diff options
Diffstat (limited to 'apps/drivers')
-rw-r--r-- | apps/drivers/px4io/px4io.cpp | 206 | ||||
-rw-r--r-- | apps/drivers/px4io/uploader.cpp | 1 |
2 files changed, 115 insertions, 92 deletions
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index c60772361..8001f1ff6 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -102,7 +102,8 @@ public: bool dump_one; private: - static const unsigned _max_actuators = PX4IO_OUTPUT_CHANNELS; + // XXX + static const unsigned _max_actuators = PX4IO_CONTROL_CHANNELS; int _update_rate; ///< serial send rate in Hz int _serial_fd; ///< serial interface to PX4IO @@ -129,7 +130,8 @@ private: orb_advert_t _t_outputs; ///< mixed outputs topic actuator_outputs_s _outputs; ///< mixed outputs - MixerGroup *_mixers; ///< loaded mixers + const char *volatile _mix_buf; ///< mixer text buffer + volatile unsigned _mix_buf_len; ///< size of the mixer text buffer bool _primary_pwm_device; ///< true if we are the default PWM output @@ -177,6 +179,11 @@ private: void config_send(); /** + * Send a buffer containing mixer text to PX4IO + */ + int mixer_send(const char *buf, unsigned buflen); + + /** * Mixer control callback; invoked to fetch a control from a specific * group/index during mixing. */ @@ -208,7 +215,8 @@ PX4IO::PX4IO() : _t_armed(-1), _t_vstatus(-1), _t_outputs(-1), - _mixers(nullptr), + _mix_buf(nullptr), + _mix_buf_len(0), _primary_pwm_device(false), _relays(0), _switch_armed(false), @@ -231,6 +239,7 @@ PX4IO::~PX4IO() /* give it another 100ms */ usleep(100000); } + /* well, kill it anyway, though this will probably crash */ if (_task != -1) task_delete(_task); @@ -261,6 +270,7 @@ PX4IO::init() /* start the IO interface task */ _task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr); + if (_task < 0) { debug("task start failed: %d", errno); return -errno; @@ -272,13 +282,16 @@ PX4IO::init() debug("PX4IO connected"); break; } + usleep(100000); } + if (!_connected) { /* error here will result in everything being torn down */ log("PX4IO not responding"); return -EIO; } + return OK; } @@ -325,10 +338,12 @@ PX4IO::task_main() /* protocol stream */ _io_stream = hx_stream_init(_serial_fd, &PX4IO::rx_callback_trampoline, this); + if (_io_stream == nullptr) { log("failed to allocate HX protocol stream"); goto out; } + hx_stream_set_counters(_io_stream, perf_alloc(PC_COUNT, "PX4IO frames transmitted"), perf_alloc(PC_COUNT, "PX4IO frames received"), @@ -375,13 +390,18 @@ PX4IO::task_main() fds[3].fd = _t_vstatus; fds[3].events = POLLIN; - log("ready"); + debug("ready"); + + /* lock against the ioctl handler */ + lock(); /* loop handling received serial bytes */ while (!_task_should_exit) { /* sleep waiting for data, but no more than 100ms */ + unlock(); int ret = ::poll(&fds[0], sizeof(fds) / sizeof(fds[0]), 100); + lock(); /* this would be bad... */ if (ret < 0) { @@ -398,47 +418,22 @@ PX4IO::task_main() if (fds[0].revents & POLLIN) io_recv(); - /* if we have new data from the ORB, go handle it */ + /* if we have new control data from the ORB, handle it */ if (fds[1].revents & POLLIN) { /* get controls */ orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : ORB_ID(actuator_controls_1), _t_actuators, &_controls); - /* mix */ - if (_mixers != nullptr) { - _outputs.timestamp = hrt_absolute_time(); - _outputs.noutputs = _mixers->mix(&_outputs.output[0], _max_actuators); - - // 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); - - /* convert to PWM values */ - for (unsigned i = 0; i < _max_actuators; 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; - } - } - - /* and flag for update */ - _send_needed = true; - } + /* scale controls to PWM (temporary measure) */ + for (unsigned i = 0; i < _max_actuators; i++) + _outputs.output[i] = 1500 + (600 * _controls.control[i]); + + /* and flag for update */ + _send_needed = true; } + /* if we have an arming state update, handle it */ if (fds[2].revents & POLLIN) { orb_copy(ORB_ID(actuator_armed), _t_armed, &_armed); @@ -462,14 +457,26 @@ PX4IO::task_main() _config_needed = false; config_send(); } + + /* send a mixer update if needed */ + if (_mix_buf != nullptr) { + mixer_send(_mix_buf, _mix_buf_len); + + /* clear the buffer record so the ioctl handler knows we're done */ + _mix_buf = nullptr; + _mix_buf_len = 0; + } } + unlock(); + out: debug("exiting"); /* kill the HX stream */ if (_io_stream != nullptr) hx_stream_free(_io_stream); + ::close(_serial_fd); /* clean up the alternate device node */ @@ -522,25 +529,27 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received) { const px4io_report *rep = (const px4io_report *)buffer; - lock(); +// lock(); /* sanity-check the received frame size */ if (bytes_received != sizeof(px4io_report)) { debug("got %u expected %u", bytes_received, sizeof(px4io_report)); goto out; } + if (rep->i2f_magic != I2F_MAGIC) { debug("bad magic"); goto out; } + _connected = true; /* publish raw rc channel values from IO if valid channels are present */ if (rep->channel_count > 0) { _input_rc.timestamp = hrt_absolute_time(); _input_rc.channel_count = rep->channel_count; - for (int i = 0; i < rep->channel_count; i++) - { + + for (int i = 0; i < rep->channel_count; i++) { _input_rc.values[i] = rep->rc_channel[i]; } @@ -557,13 +566,16 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received) dump_one = false; printf("IO: %s armed ", rep->armed ? "" : "not"); + for (unsigned i = 0; i < rep->channel_count; i++) printf("%d: %d ", i, rep->rc_channel[i]); + printf("\n"); } out: - unlock(); +// unlock(); + return; } void @@ -576,13 +588,13 @@ PX4IO::io_send() /* set outputs */ for (unsigned i = 0; i < _max_actuators; i++) - cmd.servo_command[i] = _outputs.output[i]; + cmd.output_control[i] = _outputs.output[i]; /* publish as we send */ _outputs.timestamp = hrt_absolute_time(); + /* XXX needs to be based off post-mix values from the IO side */ orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &_outputs); - /* update relays */ for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++) cmd.relay_state[i] = (_relays & (1<< i)) ? true : false; @@ -597,6 +609,7 @@ PX4IO::io_send() cmd.servo_rate = _update_rate; ret = hx_stream_send(_io_stream, &cmd, sizeof(cmd)); + if (ret) debug("send error %d", ret); } @@ -610,11 +623,47 @@ PX4IO::config_send() cfg.f2i_config_magic = F2I_CONFIG_MAGIC; ret = hx_stream_send(_io_stream, &cfg, sizeof(cfg)); + if (ret) debug("config error %d", ret); } int +PX4IO::mixer_send(const char *buf, unsigned buflen) +{ + uint8_t frame[HX_STREAM_MAX_FRAME]; + px4io_mixdata *msg = (px4io_mixdata *)&frame[0]; + + msg->f2i_mixer_magic = F2I_MIXER_MAGIC; + msg->action = F2I_MIXER_ACTION_RESET; + + do { + unsigned count = buflen; + + if (count > F2I_MIXER_MAX_TEXT) + count = F2I_MIXER_MAX_TEXT; + + if (count > 0) { + memcpy(&msg->text[0], buf, count); + buf += count; + buflen -= count; + } + + int ret = hx_stream_send(_io_stream, msg, sizeof(px4io_mixdata) + count); + + if (ret) { + log("mixer send error %d", ret); + return ret; + } + + msg->action = F2I_MIXER_ACTION_APPEND; + + } while (buflen > 0); + + return 0; +} + +int PX4IO::ioctl(file *filep, int cmd, unsigned long arg) { int ret = OK; @@ -637,7 +686,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1): - /* fake an update to the selected servo channel */ + /* fake an update to the selected 'servo' channel */ if ((arg >= 900) && (arg <= 2100)) { _outputs.output[cmd - PWM_SERVO_SET(0)] = arg; _send_needed = true; @@ -678,66 +727,30 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) break; case MIXERIOCGETOUTPUTCOUNT: - *(unsigned *)arg = _max_actuators; + *(unsigned *)arg = PX4IO_CONTROL_CHANNELS; break; case MIXERIOCRESET: - if (_mixers != nullptr) { - delete _mixers; - _mixers = nullptr; - } - + ret = 0; /* load always resets */ break; - case MIXERIOCADDSIMPLE: { - mixer_simple_s *mixinfo = (mixer_simple_s *)arg; + case MIXERIOCLOADBUF: - /* build the new mixer from the supplied argument */ - SimpleMixer *mixer = new SimpleMixer(control_callback, - (uintptr_t)&_controls, mixinfo); + /* set the buffer up for transfer */ + _mix_buf = (const char *)arg; + _mix_buf_len = strnlen(_mix_buf, 1024); - /* validate the new mixer */ - if (mixer->check()) { - delete mixer; - ret = -EINVAL; + /* drop the lock and wait for the thread to clear the transmit */ + unlock(); - } else { - /* if we don't have a group yet, allocate one */ - if (_mixers == nullptr) - _mixers = new MixerGroup(control_callback, - (uintptr_t)&_controls); + while (_mix_buf != nullptr) + usleep(1000); - /* add the new mixer to the group */ - _mixers->add_mixer(mixer); - } + lock(); - } + ret = 0; 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: /* not a recognised value */ ret = -ENOTTY; @@ -777,6 +790,13 @@ test(void) close(fd); + actuator_armed_s aa; + + aa.armed = true; + aa.lockdown = false; + + orb_advertise(ORB_ID(actuator_armed), &aa); + exit(0); } @@ -796,6 +816,7 @@ monitor(void) if (fds[0].revents == POLLIN) { int c; read(0, &c, 1); + if (cancels-- == 0) exit(0); } @@ -893,6 +914,7 @@ px4io_main(int argc, char *argv[]) if (!strcmp(argv[1], "test")) test(); + if (!strcmp(argv[1], "monitor")) monitor(); diff --git a/apps/drivers/px4io/uploader.cpp b/apps/drivers/px4io/uploader.cpp index 8b354ff60..6442e947c 100644 --- a/apps/drivers/px4io/uploader.cpp +++ b/apps/drivers/px4io/uploader.cpp @@ -190,6 +190,7 @@ PX4IO_Uploader::drain() do { ret = recv(c, 250); + if (ret == OK) { //log("discard 0x%02x", c); } |