diff options
Diffstat (limited to 'apps/drivers/px4fmu')
| -rw-r--r-- | apps/drivers/px4fmu/Makefile | 44 | ||||
| -rw-r--r-- | apps/drivers/px4fmu/fmu.cpp | 1084 |
2 files changed, 0 insertions, 1128 deletions
diff --git a/apps/drivers/px4fmu/Makefile b/apps/drivers/px4fmu/Makefile deleted file mode 100644 index 7f7c2a732..000000000 --- a/apps/drivers/px4fmu/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 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. -# -############################################################################ - -# -# Interface driver for the PX4FMU board -# - -APPNAME = fmu -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common - -include $(APPDIR)/mk/app.mk diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp deleted file mode 100644 index e54724536..000000000 --- a/apps/drivers/px4fmu/fmu.cpp +++ /dev/null @@ -1,1084 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 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 fmu.cpp - * - * Driver/configurator for the PX4 FMU multi-purpose port. - */ - -#include <nuttx/config.h> - -#include <sys/types.h> -#include <stdint.h> -#include <stdbool.h> -#include <stdlib.h> -#include <semaphore.h> -#include <string.h> -#include <fcntl.h> -#include <poll.h> -#include <errno.h> -#include <stdio.h> -#include <math.h> -#include <unistd.h> - -#include <nuttx/arch.h> - -#include <drivers/device/device.h> -#include <drivers/drv_pwm_output.h> -#include <drivers/drv_gpio.h> -#include <drivers/boards/px4fmu/px4fmu_internal.h> -#include <drivers/drv_hrt.h> - -#include <systemlib/systemlib.h> -#include <systemlib/err.h> -#include <systemlib/mixer/mixer.h> -#include <drivers/drv_mixer.h> -#include <drivers/drv_rc_input.h> - -#include <uORB/topics/actuator_controls.h> -#include <uORB/topics/actuator_controls_effective.h> -#include <uORB/topics/actuator_outputs.h> - -#include <systemlib/err.h> -#include <systemlib/ppm_decode.h> - -class PX4FMU : public device::CDev -{ -public: - enum Mode { - MODE_2PWM, - MODE_4PWM, - MODE_NONE - }; - PX4FMU(); - virtual ~PX4FMU(); - - virtual int ioctl(file *filp, int cmd, unsigned long arg); - virtual ssize_t write(file *filp, const char *buffer, size_t len); - - virtual int init(); - - int set_mode(Mode mode); - - int set_pwm_alt_rate(unsigned rate); - int set_pwm_alt_channels(uint32_t channels); - -private: - static const unsigned _max_actuators = 4; - - Mode _mode; - unsigned _pwm_default_rate; - unsigned _pwm_alt_rate; - uint32_t _pwm_alt_rate_channels; - unsigned _current_update_rate; - int _task; - int _t_actuators; - int _t_armed; - orb_advert_t _t_outputs; - orb_advert_t _t_actuators_effective; - unsigned _num_outputs; - bool _primary_pwm_device; - - volatile bool _task_should_exit; - bool _armed; - - MixerGroup *_mixers; - - actuator_controls_s _controls; - - static void task_main_trampoline(int argc, char *argv[]); - void task_main() __attribute__((noreturn)); - - static int control_callback(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &input); - - int set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate); - int pwm_ioctl(file *filp, int cmd, unsigned long arg); - - struct GPIOConfig { - uint32_t input; - uint32_t output; - uint32_t alt; - }; - - 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); - -}; - -const PX4FMU::GPIOConfig PX4FMU::_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 PX4FMU::_ngpio = sizeof(PX4FMU::_gpio_tab) / sizeof(PX4FMU::_gpio_tab[0]); - -namespace -{ - -PX4FMU *g_fmu; - -} // namespace - -PX4FMU::PX4FMU() : - CDev("fmuservo", "/dev/px4fmu"), - _mode(MODE_NONE), - _pwm_default_rate(50), - _pwm_alt_rate(50), - _pwm_alt_rate_channels(0), - _current_update_rate(0), - _task(-1), - _t_actuators(-1), - _t_armed(-1), - _t_outputs(0), - _t_actuators_effective(0), - _num_outputs(0), - _primary_pwm_device(false), - _task_should_exit(false), - _armed(false), - _mixers(nullptr) -{ - _debug_enabled = true; -} - -PX4FMU::~PX4FMU() -{ - if (_task != -1) { - /* tell the task we want it to go away */ - _task_should_exit = true; - - unsigned i = 10; - - do { - /* wait 50ms - it should wake every 100ms or so worst-case */ - usleep(50000); - - /* if we have given up, kill it */ - if (--i == 0) { - task_delete(_task); - break; - } - - } while (_task != -1); - } - - /* clean up the alternate device node */ - if (_primary_pwm_device) - unregister_driver(PWM_OUTPUT_DEVICE_PATH); - - g_fmu = nullptr; -} - -int -PX4FMU::init() -{ - int ret; - - ASSERT(_task == -1); - - /* do regular cdev init */ - ret = CDev::init(); - - if (ret != OK) - return ret; - - /* try to claim the generic PWM output device node as well - it's OK if we fail at this */ - ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this); - - if (ret == OK) { - log("default PWM output device"); - _primary_pwm_device = true; - } - - /* reset GPIOs */ - gpio_reset(); - - /* start the IO interface task */ - _task = task_spawn("fmuservo", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT, - 2048, - (main_t)&PX4FMU::task_main_trampoline, - nullptr); - - if (_task < 0) { - debug("task start failed: %d", errno); - return -errno; - } - - return OK; -} - -void -PX4FMU::task_main_trampoline(int argc, char *argv[]) -{ - g_fmu->task_main(); -} - -int -PX4FMU::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: // multi-port with flow control lines as PWM - case MODE_4PWM: // multi-port as 4 PWM outs - debug("MODE_%dPWM", (mode == MODE_2PWM) ? 2 : 4); - - /* default output rates */ - _pwm_default_rate = 50; - _pwm_alt_rate = 50; - _pwm_alt_rate_channels = 0; - - /* XXX magic numbers */ - up_pwm_servo_init((mode == MODE_2PWM) ? 0x3 : 0xf); - set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate); - - break; - - case MODE_NONE: - debug("MODE_NONE"); - - _pwm_default_rate = 10; /* artificially reduced output rate */ - _pwm_alt_rate = 10; - _pwm_alt_rate_channels = 0; - - /* disable servo outputs - no need to set rates */ - up_pwm_servo_deinit(); - - break; - - default: - return -EINVAL; - } - - _mode = mode; - return OK; -} - -int -PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate) -{ - debug("set_pwm_rate %x %u %u", rate_map, default_rate, alt_rate); - - for (unsigned pass = 0; pass < 2; pass++) { - for (unsigned group = 0; group < _max_actuators; group++) { - - // get the channel mask for this rate group - uint32_t mask = up_pwm_servo_get_rate_group(group); - if (mask == 0) - continue; - - // all channels in the group must be either default or alt-rate - uint32_t alt = rate_map & mask; - - if (pass == 0) { - // preflight - if ((alt != 0) && (alt != mask)) { - warn("rate group %u mask %x bad overlap %x", group, mask, alt); - // not a legal map, bail - return -EINVAL; - } - } else { - // set it - errors here are unexpected - if (alt != 0) { - if (up_pwm_servo_set_rate_group_update(group, _pwm_alt_rate) != OK) { - warn("rate group set alt failed"); - return -EINVAL; - } - } else { - if (up_pwm_servo_set_rate_group_update(group, _pwm_default_rate) != OK) { - warn("rate group set default failed"); - return -EINVAL; - } - } - } - } - } - _pwm_alt_rate_channels = rate_map; - _pwm_default_rate = default_rate; - _pwm_alt_rate = alt_rate; - - return OK; -} - -int -PX4FMU::set_pwm_alt_rate(unsigned rate) -{ - return set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, rate); -} - -int -PX4FMU::set_pwm_alt_channels(uint32_t channels) -{ - return set_pwm_rate(channels, _pwm_default_rate, _pwm_alt_rate); -} - -void -PX4FMU::task_main() -{ - /* - * Subscribe to the appropriate PWM output topic based on whether we are the - * primary PWM output or not. - */ - _t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : - ORB_ID(actuator_controls_1)); - /* force a reset of the update rate */ - _current_update_rate = 0; - - _t_armed = orb_subscribe(ORB_ID(actuator_armed)); - orb_set_interval(_t_armed, 200); /* 5Hz update rate */ - - /* advertise the mixed control outputs */ - actuator_outputs_s outputs; - memset(&outputs, 0, sizeof(outputs)); - /* advertise the mixed control outputs */ - _t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), - &outputs); - - /* advertise the effective control inputs */ - actuator_controls_effective_s controls_effective; - memset(&controls_effective, 0, sizeof(controls_effective)); - /* advertise the effective control inputs */ - _t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), - &controls_effective); - - pollfd fds[2]; - fds[0].fd = _t_actuators; - fds[0].events = POLLIN; - fds[1].fd = _t_armed; - fds[1].events = POLLIN; - - unsigned num_outputs = (_mode == MODE_2PWM) ? 