME_US) { + + /* mix */ + mixed = mixer_group.mix(&outputs[0], output_max); + + 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); + + //warnx("mixed %d outputs (max %d), values:", mixed, output_max); + for (int i = 0; i < mixed; i++) + { + /* check mixed outputs to be zero during init phase */ + if (hrt_elapsed_time(&starttime) < INIT_TIME_US && + r_page_servos[i] != r_page_servo_disarmed[i]) { + warnx("disarmed servo value mismatch"); + return 1; + } + + if (hrt_elapsed_time(&starttime) >= INIT_TIME_US && + r_page_servos[i] + 1 <= r_page_servo_disarmed[i]) { + warnx("ramp servo value mismatch"); + return 1; + } + + //printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, outputs_unlimited[i], outputs[i], (int)r_page_servos[i]); + } + usleep(sleep_quantum_us); + sleepcount++; + + if (sleepcount % 10 == 0) { + printf("."); + fflush(stdout); + } + } + printf("\n"); + + warnx("ARMING TEST: NORMAL OPERATION"); + + for (int j = -jmax; j <= jmax; j++) { + + for (int i = 0; i < output_max; i++) { + actuator_controls[i] = j/10.0f + 0.1f * i; + r_page_servo_disarmed[i] = PWM_LOWEST_MIN; + r_page_servo_control_min[i] = PWM_DEFAULT_MIN; + r_page_servo_control_max[i] = PWM_DEFAULT_MAX; + } + + /* mix */ + mixed = mixer_group.mix(&outputs[0], output_max); + + 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); + + warnx("mixed %d outputs (max %d)", mixed, output_max); + for (int i = 0; i < mixed; i++) + { + servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f; + if (fabsf(servo_predicted[i] - r_page_servos[i]) > 2) { + printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, outputs[i], servo_predicted[i], (int)r_page_servos[i]); + warnx("mixer violated predicted value"); + return 1; + } + } + } + + warnx("ARMING TEST: DISARMING"); + + starttime = hrt_absolute_time(); + sleepcount = 0; + should_arm = false; + + while (hrt_elapsed_time(&starttime) < 600000) { + + /* mix */ + mixed = mixer_group.mix(&outputs[0], output_max); + + 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); + + //warnx("mixed %d outputs (max %d), values:", mixed, output_max); + for (int i = 0; i < mixed; i++) + { + /* check mixed outputs to be zero during init phase */ + if (r_page_servos[i] != r_page_servo_disarmed[i]) { + warnx("disarmed servo value mismatch"); + return 1; + } + + //printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, outputs_unlimited[i], outputs[i], (int)r_page_servos[i]); + } + usleep(sleep_quantum_us); + sleepcount++; + + if (sleepcount % 10 == 0) { + printf("."); + fflush(stdout); + } + } + printf("\n"); + + warnx("ARMING TEST: REARMING: STARTING RAMP"); + + starttime = hrt_absolute_time(); + sleepcount = 0; + should_arm = true; + + while (hrt_elapsed_time(&starttime) < 600000 + RAMP_TIME_US) { + + /* mix */ + mixed = mixer_group.mix(&outputs[0], output_max); + + 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); + + //warnx("mixed %d outputs (max %d), values:", mixed, output_max); + for (int i = 0; i < mixed; i++) + { + /* predict value */ + servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f; + + /* check ramp */ + + if (hrt_elapsed_time(&starttime) < RAMP_TIME_US && + (r_page_servos[i] + 1 <= r_page_servo_disarmed[i] || + r_page_servos[i] > servo_predicted[i])) { + warnx("ramp servo value mismatch"); + return 1; + } + + /* check post ramp phase */ + if (hrt_elapsed_time(&starttime) > RAMP_TIME_US && + fabsf(servo_predicted[i] - r_page_servos[i]) > 2) { + printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, outputs[i], servo_predicted[i], (int)r_page_servos[i]); + warnx("mixer