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path: root/src/drivers/px4fmu/fmu.cpp
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Diffstat (limited to 'src/drivers/px4fmu/fmu.cpp')
-rw-r--r--src/drivers/px4fmu/fmu.cpp500
1 files changed, 331 insertions, 169 deletions
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 0441566e9..b878d29bc 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -69,7 +69,6 @@
#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 <uORB/topics/actuator_armed.h>
@@ -123,7 +122,6 @@ private:
int _t_actuators;
int _t_actuator_armed;
orb_advert_t _t_outputs;
- orb_advert_t _t_actuators_effective;
unsigned _num_outputs;
bool _primary_pwm_device;
@@ -164,6 +162,7 @@ private:
static const unsigned _ngpio;
void gpio_reset(void);
+ void sensor_reset(int ms);
void gpio_set_function(uint32_t gpios, int function);
void gpio_write(uint32_t gpios, int function);
uint32_t gpio_read(void);
@@ -219,17 +218,16 @@ PX4FMU::PX4FMU() :
_t_actuators(-1),
_t_actuator_armed(-1),
_t_outputs(0),
- _t_actuators_effective(0),
_num_outputs(0),
_primary_pwm_device(false),
_task_should_exit(false),
_armed(false),
_pwm_on(false),
_mixers(nullptr),
- _failsafe_pwm({0}),
- _disarmed_pwm({0}),
- _num_failsafe_set(0),
- _num_disarmed_set(0)
+ _failsafe_pwm( {0}),
+ _disarmed_pwm( {0}),
+ _num_failsafe_set(0),
+ _num_disarmed_set(0)
{
for (unsigned i = 0; i < _max_actuators; i++) {
_min_pwm[i] = PWM_DEFAULT_MIN;
@@ -293,11 +291,11 @@ PX4FMU::init()
/* start the IO interface task */
_task = task_spawn_cmd("fmuservo",
- SCHED_DEFAULT,
- SCHED_PRIORITY_DEFAULT,
- 2048,
- (main_t)&PX4FMU::task_main_trampoline,
- nullptr);
+ SCHED_DEFAULT,
+ SCHED_PRIORITY_DEFAULT,
+ 2048,
+ (main_t)&PX4FMU::task_main_trampoline,
+ nullptr);
if (_task < 0) {
debug("task start failed: %d", errno);
@@ -326,7 +324,7 @@ PX4FMU::set_mode(Mode mode)
switch (mode) {
case MODE_2PWM: // v1 multi-port with flow control lines as PWM
debug("MODE_2PWM");
-
+
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
@@ -340,7 +338,7 @@ PX4FMU::set_mode(Mode mode)
case MODE_4PWM: // v1 multi-port as 4 PWM outs
debug("MODE_4PWM");
-
+
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
@@ -354,7 +352,7 @@ PX4FMU::set_mode(Mode mode)
case MODE_6PWM: // v2 PWMs as 6 PWM outs
debug("MODE_6PWM");
-
+
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
@@ -396,6 +394,7 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate
// get the channel mask for this rate group
uint32_t mask = up_pwm_servo_get_rate_group(group);
+
if (mask == 0)
continue;
@@ -409,6 +408,7 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate
// not a legal map, bail
return -EINVAL;
}
+
} else {
// set it - errors here are unexpected
if (alt != 0) {
@@ -416,6 +416,7 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate
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");
@@ -425,6 +426,7 @@ PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate
}
}
}
+
_pwm_alt_rate_channels = rate_map;
_pwm_default_rate = default_rate;
_pwm_alt_rate = alt_rate;
@@ -466,13 +468,6 @@ PX4FMU::task_main()
_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;
@@ -503,6 +498,7 @@ PX4FMU::task_main()
* 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);
