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-rw-r--r--src/drivers/blinkm/blinkm.cpp10
-rw-r--r--src/drivers/px4io/px4io.cpp119
-rw-r--r--src/modules/commander/commander.c44
-rw-r--r--src/modules/commander/state_machine_helper.c19
-rw-r--r--src/modules/commander/state_machine_helper.h7
-rw-r--r--src/modules/mavlink/orb_listener.c2
-rw-r--r--src/modules/px4iofirmware/mixer.cpp77
-rw-r--r--src/modules/px4iofirmware/protocol.h10
-rw-r--r--src/modules/px4iofirmware/registers.c20
-rw-r--r--src/modules/px4iofirmware/safety.c10
-rw-r--r--src/modules/uORB/objects_common.cpp4
-rw-r--r--src/modules/uORB/topics/safety.h60
-rw-r--r--src/systemcmds/pwm/pwm.c48
13 files changed, 343 insertions, 87 deletions
diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp
index 1cfdcfbed..a11f88477 100644
--- a/src/drivers/blinkm/blinkm.cpp
+++ b/src/drivers/blinkm/blinkm.cpp
@@ -505,15 +505,15 @@ BlinkM::led()
/* get number of used satellites in navigation */
num_of_used_sats = 0;
- //for(int satloop=0; satloop<20; satloop++) {
- for(int satloop=0; satloop<sizeof(vehicle_gps_position_raw.satellite_used); satloop++) {
- if(vehicle_gps_position_raw.satellite_used[satloop] == 1) {
+
+ for (unsigned satloop = 0; satloop < (sizeof(vehicle_gps_position_raw.satellite_used) / sizeof(vehicle_gps_position_raw.satellite_used[0])); satloop++) {
+ if (vehicle_gps_position_raw.satellite_used[satloop] == 1) {
num_of_used_sats++;
}
}
- if(new_data_vehicle_status || no_data_vehicle_status < 3){
- if(num_of_cells == 0) {
+ if (new_data_vehicle_status || no_data_vehicle_status < 3) {
+ if (num_of_cells == 0) {
/* looking for lipo cells that are connected */
printf("<blinkm> checking cells\n");
for(num_of_cells = 2; num_of_cells < 7; num_of_cells++) {
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index be4dd5d19..bce193bca 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -81,6 +81,7 @@
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/safety.h>
#include <debug.h>
#include <mavlink/mavlink_log.h>
@@ -172,6 +173,7 @@ private:
orb_advert_t _to_actuators_effective; ///< effective actuator controls topic
orb_advert_t _to_outputs; ///< mixed servo outputs topic
orb_advert_t _to_battery; ///< battery status / voltage
+ orb_advert_t _to_safety; ///< status of safety
actuator_outputs_s _outputs; ///< mixed outputs
actuator_controls_effective_s _controls_effective; ///< effective controls
@@ -345,6 +347,7 @@ PX4IO::PX4IO() :
_to_actuators_effective(0),
_to_outputs(0),
_to_battery(0),
+ _to_safety(0),
_primary_pwm_device(false),
_battery_amp_per_volt(90.0f/5.0f), // this matches the 3DR current sensor
_battery_amp_bias(0),
@@ -398,6 +401,40 @@ PX4IO::init()
*/
_retries = 2;
+ /* get IO's last seen FMU state */
+ int val = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
+ if (val == _io_reg_get_error) {
+ mavlink_log_emergency(_mavlink_fd, "[IO] ERROR! FAILED READING STATE");
+ }
+ uint16_t arming = val;
+
+ /* get basic software version */
+ /* basic configuration */
+ usleep(5000);
+
+ unsigned proto_version = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
+ unsigned sw_version = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_SOFTWARE_VERSION);
+
+ if (proto_version != PX4IO_P_CONFIG_PROTOCOL_VERSION_MAGIC) {
+ mavlink_log_emergency(_mavlink_fd, "[IO] ERROR! PROTO VER MISMATCH: v%u vs v%u\n",
+ proto_version,
+ PX4IO_P_CONFIG_PROTOCOL_VERSION_MAGIC);
+
+ mavlink_log_emergency(_mavlink_fd, "[IO] Please update PX4IO firmware.");
+ log("protocol version mismatch (v%u on IO vs v%u on FMU)", proto_version, PX4IO_P_CONFIG_PROTOCOL_VERSION_MAGIC);
+ return 1;
+ }
+
+ if (sw_version != PX4IO_P_CONFIG_SOFTWARE_VERSION_MAGIC) {
+ mavlink_log_emergency(_mavlink_fd, "[IO] ERROR! SOFTWARE VER MISMATCH: v%u vs v%u\n",
+ proto_version,
+ PX4IO_P_CONFIG_SOFTWARE_VERSION_MAGIC);
+
+ mavlink_log_emergency(_mavlink_fd, "[IO] Please update PX4IO firmware.");
+ log("software version mismatch (v%u on IO vs v%u on FMU)", sw_version, PX4IO_P_CONFIG_SOFTWARE_VERSION_MAGIC);
+ return 1;
+ }
+
/* get some parameters */
_max_actuators = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT);
_max_controls = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT);
@@ -423,21 +460,24 @@ PX4IO::init()
* in this case.
