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Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
-rw-r--r--src/drivers/px4io/px4io.cpp1354
1 files changed, 798 insertions, 556 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index bd5f33043..63e775857 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -80,7 +80,9 @@
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/battery_status.h>
+#include <uORB/topics/servorail_status.h>
#include <uORB/topics/parameter_update.h>
+
#include <debug.h>
#include <mavlink/mavlink_log.h>
@@ -94,6 +96,10 @@ extern device::Device *PX4IO_serial_interface() weak_function;
#define PX4IO_SET_DEBUG _IOC(0xff00, 0)
#define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1)
+#define UPDATE_INTERVAL_MIN 2 // 2 ms -> 500 Hz
+#define ORB_CHECK_INTERVAL 200000 // 200 ms -> 5 Hz
+#define IO_POLL_INTERVAL 20000 // 20 ms -> 50 Hz
+
/**
* The PX4IO class.
*
@@ -104,35 +110,35 @@ class PX4IO : public device::CDev
public:
/**
* Constructor.
- *
+ *
* Initialize all class variables.
*/
PX4IO(device::Device *interface);
/**
* Destructor.
- *
+ *
* Wait for worker thread to terminate.
*/
virtual ~PX4IO();
/**
* Initialize the PX4IO class.
- *
+ *
* Retrieve relevant initial system parameters. Initialize PX4IO registers.
*/
virtual int init();
/**
* Detect if a PX4IO is connected.
- *
+ *
* Only validate if there is a PX4IO to talk to.
*/
virtual int detect();
/**
* IO Control handler.
- *
+ *
* Handle all IOCTL calls to the PX4IO file descriptor.
*
* @param[in] filp file handle (not used). This function is always called directly through object reference
@@ -143,7 +149,7 @@ public:
/**
* write handler.
- *
+ *
* Handle writes to the PX4IO file descriptor.
*
* @param[in] filp file handle (not used). This function is always called directly through object reference
@@ -178,6 +184,11 @@ public:
int set_failsafe_values(const uint16_t *vals, unsigned len);
/**
+ * Disable RC input handling
+ */
+ int disable_rc_handling();
+
+ /**
* Print IO status.
*
* Print all relevant IO status information
@@ -185,17 +196,17 @@ public:
void print_status();
/**
- * Disable RC input handling
+ * Fetch and print debug console output.
*/
- int disable_rc_handling();
+ int print_debug();
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/**
* Set the DSM VCC is controlled by relay one flag
*
* @param[in] enable true=DSM satellite VCC is controlled by relay1, false=DSM satellite VCC not controlled
*/
- inline void set_dsm_vcc_ctl(bool enable)
- {
+ inline void set_dsm_vcc_ctl(bool enable) {
_dsm_vcc_ctl = enable;
};
@@ -204,10 +215,12 @@ public:
*
* @return true=DSM satellite VCC is controlled by relay1, false=DSM satellite VCC not controlled
*/
- inline bool get_dsm_vcc_ctl()
- {
+ inline bool get_dsm_vcc_ctl() {
return _dsm_vcc_ctl;
};
+#endif
+
+ inline uint16_t system_status() const {return _status;}
private:
device::Device *_interface;
@@ -226,7 +239,8 @@ private:
volatile int _task; ///<worker task id
volatile bool _task_should_exit; ///<worker terminate flag
- int _mavlink_fd; ///<mavlink file descriptor
+ int _mavlink_fd; ///<mavlink file descriptor. This is opened by class instantiation and Doesn't appear to be usable in main thread.
+ int _thread_mavlink_fd; ///<mavlink file descriptor for thread.
perf_counter_t _perf_update; ///<local performance counter
@@ -239,12 +253,14 @@ private:
int _t_actuator_armed; ///< system armed control topic
int _t_vehicle_control_mode;///< vehicle control mode topic
int _t_param; ///< parameter update topic
+ int _t_vehicle_command; ///< vehicle command topic
/* advertised topics */
orb_advert_t _to_input_rc; ///< rc inputs from io
orb_advert_t _to_actuators_effective; ///< effective actuator controls topic
orb_advert_t _to_outputs; ///< mixed servo outputs topic
orb_advert_t _to_battery; ///< battery status / voltage
+ orb_advert_t _to_servorail; ///< servorail status
orb_advert_t _to_safety; ///< status of safety
actuator_outputs_s _outputs; ///<mixed outputs
@@ -257,7 +273,9 @@ private:
float _battery_mamphour_total;///<amp hours consumed so far
uint64_t _battery_last_timestamp;///<last amp hour calculation timestamp
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
bool _dsm_vcc_ctl; ///<true if relay 1 controls DSM satellite RX power
+#endif
/**
* Trampoline to the worker task
@@ -374,44 +392,55 @@ private:
/**
* Send mixer definition text to IO
*/
- int mixer_send(const char *buf, unsigned buflen);
+ int mixer_send(const char *buf, unsigned buflen, unsigned retries = 3);
/**
- * Set the minimum PWM signals when armed
+ * Handle a status update from IO.