@@ -511,6 +507,7 @@ PX4FMU::task_main()
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;
@@ -532,6 +529,7 @@ PX4FMU::task_main()
log("poll error %d", errno);
usleep(1000000);
continue;
+
} else if (ret == 0) {
/* timeout: no control data, switch to failsafe values */
// warnx("no PWM: failsafe");
@@ -542,7 +540,7 @@ PX4FMU::task_main()
if (fds[0].revents & POLLIN) {
/* get controls - must always do this to avoid spinning */
- orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
+ orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : ORB_ID(actuator_controls_1), _t_actuators, &_controls);
/* can we mix? */
if (_mixers != nullptr) {
@@ -553,12 +551,15 @@ PX4FMU::task_main()
case MODE_2PWM:
num_outputs = 2;
break;
+
case MODE_4PWM:
num_outputs = 4;
break;
+
case MODE_6PWM:
num_outputs = 6;
break;
+
default:
num_outputs = 0;
break;
@@ -572,9 +573,9 @@ PX4FMU::task_main()
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) {
+ !isfinite(outputs.output[i]) ||
+ outputs.output[i] < -1.0f ||
+ outputs.output[i] > 1.0f) {
/*
* 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
@@ -588,12 +589,6 @@ PX4FMU::task_main()
pwm_limit_calc(_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
- /* output actual limited values */
- for (unsigned i = 0; i < num_outputs; i++) {
- controls_effective.control_effective[i] = (float)pwm_limited[i];
- }
- orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective);
-
/* output to the servos */
for (unsigned i = 0; i < num_outputs; i++) {
up_pwm_servo_set(i, pwm_limited[i]);
@@ -613,11 +608,13 @@ PX4FMU::task_main()
/* update the armed status and check that we're not locked down */
bool set_armed = aa.armed && !aa.lockdown;
+
if (_armed != set_armed)
_armed = set_armed;
/* update PWM status if armed or if disarmed PWM values are set */
bool pwm_on = (aa.armed || _num_disarmed_set > 0);
+
if (_pwm_on != pwm_on) {
_pwm_on = pwm_on;
up_pwm_servo_arm(pwm_on);
@@ -626,31 +623,36 @@ PX4FMU::task_main()
}
#ifdef HRT_PPM_CHANNEL
+
// 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++) {
+
+ 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 {
+
+ } else {
orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in);
}
}
+
#endif
}
::close(_t_actuators);
- ::close(_t_actuators_effective);
::close(_t_actuator_armed);
/* make sure servos are off */
@@ -753,142 +755,176 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
case PWM_SERVO_SET_FAILSAFE_PWM: {
- struct pwm_output_values *pwm = (struct pwm_output_values*)arg;
- /* discard if too many values are sent */
- if (pwm->channel_count > _max_actuators) {
- ret = -EINVAL;
- break;
- }
- for (unsigned i = 0; i < pwm->channel_count; i++) {
- if (pwm->values[i] == 0) {
- /* ignore 0 */
- } else if (pwm->values[i] > PWM_HIGHEST_MAX) {
- _failsafe_pwm[i] = PWM_HIGHEST_MAX;
- } else if (pwm->values[i] < PWM_LOWEST_MIN) {
- _failsafe_pwm[i] = PWM_LOWEST_MIN;
- } else {
- _failsafe_pwm[i] = pwm->values[i];
+ struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
+
+ /* discard if too many values are sent */
+ if (pwm->channel_count > _max_actuators) {
+ ret = -EINVAL;
+ break;
}
- }
- /*
- * update the counter
- * this is needed to decide if disarmed PWM output should be turned on or not
- */
- _num_failsafe_set = 0;