*/
- uint16_t reg;
+ printf("arming 0x%04x%s%s%s%s\n",
+ arming,
+ ((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : ""),
+ ((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : ""),
+ ((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""),
+ ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""),
+ ((arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ? " FAILSAFE CUSTOM" : ""));
- /* get IO's last seen FMU state */
- ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, &reg, sizeof(reg));
- if (ret != OK)
- return ret;
/*
* in-air restart is only tried if the IO board reports it is
* already armed, and has been configured for in-air restart
*/
- if ((reg & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) &&
- (reg & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
+ if ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) &&
+ (arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
mavlink_log_emergency(_mavlink_fd, "[IO] RECOVERING FROM FMU IN-AIR RESTART");
+ log("INAIR RESTART RECOVERY (needs commander app running)");
/* WARNING: COMMANDER app/vehicle status must be initialized.
* If this fails (or the app is not started), worst-case IO
@@ -446,7 +486,7 @@ PX4IO::init()
int safety_sub = orb_subscribe(ORB_ID(actuator_safety));
/* fill with initial values, clear updated flag */
- struct actuator_safety_s armed;
+ struct actuator_safety_s safety;
uint64_t try_start_time = hrt_absolute_time();
bool updated = false;
@@ -457,7 +497,7 @@ PX4IO::init()
if (updated) {
/* got data, copy and exit loop */
- orb_copy(ORB_ID(actuator_safety), safety_sub, &armed);
+ orb_copy(ORB_ID(actuator_safety), safety_sub, &safety);
break;
}
@@ -491,27 +531,33 @@ PX4IO::init()
cmd.confirmation = 1;
/* send command once */
- (void)orb_advertise(ORB_ID(vehicle_command), &cmd);
+ orb_advert_t pub = orb_advertise(ORB_ID(vehicle_command), &cmd);
/* spin here until IO's state has propagated into the system */
do {
orb_check(safety_sub, &updated);
if (updated) {
- orb_copy(ORB_ID(actuator_safety), safety_sub, &armed);
+ orb_copy(ORB_ID(actuator_safety), safety_sub, &safety);
}
- /* wait 10 ms */
- usleep(10000);
+ /* wait 50 ms */
+ usleep(50000);
/* abort after 5s */
- if ((hrt_absolute_time() - try_start_time)/1000 > 50000) {
+ if ((hrt_absolute_time() - try_start_time)/1000 > 2000) {
log("failed to recover from in-air restart (2), aborting IO driver init.");
return 1;
}
- /* keep waiting for state change for 10 s */
- } while (!armed.armed);
+ /* re-send if necessary */
+ if (!safety.armed) {
+ orb_publish(ORB_ID(vehicle_command), pub, &cmd);
+ log("re-sending arm cmd");
+ }
+
+ /* keep waiting for state change for 2 s */
+ } while (!safety.armed);
/* regular boot, no in-air restart, init IO */
} else {
@@ -549,7 +595,7 @@ PX4IO::init()
return -errno;
}
- mavlink_log_info(_mavlink_fd, "[IO] init ok");
+ mavlink_log_info(_mavlink_fd, "[IO] init ok (sw v.%u)", sw_version);
return OK;
}
@@ -899,14 +945,14 @@ PX4IO::io_handle_status(uint16_t status)
*/
/* check for IO reset - force it back to armed if necessary */
- if (_status & PX4IO_P_STATUS_FLAGS_ARMED && !(status & PX4IO_P_STATUS_FLAGS_ARMED)
+ if (_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF && !(status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
&& !(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
/* set the arming flag */
- ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARMED | PX4IO_P_STATUS_FLAGS_ARM_SYNC);
+ ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_SAFETY_OFF | PX4IO_P_STATUS_FLAGS_ARM_SYNC);
/* set new status */
_status = status;
- _status &= PX4IO_P_STATUS_FLAGS_ARMED;
+ _status &= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
} else if (!(_status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
/* set the sync flag */
@@ -921,6 +967,25 @@ PX4IO::io_handle_status(uint16_t status)
_status = status;
}
+ /**
+ * Get and handle the safety status
+ */
+ struct safety_s safety;
+ safety.timestamp = hrt_absolute_time();
+