+ *
+ * Publish IO status information if necessary.
+ *
+ * @param status The status register
*/
- int set_min_values(const uint16_t *vals, unsigned len);
+ int io_handle_status(uint16_t status);
/**
- * Set the maximum PWM signal when armed
+ * Handle an alarm update from IO.
+ *
+ * Publish IO alarm information if necessary.
+ *
+ * @param alarm The status register
*/
- int set_max_values(const uint16_t *vals, unsigned len);
+ int io_handle_alarms(uint16_t alarms);
/**
- * Set an idle PWM signal that is active right after startup, even when SAFETY_SAFE
+ * Handle issuing dsm bind ioctl to px4io.
+ *
+ * @param dsmMode 0:dsm2, 1:dsmx
*/
- int set_idle_values(const uint16_t *vals, unsigned len);
+ void dsm_bind_ioctl(int dsmMode);
/**
- * Handle a status update from IO.
+ * Handle a battery update from IO.
*
- * Publish IO status information if necessary.
+ * Publish IO battery information if necessary.
*
- * @param status The status register
+ * @param vbatt vbatt register
+ * @param ibatt ibatt register
*/
- int io_handle_status(uint16_t status);
+ void io_handle_battery(uint16_t vbatt, uint16_t ibatt);
/**
- * Handle an alarm update from IO.
+ * Handle a servorail update from IO.
*
- * Publish IO alarm information if necessary.
+ * Publish servo rail information if necessary.
*
- * @param alarm The status register
+ * @param vservo vservo register
+ * @param vrssi vrssi register
*/
- int io_handle_alarms(uint16_t alarms);
+ void io_handle_vservo(uint16_t vbatt, uint16_t ibatt);
};
-
namespace
{
@@ -433,6 +462,7 @@ PX4IO::PX4IO(device::Device *interface) :
_task(-1),
_task_should_exit(false),
_mavlink_fd(-1),
+ _thread_mavlink_fd(-1),
_perf_update(perf_alloc(PC_ELAPSED, "px4io update")),
_status(0),
_alarms(0),
@@ -440,17 +470,22 @@ PX4IO::PX4IO(device::Device *interface) :
_t_actuator_armed(-1),
_t_vehicle_control_mode(-1),
_t_param(-1),
+ _t_vehicle_command(-1),
_to_input_rc(0),
_to_actuators_effective(0),
_to_outputs(0),
_to_battery(0),
+ _to_servorail(0),
_to_safety(0),
_primary_pwm_device(false),
- _battery_amp_per_volt(90.0f/5.0f), // this matches the 3DR current sensor
+ _battery_amp_per_volt(90.0f / 5.0f), // this matches the 3DR current sensor
_battery_amp_bias(0),
_battery_mamphour_total(0),
- _battery_last_timestamp(0),
- _dsm_vcc_ctl(false)
+ _battery_last_timestamp(0)
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
+ , _dsm_vcc_ctl(false)
+#endif
+
{
/* we need this potentially before it could be set in task_main */
g_dev = this;
@@ -487,25 +522,30 @@ PX4IO::detect()
{
int ret;
- ASSERT(_task == -1);
+ if (_task == -1) {
- /* do regular cdev init */
- ret = CDev::init();
- if (ret != OK)
- return ret;
+ /* do regular cdev init */
+ ret = CDev::init();
- /* get some parameters */
- unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
- if (protocol != PX4IO_PROTOCOL_VERSION) {
- if (protocol == _io_reg_get_error) {
- log("IO not installed");
- } else {
- log("IO version error");
- mavlink_log_emergency(_mavlink_fd, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!");
+ if (ret != OK)
+ return ret;
+
+ /* get some parameters */
+ unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
+
+ if (protocol != PX4IO_PROTOCOL_VERSION) {
+ if (protocol == _io_reg_get_error) {
+ log("IO not installed");
+
+ } else {
+ log("IO version error");
+ mavlink_log_emergency(_mavlink_fd, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!");
+ }
+
+ return -1;
}
-
- return -1;
}
+
log("IO found");
return 0;
@@ -520,22 +560,26 @@ PX4IO::init()
/* do regular cdev init */
ret = CDev::init();
+
if (ret != OK)
return ret;
/* get some parameters */
unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
+
if (protocol != PX4IO_PROTOCOL_VERSION) {
log("protocol/firmware mismatch");
mavlink_log_emergency(_mavlink_fd, "[IO] protocol/firmware mismatch, abort.");
return -1;
}
+
_hardware = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_HARDWARE_VERSION);
_max_actuators = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT);
_max_controls = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT);
_max_relays = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT);
_max_transfer = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER) - 2;
_max_rc_input = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT);
+
if ((_max_actuators < 1) || (_max_actuators > 255) ||
(_max_relays > 32) ||
(_max_transfer < 16) || (_max_transfer > 255) ||
@@ -545,6 +589,7 @@ PX4IO::init()
mavlink_log_emergency(_mavlink_fd, "[IO] config read fail, abort.");
return -1;
}
+
if (_max_rc_input > RC_INPUT_MAX_CHANNELS)
_max_rc_input = RC_INPUT_MAX_CHANNELS;
@@ -559,6 +604,7 @@ PX4IO::init()
/* get IO's last seen FMU state */
ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, &reg, sizeof(reg));
+
if (ret != OK)
return ret;
@@ -569,8 +615,11 @@ PX4IO::init()
if ((reg & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) &&
(reg & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
- mavlink_log_emergency(_mavlink_fd, "[IO] RECOVERING FROM FMU IN-AIR RESTART");
- log("INAIR RESTART RECOVERY (needs commander app running)");
+ /* get a status update from IO */
+ io_get_status();
+
+ mavlink_log_emergency(_mavlink_fd, "[IO] RECOVERING FROM FMU IN-AIR RESTART");
+ log("INAIR RESTART RECOVERY (needs commander app running)");
/* WARNING: COMMANDER app/vehicle status must be initialized.