- for (unsigned i = 0; i < _max_actuators; i++) {
- if (_failsafe_pwm[i] > 0)
- _num_failsafe_set++;
+ for (unsigned i = 0; i < pwm->channel_count; i++) {
+ if (pwm->values[i] == 0) {
+ /* ignore 0 */
+ } else if (pwm->values[i] > PWM_HIGHEST_MAX) {
+ _failsafe_pwm[i] = PWM_HIGHEST_MAX;
+
+ } else if (pwm->values[i] < PWM_LOWEST_MIN) {
+ _failsafe_pwm[i] = PWM_LOWEST_MIN;
+
+ } else {
+ _failsafe_pwm[i] = pwm->values[i];
+ }
+ }
+
+ /*
+ * update the counter
+ * this is needed to decide if disarmed PWM output should be turned on or not
+ */
+ _num_failsafe_set = 0;
+
+ for (unsigned i = 0; i < _max_actuators; i++) {
+ if (_failsafe_pwm[i] > 0)
+ _num_failsafe_set++;
+ }
+
+ break;
}
- break;
- }
+
case PWM_SERVO_GET_FAILSAFE_PWM: {
- struct pwm_output_values *pwm = (struct pwm_output_values*)arg;
- for (unsigned i = 0; i < _max_actuators; i++) {
- pwm->values[i] = _failsafe_pwm[i];
- }
- pwm->channel_count = _max_actuators;
- break;
- }
+ struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
- case PWM_SERVO_SET_DISARMED_PWM: {
- struct pwm_output_values *pwm = (struct pwm_output_values*)arg;
- /* discard if too many values are sent */
- if (pwm->channel_count > _max_actuators) {
- ret = -EINVAL;
+ for (unsigned i = 0; i < _max_actuators; i++) {
+ pwm->values[i] = _failsafe_pwm[i];
+ }
+
+ pwm->channel_count = _max_actuators;
break;
}
- for (unsigned i = 0; i < pwm->channel_count; i++) {
- if (pwm->values[i] == 0) {
- /* ignore 0 */
- } else if (pwm->values[i] > PWM_HIGHEST_MAX) {
- _disarmed_pwm[i] = PWM_HIGHEST_MAX;
- } else if (pwm->values[i] < PWM_LOWEST_MIN) {
- _disarmed_pwm[i] = PWM_LOWEST_MIN;
- } else {
- _disarmed_pwm[i] = pwm->values[i];
+
+ case PWM_SERVO_SET_DISARMED_PWM: {
+ struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
+
+ /* discard if too many values are sent */
+ if (pwm->channel_count > _max_actuators) {
+ ret = -EINVAL;
+ break;
}
- }
- /*
- * update the counter
- * this is needed to decide if disarmed PWM output should be turned on or not
- */
- _num_disarmed_set = 0;
- for (unsigned i = 0; i < _max_actuators; i++) {
- if (_disarmed_pwm[i] > 0)
- _num_disarmed_set++;
+ for (unsigned i = 0; i < pwm->channel_count; i++) {
+ if (pwm->values[i] == 0) {
+ /* ignore 0 */
+ } else if (pwm->values[i] > PWM_HIGHEST_MAX) {
+ _disarmed_pwm[i] = PWM_HIGHEST_MAX;
+
+ } else if (pwm->values[i] < PWM_LOWEST_MIN) {
+ _disarmed_pwm[i] = PWM_LOWEST_MIN;
+
+ } else {
+ _disarmed_pwm[i] = pwm->values[i];
+ }
+ }
+
+ /*
+ * update the counter
+ * this is needed to decide if disarmed PWM output should be turned on or not
+ */
+ _num_disarmed_set = 0;
+
+ for (unsigned i = 0; i < _max_actuators; i++) {
+ if (_disarmed_pwm[i] > 0)
+ _num_disarmed_set++;
+ }
+
+ break;
}
- break;
- }
+
case PWM_SERVO_GET_DISARMED_PWM: {
- struct pwm_output_values *pwm = (struct pwm_output_values*)arg;
- for (unsigned i = 0; i < _max_actuators; i++) {
- pwm->values[i] = _disarmed_pwm[i];
- }
- pwm->channel_count = _max_actuators;
- break;
- }
+ struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
- case PWM_SERVO_SET_MIN_PWM: {
- struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
- /* discard if too many values are sent */
- if (pwm->channel_count > _max_actuators) {
- ret = -EINVAL;