+ if (status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
+ safety.status = SAFETY_STATUS_UNLOCKED;
+ } else {
+ safety.status = SAFETY_STATUS_SAFE;
+ }
+
+ /* lazily publish the safety status */
+ if (_to_safety > 0) {
+ orb_publish(ORB_ID(safety), _to_safety, &safety);
+ } else {
+ _to_safety = orb_advertise(ORB_ID(safety), &safety);
+ }
+
return ret;
}
@@ -950,7 +1015,7 @@ PX4IO::io_get_status()
io_handle_status(regs[0]);
io_handle_alarms(regs[1]);
-
+
/* only publish if battery has a valid minimum voltage */
if (regs[2] > 3300) {
battery_status_s battery_status;
@@ -984,6 +1049,7 @@ PX4IO::io_get_status()
_to_battery = orb_advertise(ORB_ID(battery_status), &battery_status);
}
}
+
return ret;
}
@@ -1221,6 +1287,7 @@ PX4IO::io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t
uint16_t value;
ret = io_reg_get(page, offset, &value, 1);
+
if (ret)
return ret;
value &= ~clearbits;
@@ -1311,7 +1378,8 @@ PX4IO::print_status()
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\n",
flags,
- ((flags & PX4IO_P_STATUS_FLAGS_ARMED) ? " ARMED" : ""),
+ ((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" : ""),
@@ -1672,6 +1740,11 @@ test(void)
if (ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count))
err(1, "failed to get servo count");
+ /* tell IO that its ok to disable its safety with the switch */
+ ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
+ if (ret != OK)
+ err(1, "PWM_SERVO_SET_ARM_OK");
+
if (ioctl(fd, PWM_SERVO_ARM, 0))
err(1, "failed to arm servos");
@@ -1720,7 +1793,7 @@ test(void)
/* Check if user wants to quit */
char c;
if (read(console, &c, 1) == 1) {
- if (c == 0x03 || c == 0x63) {
+ if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("User abort\n");
close(console);
exit(0);
diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c
index 7853d2e79..edcdf7e54 100644
--- a/src/modules/commander/commander.c
+++ b/src/modules/commander/commander.c
@@ -79,6 +79,7 @@
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/differential_pressure.h>
+#include <uORB/topics/safety.h>
#include <mavlink/mavlink_log.h>
#include <drivers/drv_led.h>
@@ -1229,6 +1230,10 @@ int commander_thread_main(int argc, char *argv[])
/* set battery warning flag */
current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
+ /* set safety device detection flag */
+
+ /* XXX do we need this? */
+ //current_status.flag_safety_present = false;
// XXX for now just set sensors as initialized
current_status.condition_system_sensors_initialized = true;
@@ -1352,7 +1357,6 @@ int commander_thread_main(int argc, char *argv[])
memset(&battery, 0, sizeof(battery));
battery.voltage_v = 0.0f;
-
// uint8_t vehicle_state_previous = current_status.state_machine;
float voltage_previous = 0.0f;
@@ -1374,6 +1378,39 @@ int commander_thread_main(int argc, char *argv[])
/* Get current values */
bool new_data;
+
+ /* update parameters */
+ orb_check(param_changed_sub, &new_data);
+
+ if (new_data || param_init_forced) {
+ param_init_forced = false;
+ /* parameters changed */
+ orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
+
+
+ /* update parameters */
+ if (!safety.armed) {
+ if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
+ warnx("failed setting new system type");
+ }
+
+ /* disable manual override for all systems that rely on electronic stabilization */
+ if (current_status.system_type == VEHICLE_TYPE_QUADROTOR ||
+ current_status.system_type == VEHICLE_TYPE_HEXAROTOR ||
+ current_status.system_type == VEHICLE_TYPE_OCTOROTOR) {
+ current_status.flag_external_manual_override_ok = false;
+
+ } else {
+ current_status.flag_external_manual_override_ok = true;
+ }
+
+ /* check and update system / component ID */
+ param_get(_param_system_id, &(current_status.system_id));
+ param_get(_param_component_id, &(current_status.component_id));
+
+ }
+ }
+
orb_check(sp_man_sub, &new_data);
if (new_data) {
@@ -1408,7 +1445,6 @@ int commander_thread_main(int argc, char *argv[])
/* handle it */
handle_command(status_pub, &current_status, &cmd, safety_pub, &safety);
}