* If this fails (or the app is not started), worst-case IO
@@ -582,7 +631,7 @@ PX4IO::init()
struct actuator_armed_s safety;
uint64_t try_start_time = hrt_absolute_time();
bool updated = false;
-
+
/* keep checking for an update, ensure we got a arming information,
not something that was published a long time ago. */
do {
@@ -598,7 +647,7 @@ PX4IO::init()
usleep(10000);
/* abort after 5s */
- if ((hrt_absolute_time() - try_start_time)/1000 > 3000) {
+ if ((hrt_absolute_time() - try_start_time) / 1000 > 3000) {
log("failed to recover from in-air restart (1), aborting IO driver init.");
return 1;
}
@@ -638,7 +687,7 @@ PX4IO::init()
usleep(50000);
/* abort after 5s */
- if ((hrt_absolute_time() - try_start_time)/1000 > 2000) {
+ if ((hrt_absolute_time() - try_start_time) / 1000 > 2000) {
log("failed to recover from in-air restart (2), aborting IO driver init.");
return 1;
}
@@ -649,25 +698,27 @@ PX4IO::init()
log("re-sending arm cmd");
}
- /* keep waiting for state change for 2 s */
+ /* keep waiting for state change for 2 s */
} while (!safety.armed);
- /* regular boot, no in-air restart, init IO */
- } else {
+ /* regular boot, no in-air restart, init IO */
+ } else {
/* dis-arm IO before touching anything */
- io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING,
- PX4IO_P_SETUP_ARMING_FMU_ARMED |
- PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK |
- PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK |
- PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE, 0);
+ io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING,
+ PX4IO_P_SETUP_ARMING_FMU_ARMED |
+ PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK |
+ PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK |
+ PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE, 0);
if (_rc_handling_disabled) {
ret = io_disable_rc_handling();
+
} else {
/* publish RC config to IO */
ret = io_set_rc_config();
+
if (ret != OK) {
log("failed to update RC input config");
mavlink_log_info(_mavlink_fd, "[IO] RC config upload fail");
@@ -707,11 +758,12 @@ PX4IO::task_main_trampoline(int argc, char *argv[])
void
PX4IO::task_main()
{
- hrt_abstime last_poll_time = 0;
- int mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
+ hrt_abstime poll_last = 0;
+ hrt_abstime orb_check_last = 0;
log("starting");
+ _thread_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
/*
* Subscribe to the appropriate PWM output topic based on whether we are the
@@ -720,36 +772,26 @@ PX4IO::task_main()
_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
ORB_ID(actuator_controls_1));
orb_set_interval(_t_actuators, 20); /* default to 50Hz */
-
_t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed));
- orb_set_interval(_t_actuator_armed, 200); /* 5Hz update rate */
-
_t_vehicle_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode));
- orb_set_interval(_t_vehicle_control_mode, 200); /* 5Hz update rate max. */
-
_t_param = orb_subscribe(ORB_ID(parameter_update));
- orb_set_interval(_t_param, 500); /* 2Hz update rate max. */
+ _t_vehicle_command = orb_subscribe(ORB_ID(vehicle_command));
if ((_t_actuators < 0) ||
- (_t_actuator_armed < 0) ||
- (_t_vehicle_control_mode < 0) ||
- (_t_param < 0)) {
+ (_t_actuator_armed < 0) ||
+ (_t_vehicle_control_mode < 0) ||
+ (_t_param < 0) ||
+ (_t_vehicle_command < 0)) {
log("subscription(s) failed");
goto out;
}
/* poll descriptor */
- pollfd fds[4];
+ pollfd fds[1];
fds[0].fd = _t_actuators;
fds[0].events = POLLIN;
- fds[1].fd = _t_actuator_armed;
- fds[1].events = POLLIN;
- fds[2].fd = _t_vehicle_control_mode;
- fds[2].events = POLLIN;
- fds[3].fd = _t_param;
- fds[3].events = POLLIN;
- debug("ready");
+ log("ready");
/* lock against the ioctl handler */
lock();
@@ -759,17 +801,19 @@ PX4IO::task_main()
/* adjust update interval */
if (_update_interval != 0) {
- if (_update_interval < 5)
- _update_interval = 5;
+ if (_update_interval < UPDATE_INTERVAL_MIN)
+ _update_interval = UPDATE_INTERVAL_MIN;
+
if (_update_interval > 100)
_update_interval = 100;
+
orb_set_interval(_t_actuators, _update_interval);