+ for (unsigned i = 0; i < _max_actuators; i++) {
+ pwm->values[i] = _disarmed_pwm[i];
+ }
+
+ pwm->channel_count = _max_actuators;
break;
}
- for (unsigned i = 0; i < pwm->channel_count; i++) {
- if (pwm->values[i] == 0) {
- /* ignore 0 */
- } else if (pwm->values[i] > PWM_HIGHEST_MIN) {
- _min_pwm[i] = PWM_HIGHEST_MIN;
- } else if (pwm->values[i] < PWM_LOWEST_MIN) {
- _min_pwm[i] = PWM_LOWEST_MIN;
- } else {
- _min_pwm[i] = pwm->values[i];
+
+ case PWM_SERVO_SET_MIN_PWM: {
+ struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
+
+ /* discard if too many values are sent */
+ if (pwm->channel_count > _max_actuators) {
+ ret = -EINVAL;
+ break;
}
+
+ for (unsigned i = 0; i < pwm->channel_count; i++) {
+ if (pwm->values[i] == 0) {
+ /* ignore 0 */
+ } else if (pwm->values[i] > PWM_HIGHEST_MIN) {
+ _min_pwm[i] = PWM_HIGHEST_MIN;
+
+ } else if (pwm->values[i] < PWM_LOWEST_MIN) {
+ _min_pwm[i] = PWM_LOWEST_MIN;
+
+ } else {
+ _min_pwm[i] = pwm->values[i];
+ }
+ }
+
+ break;
}
- break;
- }
+
case PWM_SERVO_GET_MIN_PWM: {
- struct pwm_output_values *pwm = (struct pwm_output_values*)arg;
- for (unsigned i = 0; i < _max_actuators; i++) {
- pwm->values[i] = _min_pwm[i];
- }
- pwm->channel_count = _max_actuators;
- arg = (unsigned long)&pwm;
- break;
- }
+ struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
- case PWM_SERVO_SET_MAX_PWM: {
- struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
- /* discard if too many values are sent */
- if (pwm->channel_count > _max_actuators) {
- ret = -EINVAL;
+ for (unsigned i = 0; i < _max_actuators; i++) {
+ pwm->values[i] = _min_pwm[i];
+ }
+
+ pwm->channel_count = _max_actuators;
+ arg = (unsigned long)&pwm;
break;
}
- for (unsigned i = 0; i < pwm->channel_count; i++) {
- if (pwm->values[i] == 0) {
- /* ignore 0 */
- } else if (pwm->values[i] < PWM_LOWEST_MAX) {
- _max_pwm[i] = PWM_LOWEST_MAX;
- } else if (pwm->values[i] > PWM_HIGHEST_MAX) {
- _max_pwm[i] = PWM_HIGHEST_MAX;
- } else {
- _max_pwm[i] = pwm->values[i];
+
+ case PWM_SERVO_SET_MAX_PWM: {
+ struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
+
+ /* discard if too many values are sent */
+ if (pwm->channel_count > _max_actuators) {
+ ret = -EINVAL;
+ break;
+ }
+
+ for (unsigned i = 0; i < pwm->channel_count; i++) {
+ if (pwm->values[i] == 0) {
+ /* ignore 0 */
+ } else if (pwm->values[i] < PWM_LOWEST_MAX) {
+ _max_pwm[i] = PWM_LOWEST_MAX;
+
+ } else if (pwm->values[i] > PWM_HIGHEST_MAX) {
+ _max_pwm[i] = PWM_HIGHEST_MAX;
+
+ } else {
+ _max_pwm[i] = pwm->values[i];
+ }
}
+
+ break;
}
- break;
- }
+
case PWM_SERVO_GET_MAX_PWM: {
- struct pwm_output_values *pwm = (struct pwm_output_values*)arg;
- for (unsigned i = 0; i < _max_actuators; i++) {
- pwm->values[i] = _max_pwm[i];
+ struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
+
+ for (unsigned i = 0; i < _max_actuators; i++) {
+ pwm->values[i] = _max_pwm[i];
+ }
+
+ pwm->channel_count = _max_actuators;
+ arg = (unsigned long)&pwm;
+ break;
}
- pwm->channel_count = _max_actuators;
- arg = (unsigned long)&pwm;
- break;
- }
case PWM_SERVO_SET(5):
case PWM_SERVO_SET(4):
@@ -910,6 +946,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_SET(0):
if (arg <= 2100) {
up_pwm_servo_set(cmd - PWM_SERVO_SET(0), arg);
+
} else {
ret = -EINVAL;
}