-
/* update parameters */
@@ -1686,7 +1722,9 @@ int commander_thread_main(int argc, char *argv[])
// state_changed = true;
// }
- if (orb_check(gps_sub, &new_data)) {
+ orb_check(ORB_ID(vehicle_gps_position), &new_data);
+ if (new_data) {
+
orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c
index 394ee67cc..87aad6270 100644
--- a/src/modules/commander/state_machine_helper.c
+++ b/src/modules/commander/state_machine_helper.c
@@ -54,9 +54,25 @@
#include <mavlink/mavlink_log.h>
#include "state_machine_helper.h"
+#include "commander.h"
+
+bool is_multirotor(const struct vehicle_status_s *current_status)
+{
+ return ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
+ (current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
+ (current_status->system_type == VEHICLE_TYPE_OCTOROTOR) ||
+ (current_status->system_type == VEHICLE_TYPE_TRICOPTER));
+}
+
+bool is_rotary_wing(const struct vehicle_status_s *current_status)
+{
+ return is_multirotor(current_status) || (current_status->system_type == VEHICLE_TYPE_HELICOPTER)
+ || (current_status->system_type == VEHICLE_TYPE_COAXIAL);
+}
int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int safety_pub, struct actuator_safety_s *safety, const int mavlink_fd) {
-
+
+
int ret = ERROR;
/* only check transition if the new state is actually different from the current one */
@@ -717,7 +733,6 @@ void state_machine_publish(int status_pub, struct vehicle_status_s *current_stat
// }
-
///* END SUBSYSTEM/EMERGENCY FUNCTIONS*/
//
//int update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode)
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index 8d8536090..b015c4efe 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -49,8 +49,13 @@
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/vehicle_control_mode.h>
+
void navigation_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
+bool is_multirotor(const struct vehicle_status_s *current_status);
+
+bool is_rotary_wing(const struct vehicle_status_s *current_status);
+
//int do_arming_state_update(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, arming_state_t new_state);
void state_machine_publish(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd);
@@ -59,4 +64,4 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
int hil_state_transition(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, hil_state_t new_state);
-#endif /* STATE_MACHINE_HELPER_H_ */ \ No newline at end of file
+#endif /* STATE_MACHINE_HELPER_H_ */
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c
index a4a2ca3e5..56cbdb26b 100644
--- a/src/modules/mavlink/orb_listener.c
+++ b/src/modules/mavlink/orb_listener.c
@@ -659,7 +659,7 @@ uorb_receive_thread(void *arg)
/* handle the poll result */
if (poll_ret == 0) {
- mavlink_missionlib_send_gcs_string("[mavlink] No telemetry data for 1 s");
+ /* silent */
} else if (poll_ret < 0) {
mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data");
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 62a6ebf13..e3ec2fa76 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -62,7 +62,7 @@ extern "C" {
/*
* Time that the ESCs need to initialize
*/
- #define ESC_INIT_TIME_US 2000000
+ #define ESC_INIT_TIME_US 1000000
/* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */
#define ROLL 0
@@ -74,8 +74,9 @@ extern "C" {
/* current servo arm/disarm state */
static bool mixer_servos_armed = false;
-static uint64_t time_armed;
-static bool init_complete = false;
+static uint64_t esc_init_time;
+static bool esc_init_active = false;
+static bool esc_init_done = false;
/* selected control values and count for mixing */
enum mixer_source {
@@ -106,7 +107,7 @@ mixer_tick(void)
if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) {
isr_debug(1, "AP RX timeout");
}
- r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM);
+ r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK);
r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST;
} else {
@@ -120,12 +121,11 @@ mixer_tick(void)
* Decide which set of controls we're using.