_update_interval = 0;
}
/* sleep waiting for topic updates, but no more than 20ms */
unlock();
- int ret = ::poll(&fds[0], sizeof(fds) / sizeof(fds[0]), 20);
+ int ret = ::poll(fds, 1, 20);
lock();
/* this would be bad... */
@@ -782,67 +826,79 @@ PX4IO::task_main()
hrt_abstime now = hrt_absolute_time();
/* if we have new control data from the ORB, handle it */
- if (fds[0].revents & POLLIN)
+ if (fds[0].revents & POLLIN) {
io_set_control_state();
+ }
- /* if we have an arming state update, handle it */
- if ((fds[1].revents & POLLIN) || (fds[2].revents & POLLIN))
- io_set_arming_state();
-
- /*
- * If it's time for another tick of the polling status machine,
- * try it now.
- */
- if ((now - last_poll_time) >= 20000) {
+ if (now >= poll_last + IO_POLL_INTERVAL) {
+ /* run at 50Hz */
+ poll_last = now;
- /*
- * Pull status and alarms from IO.
- */
+ /* pull status and alarms from IO */
io_get_status();
- /*
- * Get raw R/C input from IO.
- */
+ /* get raw R/C input from IO */
io_publish_raw_rc();
- /*
- * Fetch mixed servo controls and PWM outputs from IO.
- *
- * XXX We could do this at a reduced rate in many/most cases.
- */
+ /* fetch mixed servo controls and PWM outputs from IO */
io_publish_mixed_controls();
io_publish_pwm_outputs();
+ }
+
+ if (now >= orb_check_last + ORB_CHECK_INTERVAL) {
+ /* run at 5Hz */
+ orb_check_last = now;
+
+ /* check updates on uORB topics and handle it */
+ bool updated = false;
+
+ /* arming state */
+ orb_check(_t_actuator_armed, &updated);
+
+ if (!updated) {
+ orb_check(_t_vehicle_control_mode, &updated);
+ }
+
+ if (updated) {
+ io_set_arming_state();
+ }
+
+ /* vehicle command */
+ orb_check(_t_vehicle_command, &updated);
+
+ if (updated) {
+ struct vehicle_command_s cmd;
+ orb_copy(ORB_ID(vehicle_command), _t_vehicle_command, &cmd);
+
+ // Check for a DSM pairing command
+ if ((cmd.command == VEHICLE_CMD_START_RX_PAIR) && (cmd.param1 == 0.0f)) {
+ dsm_bind_ioctl((int)cmd.param2);
+ }
+ }
/*
* If parameters have changed, re-send RC mappings to IO
*
* XXX this may be a bit spammy
*/
- if (fds[3].revents & POLLIN) {
+ orb_check(_t_param, &updated);
+
+ if (updated) {
parameter_update_s pupdate;
+ orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
+
int32_t dsm_bind_val;
param_t dsm_bind_param;
- // See if bind parameter has been set, and reset it to 0
+ /* see if bind parameter has been set, and reset it to -1 */
param_get(dsm_bind_param = param_find("RC_DSM_BIND"), &dsm_bind_val);
- if (dsm_bind_val) {
- if (!(_status & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
- if ((dsm_bind_val == 1) || (dsm_bind_val == 2)) {
- mavlink_log_info(mavlink_fd, "[IO] binding dsm%c rx", dsm_bind_val == 1 ? '2' : 'x');
- ioctl(nullptr, DSM_BIND_START, dsm_bind_val == 1 ? 3 : 7);
- } else {
- mavlink_log_info(mavlink_fd, "[IO] invalid bind type, bind request rejected");
- }
- } else {
- mavlink_log_info(mavlink_fd, "[IO] system armed, bind request rejected");
- }
- dsm_bind_val = 0;
+
+ if (dsm_bind_val > -1) {
+ dsm_bind_ioctl(dsm_bind_val);
+ dsm_bind_val = -1;
param_set(dsm_bind_param, &dsm_bind_val);
}
- /* copy to reset the notification */
- orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
-
/* re-upload RC input config as it may have changed */
io_set_rc_config();
}
@@ -873,7 +929,7 @@ PX4IO::io_set_control_state()
/* get controls */
orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
- ORB_ID(actuator_controls_1), _t_actuators, &controls);
+ ORB_ID(actuator_controls_1), _t_actuators, &controls);
for (unsigned i = 0; i < _max_controls; i++)
regs[i] = FLOAT_TO_REG(controls.control[i]);
@@ -882,55 +938,6 @@ PX4IO::io_set_control_state()
return io_reg_set(PX4IO_PAGE_CONTROLS, 0, regs, _max_controls);
}
-int
-PX4IO::set_failsafe_values(const uint16_t *vals, unsigned len)
-{
- if (len > _max_actuators)
- /* fail with error */
- return E2BIG;
-
- /* copy values to registers in IO */
- return io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, vals, len);
-}
-
-int
-PX4IO::set_min_values(const uint16_t *vals, unsigned len)
