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Diffstat (limited to 'apps/px4io/px4io.c')
| -rw-r--r-- | apps/px4io/px4io.c | 183 |
1 files changed, 183 insertions, 0 deletions
diff --git a/apps/px4io/px4io.c b/apps/px4io/px4io.c new file mode 100644 index 000000000..44b62f3f9 --- /dev/null +++ b/apps/px4io/px4io.c @@ -0,0 +1,183 @@ +/**************************************************************************** + * + * 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 Top-level logic for the PX4IO module. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + + +#include <nuttx/config.h> +#include <stdio.h> +#include <stdbool.h> +#include <fcntl.h> +#include <unistd.h> +#include <debug.h> +#include <stdlib.h> +#include <errno.h> + +#include <nuttx/clock.h> + +#include <arch/board/up_boardinitialize.h> +#include <arch/board/drv_gpio.h> +#include <arch/board/drv_ppm_input.h> +#include <arch/board/up_hrt.h> + +#include "px4io.h" + +/**************************************************************************** + * Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +__EXPORT int user_start(int argc, char *argv[]); + +/**************************************************************************** + * user_start + ****************************************************************************/ + +struct sys_state_s system_state; +int gpio_fd; + +static const char cursor[] = {'|', '/', '-', '\\'}; + +static const char *rc_input_mq_name = "rc_input"; + +static struct hrt_call timer_tick_call; +volatile int timers[TIMER_NUM_TIMERS]; +static void timer_tick(void *arg); + +int user_start(int argc, char *argv[]) +{ + int cycle = 0; + bool heartbeat = false; + bool failsafe = false; + + /* Do board init */ + (void)up_boardinitialize(); + + /* print some startup info */ + lib_lowprintf("\nPX4IO: starting\n"); + struct mallinfo minfo = mallinfo(); + lib_lowprintf("free %u largest %u\n", minfo.mxordblk, minfo.fordblks); + + /* start the software timer service */ + hrt_call_every(&timer_tick_call, 1000, 1000, timer_tick, NULL); + + /* Open the GPIO driver so we can do LEDs and the like. */ + gpio_fd = open("/dev/gpio", 0); + ASSERTCODE((gpio_fd >= 0), A_GPIO_OPEN_FAIL); + + /* default all the LEDs to off while we start */ + LED_AMBER(heartbeat); + LED_BLUE(failsafe); + LED_SAFETY(false); + + /* turn on servo power */ + POWER_SERVO(true); + + /* configure the PPM input driver */ + ppm_input_init(rc_input_mq_name); + + /* start the mixer */ + mixer_init(rc_input_mq_name); + + /* start the safety switch handler */ + safety_init(); + + /* init the FMU link */ + comms_init(); + + /* set up some timers for the main loop */ + timers[TIMER_BLINK_AMBER] = 250; /* heartbeat blink @ 2Hz */ + timers[TIMER_STATUS_PRINT] = 1000; /* print status message @ 1Hz */ + + /* + * Main loop servicing communication with FMU + */ + while(true) { + + /* check for communication from FMU, send updates */ + comms_check(); + + /* blink the heartbeat LED */ + if (timers[TIMER_BLINK_AMBER] == 0) { + timers[TIMER_BLINK_AMBER] = 250; + LED_AMBER((heartbeat = !heartbeat)); + } + + /* blink the failsafe LED if we don't have FMU input */ + if (!system_state.mixer_use_fmu) { + if (timers[TIMER_BLINK_BLUE] == 0) { + timers[TIMER_BLINK_BLUE] = 125; + LED_BLUE((failsafe = !failsafe)); + } + } else { + LED_BLUE((failsafe = false)); + } + + /* print some simple status */ + if (timers[TIMER_STATUS_PRINT] == 0) { + timers[TIMER_STATUS_PRINT] = 1000; + lib_lowprintf("%c %s | %s | %s | C=%d \r", + cursor[cycle++ & 3], + (system_state.armed ? "ARMED" : "SAFE"), + (system_state.rc_channels ? "RC OK" : "NO RC"), + (system_state.mixer_use_fmu ? "FMU OK" : "NO FMU"), + system_state.rc_channels + ); + } + + } + + /* Should never reach here */ + return ERROR; +} + +static void +timer_tick(void *arg) +{ + for (unsigned i = 0; i < TIMER_NUM_TIMERS; i++) + if (timers[i] > 0) + timers[i]--; +} |