*/
- /* do not mix if mixer is invalid or if RAW_PWM mode is on and FMU is good */
+ /* do not mix if RAW_PWM mode is on and FMU is good */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) &&
- !(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
+ (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) {
- /* don't actually mix anything - we already have raw PWM values or
- not a valid mixer. */
+ /* don't actually mix anything - we already have raw PWM values */
source = MIX_NONE;
} else {
@@ -175,28 +175,42 @@ mixer_tick(void)
float outputs[IO_SERVO_COUNT];
unsigned mixed;
- /* mix */
- mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT);
+ /* after arming, some ESCs need an initalization period, count the time from here */
+ if (mixer_servos_armed && !esc_init_done && !esc_init_active) {
+ esc_init_time = hrt_absolute_time();
+ esc_init_active = true;
+ isr_debug(1, "start counting now");
+ }
- if (!init_complete && mixer_servos_armed && (hrt_elapsed_time(&time_armed) > ESC_INIT_TIME_US)) {
- init_complete = true;
+ /* after waiting long enough for the ESC initialization, we can disable the ESC initialization phase */
+ if (!esc_init_done && esc_init_active && mixer_servos_armed && (hrt_elapsed_time(&esc_init_time) > ESC_INIT_TIME_US)) {
+ esc_init_active = false;
+ esc_init_done = true;
+ isr_debug(1, "time is up");
}
+ /* mix */
+ mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT);
+
/* scale to PWM and update the servo outputs as required */
for (unsigned i = 0; i < mixed; i++) {
/* save actuator values for FMU readback */
r_page_actuators[i] = FLOAT_TO_REG(outputs[i]);
- /* scale to control range after init time */
- if (init_complete) {
+ /* XXX maybe this check for an armed FMU could be achieved a little less messy */
+ if (source == MIX_FMU && !(r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)) {
+ r_page_servos[i] = r_page_servo_failsafe[i];
+ }
+ /* during ESC initialization, use low PWM */
+ else if (esc_init_active) {
+ r_page_servos[i] = (outputs[i] * 600 + 1500);
+
+ /* afterwards use min and max values */
+ } else {
r_page_servos[i] = (outputs[i]
* (r_page_servo_control_max[i] - r_page_servo_control_min[i])/2
+ (r_page_servo_control_max[i] + r_page_servo_control_min[i])/2);
-
- /* but use init range from 900 to 2100 right after arming */
- } else {
- r_page_servos[i] = (outputs[i] * 600 + 1500);
}
}
@@ -214,26 +228,31 @@ mixer_tick(void)
* here.
*/
bool should_arm = (
- /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
- /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
- /* there is valid input via direct PWM or mixer */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) &&
/* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) &&
- /* FMU is available or FMU is not available but override is an option */
- ((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) || (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && (r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ))
+ /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
+ /* and either FMU is armed */ ( ( (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
+ /* and there is valid input via direct PWM or mixer */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK))) ||
+
+ /* or failsafe was set manually */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) )
);
+
if (should_arm && !mixer_servos_armed) {
/* need to arm, but not armed */
up_pwm_servo_arm(true);
mixer_servos_armed = true;
- time_armed = hrt_absolute_time();
- init_complete = false;
+ r_status_flags |= PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED;
+ isr_debug(5, "> armed");
} else if (!should_arm && mixer_servos_armed) {
/* armed but need to disarm */
up_pwm_servo_arm(false);
mixer_servos_armed = false;
- init_complete = false;
+ r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED);
+ isr_debug(5, "> disarmed");
+
+ esc_init_active = false;
+ isr_debug(1, "disarming, and init aborted");
}
if (mixer_servos_armed) {
@@ -288,9 +307,8 @@ static unsigned mixer_text_length = 0;
void
mixer_handle_text(const void *buffer, size_t length)
{
- /* do not allow a mixer change while fully armed */
- if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
- /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
+ /* do not allow a mixer change while outputs armed */
+ if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
return;
}
@@ -367,6 +385,7 @@ mixer_set_failsafe()
* Check if a custom failsafe value has been written,
* or if the mixer is not ok and bail out.
