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-rw-r--r--.gitignore2
-rw-r--r--apps/drivers/boards/px4io/px4io_internal.h22
-rw-r--r--apps/drivers/px4fmu/fmu.cpp2
-rw-r--r--apps/drivers/px4io/px4io.cpp32
-rw-r--r--apps/px4io/comms.c21
-rw-r--r--apps/px4io/px4io.h4
-rw-r--r--nuttx/drivers/serial/serial.c39
-rw-r--r--nuttx/include/nuttx/fs/ioctl.h4
8 files changed, 96 insertions, 30 deletions
diff --git a/.gitignore b/.gitignore
index ea416fae4..d0d84b985 100644
--- a/.gitignore
+++ b/.gitignore
@@ -11,6 +11,7 @@ Make.dep
*.o
*.a
*~
+*.dSYM
Images/*.bin
Images/*.px4
nuttx/Make.defs
@@ -40,3 +41,4 @@ nsh_romfsimg.h
cscope.out
.configX-e
nuttx-export.zip
+dot.gdbinit
diff --git a/apps/drivers/boards/px4io/px4io_internal.h b/apps/drivers/boards/px4io/px4io_internal.h
index a0342ac8a..3ac8a5cfa 100644
--- a/apps/drivers/boards/px4io/px4io_internal.h
+++ b/apps/drivers/boards/px4io/px4io_internal.h
@@ -61,28 +61,6 @@
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-/* R/C in/out channels **************************************************************/
-
-/* XXX just GPIOs for now - eventually timer pins */
-
-#define GPIO_CH1_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_CH2_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN1)
-#define GPIO_CH3_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN8)
-#define GPIO_CH4_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN9)
-#define GPIO_CH5_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN6)
-#define GPIO_CH6_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN7)
-#define GPIO_CH7_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_CH8_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN1)
-
-#define GPIO_CH1_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_CH2_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
-#define GPIO_CH3_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
-#define GPIO_CH4_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
-#define GPIO_CH5_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
-#define GPIO_CH6_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
-#define GPIO_CH7_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_CH8_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
-
/* Safety switch button *************************************************************/
#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5)
diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp
index a8d160117..819dbf208 100644
--- a/apps/drivers/px4fmu/fmu.cpp
+++ b/apps/drivers/px4fmu/fmu.cpp
@@ -500,7 +500,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
/* FALLTHROUGH */
case PWM_SERVO_GET(0):
case PWM_SERVO_GET(1): {
- channel = cmd - PWM_SERVO_SET(0);
+ channel = cmd - PWM_SERVO_GET(0);
*(servo_position_t *)arg = up_pwm_servo_get(channel);
break;
}
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp
index 8e0fde727..c1b52b07b 100644
--- a/apps/drivers/px4io/px4io.cpp
+++ b/apps/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_gpio.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
@@ -117,6 +118,8 @@ private:
bool _primary_pwm_device; ///< true if we are the default PWM output
+ uint32_t _relays; ///< state of the PX4IO relays, one bit per relay
+
volatile bool _switch_armed; ///< PX4IO switch armed state
// XXX how should this work?