-{
-
- if (len > _max_actuators)
- /* fail with error */
- return E2BIG;
-
- /* copy values to registers in IO */
- return io_reg_set(PX4IO_PAGE_CONTROL_MIN_PWM, 0, vals, len);
-}
-
-int
-PX4IO::set_max_values(const uint16_t *vals, unsigned len)
-{
-
- if (len > _max_actuators)
- /* fail with error */
- return E2BIG;
-
- /* copy values to registers in IO */
- return io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, vals, len);
-}
-
-int
-PX4IO::set_idle_values(const uint16_t *vals, unsigned len)
-{
-
- if (len > _max_actuators)
- /* fail with error */
- return E2BIG;
-
- printf("Sending IDLE values\n");
-
- /* copy values to registers in IO */
- return io_reg_set(PX4IO_PAGE_IDLE_PWM, 0, vals, len);
-}
-
int
PX4IO::io_set_arming_state()
@@ -946,17 +953,21 @@ PX4IO::io_set_arming_state()
if (armed.armed && !armed.lockdown) {
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
+
} else {
clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
}
+
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
+
} else {
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
}
if (control_mode.flag_external_manual_override_ok) {
set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
+
} else {
clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
}
@@ -1001,22 +1012,27 @@ PX4IO::io_set_rc_config()
* autopilots / GCS'.
*/
param_get(param_find("RC_MAP_ROLL"), &ichan);
+
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan - 1] = 0;
param_get(param_find("RC_MAP_PITCH"), &ichan);
+
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan - 1] = 1;
param_get(param_find("RC_MAP_YAW"), &ichan);
+
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan - 1] = 2;
param_get(param_find("RC_MAP_THROTTLE"), &ichan);
+
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan - 1] = 3;
ichan = 4;
+
for (unsigned i = 0; i < _max_rc_input; i++)
if (input_map[i] == -1)
input_map[i] = ichan++;
@@ -1071,6 +1087,7 @@ PX4IO::io_set_rc_config()
/* send channel config to IO */
ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE);
+
if (ret != OK) {
log("rc config upload failed");
break;
@@ -1098,13 +1115,14 @@ PX4IO::io_handle_status(uint16_t status)
/* check for IO reset - force it back to armed if necessary */
if (_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF && !(status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
- && !(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
+ && !(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
/* set the arming flag */
ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_SAFETY_OFF | PX4IO_P_STATUS_FLAGS_ARM_SYNC);
/* set new status */
_status = status;
_status &= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
+
} else if (!(_status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
/* set the sync flag */
@@ -1128,6 +1146,7 @@ PX4IO::io_handle_status(uint16_t status)
if (status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
safety.safety_off = true;
safety.safety_switch_available = true;
+
} else {
safety.safety_off = false;
safety.safety_switch_available = true;
@@ -1136,6 +1155,7 @@ PX4IO::io_handle_status(uint16_t status)
/* lazily publish the safety status */
if (_to_safety > 0) {
orb_publish(ORB_ID(safety), _to_safety, &safety);
+
} else {
_to_safety = orb_advertise(ORB_ID(safety), &safety);
}
@@ -1143,6 +1163,24 @@ PX4IO::io_handle_status(uint16_t status)
return ret;
}
+void
+PX4IO::dsm_bind_ioctl(int dsmMode)
+{
+ if (!(_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) {
+ /* 0: dsm2, 1:dsmx */
+ if ((dsmMode == 0) || (dsmMode == 1)) {
+ mavlink_log_info(_thread_mavlink_fd, "[IO] binding dsm%s rx", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "x" : "x8"));
+ ioctl(nullptr, DSM_BIND_START, (dsmMode == 0) ? DSM2_BIND_PULSES : ((dsmMode == 1) ? DSMX_BIND_PULSES : DSMX8_BIND_PULSES));
+ } else {
+ mavlink_log_info(_thread_mavlink_fd, "[IO] invalid dsm bind mode, bind request rejected");
+ }
+
+ } else {
+ mavlink_log_info(_thread_mavlink_fd, "[IO] system armed, bind request rejected");
+ }
+}
+