*/
+
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ||
!(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK))
return;
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index 1c9715451..b43054197 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -75,10 +75,13 @@
#define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f)
#define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f))
+#define PX4IO_P_CONFIG_PROTOCOL_VERSION_MAGIC 2
+#define PX4IO_P_CONFIG_SOFTWARE_VERSION_MAGIC 2
+
/* static configuration page */
#define PX4IO_PAGE_CONFIG 0
-#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers TBD */
-#define PX4IO_P_CONFIG_SOFTWARE_VERSION 1 /* magic numbers TBD */
+#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers */
+#define PX4IO_P_CONFIG_SOFTWARE_VERSION 1 /* magic numbers */
#define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */
#define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */
#define PX4IO_P_CONFIG_CONTROL_COUNT 4 /* hardcoded max control count supported */
@@ -93,7 +96,7 @@
#define PX4IO_P_STATUS_CPULOAD 1
#define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */
-#define PX4IO_P_STATUS_FLAGS_ARMED (1 << 0) /* arm-ok and locally armed */
+#define PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED (1 << 0) /* arm-ok and locally armed */
#define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */
#define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */
#define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 3) /* PPM input is valid */
@@ -105,6 +108,7 @@
#define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 9) /* the arming state between IO and FMU is in sync */
#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_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */
#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* VBatt is very close to regulator dropout */
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index bc1c83901..379cf09e3 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -57,8 +57,8 @@ static void pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t alt
* Static configuration parameters.
*/
static const uint16_t r_page_config[] = {
- [PX4IO_P_CONFIG_PROTOCOL_VERSION] = 1, /* XXX hardcoded magic number */
- [PX4IO_P_CONFIG_SOFTWARE_VERSION] = 1, /* XXX hardcoded magic number */
+ [PX4IO_P_CONFIG_PROTOCOL_VERSION] = PX4IO_P_CONFIG_PROTOCOL_VERSION_MAGIC,
+ [PX4IO_P_CONFIG_SOFTWARE_VERSION] = PX4IO_P_CONFIG_SOFTWARE_VERSION_MAGIC,
[PX4IO_P_CONFIG_BOOTLOADER_VERSION] = 3, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_MAX_TRANSFER] = 64, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_CONTROL_COUNT] = PX4IO_CONTROL_CHANNELS,
@@ -146,7 +146,8 @@ volatile uint16_t r_page_setup[] =
#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_IO_ARM_OK) | \
+ PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM
#define PX4IO_P_SETUP_RATES_VALID ((1 << IO_SERVO_COUNT) - 1)
#define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1)
@@ -377,9 +378,11 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
* so that an in-air reset of FMU can not lead to a
* lockup of the IO arming state.
*/
- 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;
- }
+
+ // 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;
+ // }
r_setup_arming = value;
@@ -427,9 +430,8 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
case PX4IO_PAGE_RC_CONFIG: {
- /* do not allow a RC config change while fully armed */
- if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
- /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
+ /* do not allow a RC config change while outputs armed */
+ if ((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 4dbecc274..95335f038 100644
--- a/src/modules/px4iofirmware/safety.c
+++ b/src/modules/px4iofirmware/safety.c
@@ -110,7 +110,7 @@ safety_check_button(void *arg)
* state machine, keep ARM_COUNTER_THRESHOLD the same
* length in all cases of the if/else struct below.