@@ -195,6 +198,7 @@ PX4IO::PX4IO() :
_mix_buf(nullptr),
_mix_buf_len(0),
_primary_pwm_device(false),
+ _relays(0),
_switch_armed(false),
_send_needed(false),
_config_needed(false)
@@ -542,7 +546,9 @@ PX4IO::io_send()
/* XXX needs to be based off post-mix values from the IO side */
orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &_outputs);
- // XXX relays
+ /* update relays */
+ for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++)
+ cmd.relay_state[i] = (_relays & (1<< i)) ? true : false;
/* armed and not locked down */
cmd.arm_ok = (_armed.armed && !_armed.lockdown);
@@ -641,6 +647,30 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
*(servo_position_t *)arg = _outputs.output[cmd - PWM_SERVO_GET(0)];
break;
+ case GPIO_RESET:
+ _relays = 0;
+ _send_needed = true;
+ break;
+
+ case GPIO_SET:
+ case GPIO_CLEAR:
+ /* make sure only valid bits are being set */
+ if ((arg & ((1UL << PX4IO_RELAY_CHANNELS) - 1)) != arg) {
+ ret = EINVAL;
+ break;
+ }
+ if (cmd == GPIO_SET) {
+ _relays |= arg;
+ } else {
+ _relays &= ~arg;
+ }
+ _send_needed = true;
+ break;
+
+ case GPIO_GET:
+ *(uint32_t *)arg = _relays;
+ break;
+
case MIXERIOCGETOUTPUTCOUNT:
*(unsigned *)arg = PX4IO_CONTROL_CHANNELS;
break;
diff --git a/apps/px4io/comms.c b/apps/px4io/comms.c
index 843d0978a..183634742 100644
--- a/apps/px4io/comms.c
+++ b/apps/px4io/comms.c
@@ -191,9 +191,26 @@ comms_handle_command(const void *buffer, size_t length)
// if (!system_state.arm_ok && system_state.armed)
// system_state.armed = false;
- /* XXX do relay changes here */
- for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++)
+ /* handle relay state changes here */
+ for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++) {
+ if (system_state.relays[i] != cmd->relay_state[i]) {
+ switch (i) {
+ case 0:
+ POWER_ACC1(cmd->relay_state[i]);
+ break;
+ case 1:
+ POWER_ACC2(cmd->relay_state[i]);
+ break;
+ case 2:
+ POWER_RELAY1(cmd->relay_state[i]);
+ break;
+ case 3:
+ POWER_RELAY2(cmd->relay_state[i]);
+ break;
+ }
+ }
system_state.relays[i] = cmd->relay_state[i];
+ }
irqrestore(flags);
}
diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h
index 7257d6522..bd91eba0e 100644
--- a/apps/px4io/px4io.h
+++ b/apps/px4io/px4io.h
@@ -140,8 +140,8 @@ extern volatile int timers[TIMER_NUM_TIMERS];
#define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s))
#define POWER_SERVO(_s) stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s))
-#define POWER_ACC1(_s) stm32_gpiowrite(GPIO_SERVO_ACC1_EN, (_s))
-#define POWER_ACC2(_s) stm32_gpiowrite(GPIO_SERVO_ACC2_EN, (_s))
+#define POWER_ACC1(_s) stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s))
+#define POWER_ACC2(_s) stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s))
#define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
#define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
diff --git a/nuttx/drivers/serial/serial.c b/nuttx/drivers/serial/serial.c
index c650da5db..28c657af0 100644
--- a/nuttx/drivers/serial/serial.c
+++ b/nuttx/drivers/serial/serial.c
@@ -660,9 +660,9 @@ static int uart_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
int ret = dev->ops->ioctl(filep, cmd, arg);
- /* Append any higher level TTY flags */
+ /* If the low-level handler didn't handle the call, see if we can handle it here */
- if (ret == OK)
+ if (ret == -ENOTTY)
{
switch (cmd)
{
@@ -686,8 +686,43 @@ static int uart_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
irqrestore(state);
*(int *)arg = count;
+ ret = 0;
+
+ break;
+ }
+
+ case FIONWRITE:
+ {
+ int count;
+ irqstate_t state = irqsave();
+
+ /* determine the number of bytes free in the buffer */
+
+ if (dev->xmit.head < dev->xmit.tail)
+ {
+ count = dev->xmit.tail - dev->xmit.head - 1;
+ }
+ else
+ {
+ count = dev->xmit.size - (dev->xmit.head - dev->xmit.tail) - 1;
+ }
+
+ irqrestore(state);
+
+ *(int *)arg = count;
+ ret = 0;
+
+ break;
}
+ }
+ }
+
+ /* Append any higher level TTY flags */
+ else if (ret == OK)
+ {
+ switch (cmd)
+ {
#ifdef CONFIG_SERIAL_TERMIOS
case TCGETS:
{
diff --git a/nuttx/include/nuttx/fs/ioctl.h b/nuttx/include/nuttx/fs/ioctl.h
index 08f62e164..6d60c2ee9 100644
--- a/nuttx/include/nuttx/fs/ioctl.h
+++ b/nuttx/include/nuttx/fs/ioctl.h
@@ -110,6 +110,10 @@
* OUT: Bytes readable from this fd
*/
+#define FIONWRITE _FIOC(0x0005) /* IN: Location to return value (int *)
+ * OUT: Bytes writable to this fd
+ */
+
/* NuttX file system ioctl definitions **************************************/
#define _DIOCVALID(c) (_IOC_TYPE(c)==_DIOCBASE)
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-08 09:25:52 +0000