+
int
PX4IO::io_handle_alarms(uint16_t alarms)
{
@@ -1156,53 +1194,88 @@ PX4IO::io_handle_alarms(uint16_t alarms)
return 0;
}
+void
+PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt)
+{
+ /* only publish if battery has a valid minimum voltage */
+ if (vbatt <= 3300) {
+ return;
+ }
+
+ battery_status_s battery_status;
+ battery_status.timestamp = hrt_absolute_time();
+
+ /* voltage is scaled to mV */
+ battery_status.voltage_v = vbatt / 1000.0f;
+
+ /*
+ ibatt contains the raw ADC count, as 12 bit ADC
+ value, with full range being 3.3v
+ */
+ battery_status.current_a = ibatt * (3.3f / 4096.0f) * _battery_amp_per_volt;
+ battery_status.current_a += _battery_amp_bias;
+
+ /*
+ integrate battery over time to get total mAh used
+ */
+ if (_battery_last_timestamp != 0) {
+ _battery_mamphour_total += battery_status.current_a *
+ (battery_status.timestamp - _battery_last_timestamp) * 1.0e-3f / 3600;
+ }
+
+ battery_status.discharged_mah = _battery_mamphour_total;
+ _battery_last_timestamp = battery_status.timestamp;
+
+ /* lazily publish the battery voltage */
+ if (_to_battery > 0) {
+ orb_publish(ORB_ID(battery_status), _to_battery, &battery_status);
+
+ } else {
+ _to_battery = orb_advertise(ORB_ID(battery_status), &battery_status);
+ }
+}
+
+void
+PX4IO::io_handle_vservo(uint16_t vservo, uint16_t vrssi)
+{
+ servorail_status_s servorail_status;
+ servorail_status.timestamp = hrt_absolute_time();
+
+ /* voltage is scaled to mV */
+ servorail_status.voltage_v = vservo * 0.001f;
+ servorail_status.rssi_v = vrssi * 0.001f;
+
+ /* lazily publish the servorail voltages */
+ if (_to_servorail > 0) {
+ orb_publish(ORB_ID(servorail_status), _to_servorail, &servorail_status);
+
+ } else {
+ _to_servorail = orb_advertise(ORB_ID(servorail_status), &servorail_status);
+ }
+}
+
int
PX4IO::io_get_status()
{
- uint16_t regs[4];
+ uint16_t regs[6];
int ret;
/* get STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT in that order */
ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &regs[0], sizeof(regs) / sizeof(regs[0]));
+
if (ret != OK)
return ret;
io_handle_status(regs[0]);
io_handle_alarms(regs[1]);
-
- /* only publish if battery has a valid minimum voltage */
- if (regs[2] > 3300) {
- battery_status_s battery_status;
-
- battery_status.timestamp = hrt_absolute_time();
- /* voltage is scaled to mV */
- battery_status.voltage_v = regs[2] / 1000.0f;
-
- /*
- regs[3] contains the raw ADC count, as 12 bit ADC
- value, with full range being 3.3v
- */
- battery_status.current_a = regs[3] * (3.3f/4096.0f) * _battery_amp_per_volt;
- battery_status.current_a += _battery_amp_bias;
-
- /*
- integrate battery over time to get total mAh used
- */
- if (_battery_last_timestamp != 0) {
- _battery_mamphour_total += battery_status.current_a *
- (battery_status.timestamp - _battery_last_timestamp) * 1.0e-3f / 3600;
- }
- battery_status.discharged_mah = _battery_mamphour_total;
- _battery_last_timestamp = battery_status.timestamp;
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
+ io_handle_battery(regs[2], regs[3]);
+#endif
- /* lazily publish the battery voltage */
- if (_to_battery > 0) {
- orb_publish(ORB_ID(battery_status), _to_battery, &battery_status);
- } else {
- _to_battery = orb_advertise(ORB_ID(battery_status), &battery_status);
- }
- }
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+ io_handle_vservo(regs[4], regs[5]);
+#endif
return ret;
}
@@ -1215,7 +1288,7 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
/* we don't have the status bits, so input_source has to be set elsewhere */
input_rc.input_source = RC_INPUT_SOURCE_UNKNOWN;
-
+
static const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT);
uint16_t regs[RC_INPUT_MAX_CHANNELS + prolog];
@@ -1226,6 +1299,7 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
*/
input_rc.timestamp = hrt_absolute_time();
ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT, &regs[0], prolog + 9);
+
if (ret != OK)
return ret;
@@ -1234,8 +1308,10 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
* channel count once.