*/
- if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
+ if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
(r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)) {
if (counter < ARM_COUNTER_THRESHOLD) {
@@ -118,18 +118,18 @@ safety_check_button(void *arg)
} else if (counter == ARM_COUNTER_THRESHOLD) {
/* switch to armed state */
- r_status_flags |= PX4IO_P_STATUS_FLAGS_ARMED;
+ r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
counter++;
}
- } else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
+ } else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) {
if (counter < ARM_COUNTER_THRESHOLD) {
counter++;
} else if (counter == ARM_COUNTER_THRESHOLD) {
/* change to disarmed state and notify the FMU */
- r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED;
+ r_status_flags &= ~PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
counter++;
}
@@ -140,7 +140,7 @@ safety_check_button(void *arg)
/* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */
uint16_t pattern = LED_PATTERN_FMU_REFUSE_TO_ARM;
- if (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) {
+ if (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
if (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) {
pattern = LED_PATTERN_IO_FMU_ARMED;
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index f1f07441d..b5dafd0ca 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -168,3 +168,7 @@ ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
#include "topics/debug_key_value.h"
ORB_DEFINE(debug_key_value, struct debug_key_value_s);
+
+/* status of the system safety device */
+#include "topics/safety.h"
+ORB_DEFINE(safety, struct safety_s);
diff --git a/src/modules/uORB/topics/safety.h b/src/modules/uORB/topics/safety.h
new file mode 100644
index 000000000..19e8e8d45
--- /dev/null
+++ b/src/modules/uORB/topics/safety.h
@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ * Copyright (c) 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 safety.h
+ *
+ * Status of an attached safety device
+ */
+
+#ifndef TOPIC_SAFETY_H
+#define TOPIC_SAFETY_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+enum SAFETY_STATUS {
+ SAFETY_STATUS_NOT_PRESENT,
+ SAFETY_STATUS_SAFE,
+ SAFETY_STATUS_UNLOCKED
+};
+
+struct safety_s {
+ uint64_t timestamp; /**< output timestamp in us since system boot */
+ enum SAFETY_STATUS status;
+};
+
+/* actuator output sets; this list can be expanded as more drivers emerge */
+ORB_DECLARE(safety);
+
+#endif /* TOPIC_SAFETY_H */
diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c
index e150b5a74..c42a36c7f 100644
--- a/src/systemcmds/pwm/pwm.c
+++ b/src/systemcmds/pwm/pwm.c
@@ -180,7 +180,8 @@ pwm_main(int argc, char *argv[])
}
/* iterate remaining arguments */
- unsigned channel = 0;
+ unsigned nchannels = 0;
+ unsigned channel[8] = {0};
while (argc--) {
const char *arg = argv[0];
argv++;
@@ -204,13 +205,15 @@ pwm_main(int argc, char *argv[])
}
unsigned pwm_value = strtol(arg, &ep, 0);
if (*ep == '\0') {
- ret = ioctl(fd, PWM_SERVO_SET(channel), pwm_value);
- if (ret != OK)
- err(1, "PWM_SERVO_SET(%d)", channel);
- channel++;
+ if (nchannels > sizeof(channel) / sizeof(channel[0]))
+ err(1, "too many pwm values (max %d)", sizeof(channel) / sizeof(channel[0]));
+
+ channel[nchannels] = pwm_value;
+ nchannels++;
+
continue;
}
- usage("unrecognised option");
+ usage("unrecognized option");
}
/* print verbose info */
@@ -250,5 +253,38 @@ pwm_main(int argc, char *argv[])
}
fflush(stdout);
}
+
+ /* perform PWM output */
+ if (nchannels) {
+
+ /* Open console directly to grab CTRL-C signal */
+ int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
+ if (!console)
+ err(1, "failed opening console");
+
+ warnx("Press CTRL-C or 'c' to abort.");
+
+ while (1) {
+ for (int i = 0; i < nchannels; i++) {
+ ret = ioctl(fd, PWM_SERVO_SET(i), channel[i]);
+ if (ret != OK)
+ err(1, "PWM_SERVO_SET(%d)", i);
+ }
+
+ /* abort on user request */
+ char c;
+ if (read(console, &c, 1) == 1) {
+ if (c == 0x03 || c == 0x63 || c == 'q') {
+ warnx("User abort\n");
+ close(console);
+ exit(0);
+ }
+ }
+
+ /* rate limit to ~ 20 Hz */
+ usleep(50000);
+ }
+ }
+
exit(0);
} \ No newline at end of file
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-25 08:17:31 +0000