violated predicted value"); + return 1; + } + + //printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, outputs_unlimited[i], outputs[i], (int)r_page_servos[i]); + } + usleep(sleep_quantum_us); + sleepcount++; + + if (sleepcount % 10 == 0) { + printf("."); + fflush(stdout); + } + } + printf("\n"); + /* load multirotor at once test */ mixer_group.reset(); @@ -180,8 +366,12 @@ int test_mixer(int argc, char *argv[]) unsigned mc_loaded = loaded; mixer_group.load_from_buf(&buf[0], mc_loaded); warnx("complete buffer load: loaded %u mixers", mixer_group.count()); - if (mixer_group.count() != 8) + if (mixer_group.count() != 5) { + warnx("FAIL: Quad W mixer load failed"); return 1; + } + + warnx("SUCCESS: No errors in mixer test"); } static int @@ -193,7 +383,10 @@ mixer_callback(uintptr_t handle, if (control_group != 0) return -1; - control = 0.0f; + if (control_index > (sizeof(actuator_controls) / sizeof(actuator_controls[0]))) + return -1; + + control = actuator_controls[control_index]; return 0; } diff --git a/src/systemcmds/tests/test_mtd.c b/src/systemcmds/tests/test_mtd.c new file mode 100644 index 000000000..bac9efbdb --- /dev/null +++ b/src/systemcmds/tests/test_mtd.c @@ -0,0 +1,229 @@ +/**************************************************************************** + * + * 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 + * 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 test_mtd.c + * + * Param storage / file test. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +#include <sys/stat.h> +#include <poll.h> +#include <dirent.h> +#include <stdio.h> +#include <stddef.h> +#include <unistd.h> +#include <fcntl.h> +#include <systemlib/err.h> +#include <systemlib/perf_counter.h> +#include <string.h> + +#include <drivers/drv_hrt.h> + +#include "tests.h" + +#define PARAM_FILE_NAME "/fs/mtd_params" + +static int check_user_abort(int fd); + +int check_user_abort(int fd) { + /* check if user wants to abort */ + char c; + + struct pollfd fds; + int ret; + fds.fd = 0; /* stdin */ + fds.events = POLLIN; + ret = poll(&fds, 1, 0); + + if (ret > 0) { + + read(0, &c, 1); + + switch (c) { + case 0x03: // ctrl-c + case 0x1b: // esc + case 'c': + case 'q': + { + warnx("Test aborted."); + fsync(fd); + close(fd); + return OK; + /* not reached */ + } + } + } + + return 1; +} + +void print_fail() +{ + printf("<[T]: MTD: FAIL>\n"); +} + +void print_success() +{ + printf("<[T]: MTD: OK>\n"); +} + +int +test_mtd(int argc, char *argv[]) +{ + unsigned iterations= 0; + + /* check if microSD card is mounted */ + struct stat buffer; + if (stat(PARAM_FILE_NAME, &buffer)) { + warnx("file %s not found, aborting MTD test", PARAM_FILE_NAME); + print_fail(); + return 1; + } + + // XXX get real storage space here + unsigned file_size = 4096; + + /* perform tests for a range of chunk sizes */ + unsigned chunk_sizes[] = {256, 512, 4096}; + + for (unsigned c = 0; c < (sizeof(chunk_sizes) / sizeof(chunk_sizes[0])); c++) { + + printf("\n====== FILE TEST: %u bytes chunks ======\n", chunk_sizes[c]); + + uint8_t write_buf[chunk_sizes[c]] __attribute__((aligned(64))); + + /* fill write buffer with known values */ + for (int i = 0; i < sizeof(write_buf); i++) { + /* this will wrap, but we just need a known value with spacing */ + write_buf[i] = i+11; + } + + uint8_t read_buf[chunk_sizes[c]] __attribute__((aligned(64))); + hrt_abstime start, end; + + int fd = open(PARAM_FILE_NAME, O_RDONLY); + int rret = read(fd, read_buf, chunk_sizes[c]); + close(fd); + + fd = open(PARAM_FILE_NAME, O_WRONLY); + + printf("printing 