*/
channel_count = regs[0];
+
if (channel_count > 9) {
ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, &regs[prolog + 9], channel_count - 9);
+
if (ret != OK)
return ret;
}
@@ -1258,16 +1334,20 @@ PX4IO::io_publish_raw_rc()
rc_val.timestamp = hrt_absolute_time();
int ret = io_get_raw_rc_input(rc_val);
+
if (ret != OK)
return ret;
/* sort out the source of the values */
if (_status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
rc_val.input_source = RC_INPUT_SOURCE_PX4IO_PPM;
+
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
+
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SBUS;
+
} else {
rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN;
}
@@ -1275,7 +1355,8 @@ PX4IO::io_publish_raw_rc()
/* lazily advertise on first publication */
if (_to_input_rc == 0) {
_to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_val);
- } else {
+
+ } else {
orb_publish(ORB_ID(input_rc), _to_input_rc, &rc_val);
}
@@ -1300,6 +1381,7 @@ PX4IO::io_publish_mixed_controls()
/* get actuator controls from IO */
uint16_t act[_max_actuators];
int ret = io_reg_get(PX4IO_PAGE_ACTUATORS, 0, act, _max_actuators);
+
if (ret != OK)
return ret;
@@ -1309,16 +1391,17 @@ PX4IO::io_publish_mixed_controls()
/* laxily advertise on first publication */
if (_to_actuators_effective == 0) {
- _to_actuators_effective =
- orb_advertise((_primary_pwm_device ?
- ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE :
- ORB_ID(actuator_controls_effective_1)),
- &controls_effective);
+ _to_actuators_effective =
+ orb_advertise((_primary_pwm_device ?
+ ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE :
+ ORB_ID(actuator_controls_effective_1)),
+ &controls_effective);
+
} else {
- orb_publish((_primary_pwm_device ?
- ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE :
- ORB_ID(actuator_controls_effective_1)),
- _to_actuators_effective, &controls_effective);
+ orb_publish((_primary_pwm_device ?
+ ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE :
+ ORB_ID(actuator_controls_effective_1)),
+ _to_actuators_effective, &controls_effective);
}
return OK;
@@ -1338,26 +1421,29 @@ PX4IO::io_publish_pwm_outputs()
/* get servo values from IO */
uint16_t ctl[_max_actuators];
int ret = io_reg_get(PX4IO_PAGE_SERVOS, 0, ctl, _max_actuators);
+
if (ret != OK)
return ret;
/* convert from register format to float */
for (unsigned i = 0; i < _max_actuators; i++)
outputs.output[i] = ctl[i];
+
outputs.noutputs = _max_actuators;
/* lazily advertise on first publication */
if (_to_outputs == 0) {
_to_outputs = orb_advertise((_primary_pwm_device ?
- ORB_ID_VEHICLE_CONTROLS :
- ORB_ID(actuator_outputs_1)),
- &outputs);
+ ORB_ID_VEHICLE_CONTROLS :
+ ORB_ID(actuator_outputs_1)),
+ &outputs);
+
} else {
orb_publish((_primary_pwm_device ?
- ORB_ID_VEHICLE_CONTROLS :
- ORB_ID(actuator_outputs_1)),
- _to_outputs,
- &outputs);
+ ORB_ID_VEHICLE_CONTROLS :
+ ORB_ID(actuator_outputs_1)),
+ _to_outputs,
+ &outputs);
}
return OK;
@@ -1373,10 +1459,12 @@ PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned
}
int ret = _interface->write((page << 8) | offset, (void *)values, num_values);
+
if (ret != (int)num_values) {
debug("io_reg_set(%u,%u,%u): error %d", page, offset, num_values, ret);
return -1;
}
+
return OK;
}
@@ -1396,10 +1484,12 @@ PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_v
}
int ret = _interface->read((page << 8) | offset, reinterpret_cast<void *>(values), num_values);
+
if (ret != (int)num_values) {
debug("io_reg_get(%u,%u,%u): data error %d", page, offset, num_values, ret);
return -1;
}
+
return OK;
}
@@ -1421,8 +1511,10 @@ PX4IO::io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t
uint16_t value;
ret = io_reg_get(page, offset, &value, 1);
+
if (ret != OK)
return ret;
+
value &= ~clearbits;
value |= setbits;
@@ -1430,61 +1522,135 @@ PX4IO::io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t
}
int
-PX4IO::mixer_send(const char *buf, unsigned buflen)
+PX4IO::print_debug()
{
- uint8_t frame[_max_transfer];
- px4io_mixdata *msg = (px4io_mixdata *)&frame[0];
- unsigned max_len = _max_transfer - sizeof(px4io_mixdata);
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+ int io_fd = -1;
- msg->f2i_mixer_magic = F2I_MIXER_MAGIC;
- msg->action = F2I_MIXER_ACTION_RESET;
+ if (io_fd < 0) {
+ io_fd = ::open("/dev/ttyS0", O_RDONLY | O_NONBLOCK | O_NOCTTY);
+ }
- do {
- unsigned count = buflen;
+ /* read IO's output */
+ if (io_fd > 0) {
+ pollfd fds[1];
+ fds[0].fd = io_fd;
+ fds[0].events = POLLIN;
- if (count > max_len)
- count = max_len;
+ usleep(500);
+ int pret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), 0);
- if (count > 0) {
- memcpy(&msg->text[0], buf, count);
- buf += count;
- buflen -= count;
- }
+ if (pret > 0) {
+ int count;
+ char buf[65];
- /*
- * We have to send an even number of bytes. This
- * will only happen on the very last transfer of a
- * mixer, and we are guaranteed that there will be
- * space left to round up as _max_transfer will be
- * even.