2 : 4; - - // rc input, published to ORB - struct rc_input_values rc_in; - orb_advert_t to_input_rc = 0; - - memset(&rc_in, 0, sizeof(rc_in)); - rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM; - - log("starting"); - - /* loop until killed */ - while (!_task_should_exit) { - - /* - * Adjust actuator topic update rate to keep up with - * the highest servo update rate configured. - * - * We always mix at max rate; some channels may update slower. - */ - unsigned max_rate = (_pwm_default_rate > _pwm_alt_rate) ? _pwm_default_rate : _pwm_alt_rate; - if (_current_update_rate != max_rate) { - _current_update_rate = max_rate; - int update_rate_in_ms = int(1000 / _current_update_rate); - - /* reject faster than 500 Hz updates */ - if (update_rate_in_ms < 2) { - update_rate_in_ms = 2; - } - /* reject slower than 10 Hz updates */ - if (update_rate_in_ms > 100) { - update_rate_in_ms = 100; - } - - debug("adjusted actuator update interval to %ums", update_rate_in_ms); - orb_set_interval(_t_actuators, update_rate_in_ms); - - // set to current max rate, even if we are actually checking slower/faster - _current_update_rate = max_rate; - } - - /* sleep waiting for data, stopping to check for PPM - * input at 100Hz */ - int ret = ::poll(&fds[0], 2, 10); - - /* this would be bad... */ - if (ret < 0) { - log("poll error %d", errno); - usleep(1000000); - continue; - } - - /* do we have a control update? */ - if (fds[0].revents & POLLIN) { - - /* get controls - must always do this to avoid spinning */ - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls); - - /* can we mix? */ - if (_mixers != nullptr) { - - /* do mixing */ - outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs); - outputs.timestamp = hrt_absolute_time(); - - // XXX output actual limited values - memcpy(&controls_effective, &_controls, sizeof(controls_effective)); - - orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective); - - /* iterate actuators */ - for (unsigned i = 0; i < num_outputs; i++) { - - /* last resort: catch NaN, INF and out-of-band errors */ - if (i < outputs.noutputs && - isfinite(outputs.output[i]) && - outputs.output[i] >= -1.0f && - outputs.output[i] <= 1.0f) { - /* scale for PWM output 900 - 2100us */ - outputs.output[i] = 1500 + (600 * outputs.output[i]); - } else { - /* - * Value is NaN, INF or out of band - set to the minimum value. - * This will be clearly visible on the servo status and will limit the risk of accidentally - * spinning motors. It would be deadly in flight. - */ - outputs.output[i] = 900; - } - - /* output to the servo */ - up_pwm_servo_set(i, outputs.output[i]); - } - - /* and publish for anyone that cares to see */ - orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &outputs); - } - } - - /* how about an arming update? */ - if (fds[1].revents & POLLIN) { - actuator_armed_s aa; - - /* get new value */ - orb_copy(ORB_ID(actuator_armed), _t_armed, &aa); - - /* update PWM servo armed status if armed and not locked down */ - up_pwm_servo_arm(aa.armed && !aa.lockdown); - } - - // see if we have new PPM input data - if (ppm_last_valid_decode != rc_in.timestamp) { - // we have a new PPM frame. Publish it. - rc_in.channel_count = ppm_decoded_channels; - if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) { - rc_in.channel_count = RC_INPUT_MAX_CHANNELS; - } - for (uint8_t i=0; i<rc_in.channel_count; i++) { - rc_in.values[i] = ppm_buffer[i]; - } - rc_in.timestamp = ppm_last_valid_decode; - - /* lazily advertise on first publication */ - if (to_input_rc == 0) { - to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_in); - } else { - orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in); - } - } - } - - ::close(_t_actuators); - ::close(_t_actuators_effective); - ::close(_t_armed); - - /* make sure servos are off */ - up_pwm_servo_deinit(); - - log("stopping"); - - /* note - someone else is responsible for restoring the GPIO config */ - - /* tell the dtor that we are exiting */ - _task = -1; - _exit(0); -} - -int -PX4FMU::control_callback(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &input) -{ - const actuator_controls_s *controls = (actuator_controls_s *)handle; - - input = controls->control[control_index]; - return 0; -} - -int -PX4FMU::ioctl(file *filp, int cmd, unsigned long arg) -{ - int ret; - - // XXX disabled, confusing users - //debug("ioctl 0x%04x 0x%08x", cmd, arg); - - /* 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: - ret = pwm_ioctl(filp, cmd, arg); - break; - - default: - debug("not in a PWM mode"); - break; - } - - /* if nobody wants it, let CDev have it */ - if (ret == -ENOTTY) - ret = CDev::ioctl(filp, cmd, arg); - - return ret; -} - -int -PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) -{ - int ret = OK; - - lock(); - - switch (cmd) { - case PWM_SERVO_ARM: - up_pwm_servo_arm(true); - break; - - case PWM_SERVO_DISARM: - up_pwm_servo_arm(false); - break; - - case PWM_SERVO_SET_UPDATE_RATE: - ret = set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, arg); - break; - - case PWM_SERVO_SELECT_UPDATE_RATE: - ret = set_pwm_rate(arg, _pwm_default_rate, _pwm_alt_rate); - break; - - case PWM_SERVO_SET(2): - case PWM_SERVO_SET(3): - if (_mode != MODE_4PWM) { - ret = -EINVAL; - break; - } - - /* FALLTHROUGH */ - case PWM_SERVO_SET(0): - case PWM_SERVO_SET(1): - if (arg < 2100) { - up_pwm_servo_set(cmd - PWM_SERVO_SET(0), arg); - } else { - ret = -EINVAL; - } - - break; - - case PWM_SERVO_GET(2): - case PWM_SERVO_GET(3): - if (_mode != MODE_4PWM) { - ret = -EINVAL; - break; - } - - /* FALLTHROUGH */ - case PWM_SERVO_GET(0): - case PWM_SERVO_GET(1): - *(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0)); - break; - - case PWM_SERVO_GET_RATEGROUP(0): - case PWM_SERVO_GET_RATEGROUP(1): - case PWM_SERVO_GET_RATEGROUP(2): - case PWM_SERVO_GET_RATEGROUP(3): - *(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0)); - break; - - case PWM_SERVO_GET_COUNT: - case MIXERIOCGETOUTPUTCOUNT: - if (_mode == MODE_4PWM) { - *(unsigned *)arg = 4; - - } else { - *(unsigned *)arg = 2; - } - - break; - - case MIXERIOCRESET: - if (_mixers != nullptr) { - delete _mixers; - _mixers = nullptr; - } - - break; - - case MIXERIOCADDSIMPLE: { - mixer_simple_s *mixinfo = (mixer_simple_s *)arg; - - SimpleMixer *mixer = new SimpleMixer(control_callback, - (uintptr_t)&_controls, mixinfo); - - if (mixer->check()) { - delete mixer; - ret = -EINVAL; - - } else { - if (_mixers == nullptr) - _mixers = new MixerGroup(control_callback, - (uintptr_t)&_controls); - - _mixers->add_mixer(mixer); - } - - break; - } - - case MIXERIOCLOADBUF: { - const char *buf = (const char *)arg; - unsigned buflen = strnlen(buf, 1024); - - if (_mixers == nullptr) - _mixers = new MixerGroup(control_callback, (uintptr_t)&_controls); - - if (_mixers == nullptr) { - ret = -ENOMEM; - - } else { - - ret = _mixers->load_from_buf(buf, buflen); - - if (ret != 0) { - debug("mixer load failed with %d", ret); - delete _mixers; - _mixers = nullptr; - ret = -EINVAL; - } - } - break; - } - - default: - ret = -ENOTTY; - break; - } - - unlock(); - - return ret; -} - -/* - this implements PWM output via a write() method, for compatibility - with px4io - */ -ssize_t -PX4FMU::write(file *filp, const char *buffer, size_t len) -{ - unsigned count = len / 2; - uint16_t values[4]; - - if (count > 4) { - // we only have 4 PWM outputs on the FMU - count = 4; - } - - // allow for misaligned values - memcpy(values, buffer, count*2); - - for (uint8_t i=0; i<count; i++) { - up_pwm_servo_set(i, values[i]); - } - return count * 2; -} - -void -PX4FMU::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 -PX4FMU::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 -PX4FMU::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 -PX4FMU::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 -PX4FMU::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, -}; - -PortMode g_port_mode; - -int -fmu_new_mode(PortMode new_mode) -{ - uint32_t gpio_bits; - PX4FMU::Mode servo_mode; - - /* reset to all-inputs */ - g_fmu->ioctl(0, GPIO_RESET, 0); - - gpio_bits = 0; - servo_mode = PX4FMU::MODE_NONE; - - switch (new_mode) { - case PORT_FULL_GPIO: - case PORT_MODE_UNSET: - /* nothing more to do here */ - break; - - case PORT_FULL_SERIAL: - /* set all multi-GPIOs to serial mode */ - gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4; - break; - - case PORT_FULL_PWM: - /* select 4-pin PWM mode */ - servo_mode = PX4FMU::MODE_4PWM; - break; - - case PORT_GPIO_AND_SERIAL: - /* set RX/TX multi-GPIOs to serial mode */ - gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4; - break; - - case PORT_PWM_AND_SERIAL: - /* select 2-pin PWM mode */ - servo_mode = PX4FMU::MODE_2PWM; - /* set RX/TX multi-GPIOs to serial mode */ - gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4; - break; - - case PORT_PWM_AND_GPIO: - /* select 2-pin PWM mode */ - servo_mode = PX4FMU::MODE_2PWM; - break; - } - - /* adjust GPIO config for serial mode(s) */ - if (gpio_bits != 0) - g_fmu->ioctl(0, GPIO_SET_ALT_1, gpio_bits); - - /* (re)set the PWM output mode */ - g_fmu->set_mode(servo_mode); - - return OK; -} - -int -fmu_start(void) -{ - int ret = OK; - - if (g_fmu == nullptr) { - - g_fmu = new PX4FMU; - - if (g_fmu == nullptr) { - ret = -ENOMEM; - - } else { - ret = g_fmu->init(); - - if (ret != OK) { - delete g_fmu; - g_fmu = nullptr; - } - } - } - - return ret; -} - -void -test(void) -{ - int fd; - - fd = open(PWM_OUTPUT_DEVICE_PATH, 0); - - if (fd < 0) - errx(1, "open fail"); - - if (ioctl(fd, PWM_SERVO_ARM, 0) < 0) err(1, "servo arm failed"); - - if (ioctl(fd, PWM_SERVO_SET(0), 1000) < 0) err(1, "servo 1 set failed"); - - if (ioctl(fd, PWM_SERVO_SET(1), 1200) < 0) err(1, "servo 2 set failed"); - - if (ioctl(fd, PWM_SERVO_SET(2), 1400) < 0) err(1, "servo 3 set failed"); - - if (ioctl(fd, PWM_SERVO_SET(3), 1600) < 0) err(1, "servo 4 set failed"); - - close(fd); - - exit(0); -} - -void -fake(int argc, char *argv[]) -{ - if (argc < 5) - errx(1, "fmu fake <roll> <pitch> <yaw> <thrust> (values -100 .. 100)"); - - actuator_controls_s ac; - - ac.control[0] = strtol(argv[1], 0, 0) / 100.0f; - - ac.control[1] = strtol(argv[2], 0, 0) / 100.0f; - - ac.control[2] = strtol(argv[3], 0, 0) / 100.0f; - - ac.control[3] = strtol(argv[4], 0, 0) / 100.0f; - - orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac); - - if (handle < 0) - errx(1, "advertise failed"); - - actuator_armed_s aa; - - aa.armed = true; - aa.lockdown = false; - - handle = orb_advertise(ORB_ID(actuator_armed), &aa); - - if (handle < 0) - errx(1, "advertise failed 2"); - - exit(0); -} - -} // namespace - -extern "C" __EXPORT int fmu_main(int argc, char *argv[]); - -int -fmu_main(int argc, char *argv[]) -{ - PortMode new_mode = PORT_MODE_UNSET; - const char *verb = argv[1]; - - if (fmu_start() != OK) - errx(1, "failed to start the FMU driver"); - - /* - * Mode switches. - */ - if (!strcmp(verb, "mode_gpio")) { - new_mode = PORT_FULL_GPIO; - - } else if (!strcmp(verb, "mode_serial")) { - new_mode = PORT_FULL_SERIAL; - - } else if (!strcmp(verb, "mode_pwm")) { - new_mode = PORT_FULL_PWM; - - } else if (!strcmp(verb, "mode_gpio_serial")) { - new_mode = PORT_GPIO_AND_SERIAL; - - } else if (!strcmp(verb, "mode_pwm_serial")) { - new_mode = PORT_PWM_AND_SERIAL; - - } else if (!strcmp(verb, "mode_pwm_gpio")) { - new_mode = PORT_PWM_AND_GPIO; - } - - /* was a new mode set? */ - if (new_mode != PORT_MODE_UNSET) { - - /* yes but it's the same mode */ - if (new_mode == g_port_mode) - return OK; - - /* switch modes */ - int ret = fmu_new_mode(new_mode); - exit(ret == OK ? 0 : 1); - } - - if (!strcmp(verb, "test")) - test(); - - if (!strcmp(verb, "fake")) - fake(argc - 1, argv + 1); - - fprintf(stderr, "FMU: unrecognised command, try:\n"); - fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n"); - exit(1); -} |