2 percent of the first chunk:\n"); + for (int i = 0; i < sizeof(read_buf) / 50; i++) { + printf("%02X", read_buf[i]); + } + printf("\n"); + + iterations = file_size / chunk_sizes[c]; + + start = hrt_absolute_time(); + for (unsigned i = 0; i < iterations; i++) { + int wret = write(fd, write_buf, chunk_sizes[c]); + + if (wret != (int)chunk_sizes[c]) { + warn("WRITE ERROR!"); + print_fail(); + return 1; + } + + fsync(fd); + + if (!check_user_abort(fd)) + return OK; + + } + end = hrt_absolute_time(); + + close(fd); + fd = open(PARAM_FILE_NAME, O_RDONLY); + + /* read back data for validation */ + for (unsigned i = 0; i < iterations; i++) { + int rret = read(fd, read_buf, chunk_sizes[c]); + + if (rret != chunk_sizes[c]) { + warnx("READ ERROR!"); + print_fail(); + return 1; + } + + /* compare value */ + bool compare_ok = true; + + for (int j = 0; j < chunk_sizes[c]; j++) { + if (read_buf[j] != write_buf[j]) { + warnx("COMPARISON ERROR: byte %d", j); + print_fail(); + compare_ok = false; + break; + } + } + + if (!compare_ok) { + warnx("ABORTING FURTHER COMPARISON DUE TO ERROR"); + print_fail(); + return 1; + } + + if (!check_user_abort(fd)) + return OK; + + } + + + close(fd); + + } + + /* fill the file with 0xFF to make it look new again */ + char ffbuf[64]; + memset(ffbuf, 0xFF, sizeof(ffbuf)); + int fd = open(PARAM_FILE_NAME, O_WRONLY); + for (int i = 0; i < file_size / sizeof(ffbuf); i++) { + int ret = write(fd, ffbuf, sizeof(ffbuf)); + + if (ret != sizeof(ffbuf)) { + warnx("ERROR! Could not fill file with 0xFF"); + close(fd); + print_fail(); + return 1; + } + } + + (void)close(fd); + print_success(); + + return 0; +} diff --git a/src/systemcmds/tests/test_rc.c b/src/systemcmds/tests/test_rc.c index 72619fc8b..57c0e7f4c 100644 --- a/src/systemcmds/tests/test_rc.c +++ b/src/systemcmds/tests/test_rc.c @@ -32,8 +32,8 @@ ****************************************************************************/ /** - * @file test_ppm_loopback.c - * Tests the PWM outputs and PPM input + * @file test_rc.c + * Tests RC input. * */ @@ -121,7 +121,7 @@ int test_rc(int argc, char *argv[]) return ERROR; } - if (hrt_absolute_time() - rc_input.timestamp > 100000) { + if (hrt_absolute_time() - rc_input.timestamp_last_signal > 100000) { warnx("TIMEOUT, less than 10 Hz updates"); (void)close(_rc_sub); return ERROR; diff --git a/src/systemcmds/tests/tests.h b/src/systemcmds/tests/tests.h index bec13bd30..82de05dff 100644 --- a/src/systemcmds/tests/tests.h +++ b/src/systemcmds/tests/tests.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 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 @@ -109,7 +109,9 @@ extern int test_bson(int argc, char *argv[]); extern int test_file(int argc, char *argv[]); extern int test_mixer(int argc, char *argv[]); extern int test_rc(int argc, char *argv[]); +extern int test_conv(int argc, char *argv[]); extern int test_mount(int argc, char *argv[]); +extern int test_mtd(int argc, char *argv[]); __END_DECLS diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c index 84535126f..77a4df618 100644 --- a/src/systemcmds/tests/tests_main.c +++ b/src/systemcmds/tests/tests_main.c @@ -106,7 +106,9 @@ const struct { {"file", test_file, 0}, {"mixer", test_mixer, OPT_NOJIGTEST | OPT_NOALLTEST}, {"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"conv", test_conv, OPT_NOJIGTEST | OPT_NOALLTEST}, {"mount", test_mount, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"mtd", test_mtd, 0}, {"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST}, {NULL, NULL, 0} }; |