@@ -946,18 +983,21 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
*(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0));
break;
- case PWM_SERVO_GET_COUNT:
+ case PWM_SERVO_GET_COUNT:
case MIXERIOCGETOUTPUTCOUNT:
switch (_mode) {
case MODE_6PWM:
*(unsigned *)arg = 6;
break;
+
case MODE_4PWM:
*(unsigned *)arg = 4;
break;
+
case MODE_2PWM:
*(unsigned *)arg = 2;
break;
+
default:
ret = -EINVAL;
break;
@@ -1015,6 +1055,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
ret = -EINVAL;
}
}
+
break;
}
@@ -1049,10 +1090,81 @@ PX4FMU::write(file *filp, const char *buffer, size_t len)
for (uint8_t i = 0; i < count; i++) {
up_pwm_servo_set(i, values[i]);
}
+
return count * 2;
}
void
+PX4FMU::sensor_reset(int ms)
+{
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
+
+ if (ms < 1) {
+ ms = 1;
+ }
+
+ /* disable SPI bus */
+ stm32_configgpio(GPIO_SPI_CS_GYRO_OFF);
+ stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF);
+ stm32_configgpio(GPIO_SPI_CS_BARO_OFF);
+
+ stm32_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0);
+ stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0);
+ stm32_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
+
+ stm32_configgpio(GPIO_SPI1_SCK_OFF);
+ stm32_configgpio(GPIO_SPI1_MISO_OFF);
+ stm32_configgpio(GPIO_SPI1_MOSI_OFF);
+
+ stm32_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
+ stm32_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
+ stm32_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
+
+ stm32_configgpio(GPIO_GYRO_DRDY_OFF);
+ stm32_configgpio(GPIO_MAG_DRDY_OFF);
+ stm32_configgpio(GPIO_ACCEL_DRDY_OFF);
+
+ stm32_gpiowrite(GPIO_GYRO_DRDY_OFF, 0);
+ stm32_gpiowrite(GPIO_MAG_DRDY_OFF, 0);
+ stm32_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0);
+
+ /* set the sensor rail off */
+ stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
+ stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
+
+ /* wait for the sensor rail to reach GND */
+ usleep(ms * 1000);
+ warnx("reset done, %d ms", ms);
+
+ /* re-enable power */
+
+ /* switch the sensor rail back on */
+ stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
+
+ /* wait a bit before starting SPI, different times didn't influence results */
+ usleep(100);
+
+ /* reconfigure the SPI pins */
+#ifdef CONFIG_STM32_SPI1
+ stm32_configgpio(GPIO_SPI_CS_GYRO);
+ stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
+ stm32_configgpio(GPIO_SPI_CS_BARO);
+ stm32_configgpio(GPIO_SPI_CS_MPU);
+
+ /* De-activate all peripherals,
+ * required for some peripheral
+ * state machines
+ */
+ stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+ stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+ stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+ stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+#endif
+#endif
+}
+
+
+void
PX4FMU::gpio_reset(void)
{
/*
@@ -1062,6 +1174,7 @@ PX4FMU::gpio_reset(void)
for (unsigned i = 0; i < _ngpio; i++) {
if (_gpio_tab[i].input != 0) {
stm32_configgpio(_gpio_tab[i].input);
+
} else if (_gpio_tab[i].output != 0) {
stm32_configgpio(_gpio_tab[i].output);
}
@@ -1078,6 +1191,7 @@ void
PX4FMU::gpio_set_function(uint32_t gpios, int function)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
+
/*
* 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.
@@ -1089,6 +1203,7 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function)
if (GPIO_SET_OUTPUT == function)
stm32_gpiowrite(GPIO_GPIO_DIR, 1);
}
+
#endif
/* configure selected GPIOs as required */
@@ -1113,9 +1228,11 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function)
}
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
+
/* flip buffer to input mode if required */
if ((GPIO_SET_INPUT == function) && (gpios & 3))
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
+
#endif
}
@@ -1154,6 +1271,10 @@ PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
gpio_reset();
break;
+ case GPIO_SENSOR_RAIL_RESET:
+ sensor_reset(arg);
+ break;
+
case GPIO_SET_OUTPUT:
case GPIO_SET_INPUT:
case GPIO_SET_ALT_1:
@@ -1227,8 +1348,9 @@ fmu_new_mode(PortMode new_mode)
#endif
break;
- /* mixed modes supported on v1 board only */
+ /* mixed modes supported on v1 board only */
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
+
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;
@@ -1251,6 +1373,7 @@ fmu_new_mode(PortMode new_mode)
servo_mode = PX4FMU::MODE_2PWM;
break;
#endif
+
default:
return -1;
}
@@ -1305,14 +1428,30 @@ fmu_stop(void)
}
void
+sensor_reset(int ms)
+{
+ int fd;
+ int ret;
+
+ fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
+
+ if (fd < 0)
+ errx(1, "open fail");
+
+ if (ioctl(fd, GPIO_SENSOR_RAIL_RESET, ms) < 0)
+ err(1, "servo arm failed");
+
+}
+
+void
test(void)
{
int fd;
- unsigned servo_count = 0;
+ unsigned servo_count = 0;
unsigned pwm_value = 1000;
int direction = 1;
int ret;
-
+
fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
if (fd < 0)
@@ -1320,9 +1459,9 @@ test(void)
if (ioctl(fd, PWM_SERVO_ARM, 0) < 0) err(1, "servo arm failed");
- if (ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count) != 0) {
- err(1, "Unable to get servo count\n");
- }
+ if (ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count) != 0) {
+ err(1, "Unable to get servo count\n");
+ }
warnx("Testing %u servos", (unsigned)servo_count);
@@ -1335,32 +1474,38 @@ test(void)
for (;;) {
/* sweep all servos between 1000..2000 */
servo_position_t servos[servo_count];
+
for (unsigned i = 0; i < servo_count; i++)
servos[i] = pwm_value;
- if (direction == 1) {
- // use ioctl interface for one direction
- for (unsigned i=0; i < servo_count; i++) {
- if (ioctl(fd, PWM_SERVO_SET(i), servos[i]) < 0) {
- err(1, "servo %u set failed", i);
- }
- }
- } else {
- // and use write interface for the other direction
- ret = write(fd, servos, sizeof(servos));
- if (ret != (int)sizeof(servos))
- err(1, "error writing PWM servo data, wrote %u got %d", sizeof(servos), ret);
- }
+ if (direction == 1) {
+ // use ioctl interface for one direction
+ for (unsigned i = 0; i < servo_count; i++) {
+ if (ioctl(fd, PWM_SERVO_SET(i), servos[i]) < 0) {
+ err(1, "servo %u set failed", i);
+ }
+ }
+
+ } else {
+ // and use write interface for the other direction
+ ret = write(fd, servos, sizeof(servos));
+
+ if (ret != (int)sizeof(servos))
+ err(1, "error writing PWM servo data, wrote %u got %d", sizeof(servos), ret);
+ }
if (direction > 0) {
if (pwm_value < 2000) {
pwm_value++;
+
} else {
direction = -1;
}
+
} else {
if (pwm_value > 1000) {
pwm_value--;
+
} else {
direction = 1;
}
@@ -1372,6 +1517,7 @@ test(void)
if (ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&value))
err(1, "error reading PWM servo %d", i);
+
if (value != servos[i])
errx(1, "servo %d readback error, got %u expected %u", i, value, servos[i]);
}
@@ -1379,12 +1525,14 @@ test(void)
/* Check if user wants to quit */
char c;
ret = poll(&fds, 1, 0);
+
if (ret > 0) {
read(0, &c, 1);
+
if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("User abort\n");
- break;
+ break;
}
}
}
@@ -1457,6 +1605,7 @@ fmu_main(int argc, char *argv[])
new_mode = PORT_FULL_PWM;
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
+
} else if (!strcmp(verb, "mode_serial")) {
new_mode = PORT_FULL_SERIAL;
@@ -1489,11 +1638,24 @@ fmu_main(int argc, char *argv[])
if (!strcmp(verb, "fake"))
fake(argc - 1, argv + 1);
+ if (!strcmp(verb, "sensor_reset")) {
+ if (argc > 2) {
+ int reset_time = strtol(argv[2], 0, 0);
+ sensor_reset(reset_time);
+
+ } else {
+ sensor_reset(0);
+ warnx("resettet default time");
+ }
+ exit(0);
+ }
+
+
fprintf(stderr, "FMU: unrecognised command, try:\n");
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test\n");
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
- fprintf(stderr, " mode_gpio, mode_pwm, test\n");
+ fprintf(stderr, " mode_gpio, mode_pwm, test, sensor_reset [milliseconds]\n");
#endif
exit(1);
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-19 03:03:24 +0000