- */
- unsigned total_len = sizeof(px4io_mixdata) + count;
- if (total_len % 1) {
- msg->text[count] = '\0';
- total_len++;
- }
+ do {
+ count = ::read(io_fd, buf, sizeof(buf) - 1);
- int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, total_len / 2);
+ if (count > 0) {
+ /* enforce null termination */
+ buf[count] = '\0';
+ warnx("IO CONSOLE: %s", buf);
+ }
- if (ret) {
- log("mixer send error %d", ret);
- return ret;
+ } while (count > 0);
}
- msg->action = F2I_MIXER_ACTION_APPEND;
+ ::close(io_fd);
+ return 0;
+ }
+
+#endif
+ return 1;
+
+}
+
+int
+PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
+{
+ /* get debug level */
+ int debuglevel = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG);
+
+ uint8_t frame[_max_transfer];
+
+ do {
+
+ px4io_mixdata *msg = (px4io_mixdata *)&frame[0];
+ unsigned max_len = _max_transfer - sizeof(px4io_mixdata);
+
+ msg->f2i_mixer_magic = F2I_MIXER_MAGIC;
+ msg->action = F2I_MIXER_ACTION_RESET;
+
+ do {
+ unsigned count = buflen;
+
+ if (count > max_len)
+ count = max_len;
+
+ if (count > 0) {
+ memcpy(&msg->text[0], buf, count);
+ buf += count;
+ buflen -= count;
+
+ } else {
+ continue;
+ }
+
+ /*
+ * We have to send an even number of bytes. This
+ * will only happen on the very last transfer of a
+ * mixer, and we are guaranteed that there will be
+ * space left to round up as _max_transfer will be
+ * even.
+ */
+ unsigned total_len = sizeof(px4io_mixdata) + count;
+
+ if (total_len % 2) {
+ msg->text[count] = '\0';
+ total_len++;
+ }
+
+ int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, total_len / 2);
+
+ /* print mixer chunk */
+ if (debuglevel > 5 || ret) {
+
+ warnx("fmu sent: \"%s\"", msg->text);
- } while (buflen > 0);
+ /* read IO's output */
+ print_debug();
+ }
+
+ if (ret) {
+ log("mixer send error %d", ret);
+ return ret;
+ }
+
+ msg->action = F2I_MIXER_ACTION_APPEND;
+
+ } while (buflen > 0);
+
+ /* ensure a closing newline */
+ msg->text[0] = '\n';
+ msg->text[1] = '\0';
+
+ int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2);
+
+ retries--;
+
+ log("mixer sent");
+
+ } while (retries > 0 && (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK)));
/* check for the mixer-OK flag */
if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK) {
- debug("mixer upload OK");
mavlink_log_info(_mavlink_fd, "[IO] mixer upload ok");
return 0;
- } else {
- debug("mixer rejected by IO");
- mavlink_log_info(_mavlink_fd, "[IO] mixer upload fail");
}
+ log("mixer rejected by IO");
+ mavlink_log_info(_mavlink_fd, "[IO] mixer upload fail");
+
/* load must have failed for some reason */
return -EINVAL;
}
@@ -1494,48 +1660,48 @@ PX4IO::print_status()
{
/* basic configuration */
printf("protocol %u hardware %u bootloader %u buffer %uB\n",
- io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION),
- io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_HARDWARE_VERSION),
- io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_BOOTLOADER_VERSION),
- io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER));
+ io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION),
+ io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_HARDWARE_VERSION),
+ io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_BOOTLOADER_VERSION),
+ io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER));
printf("%u controls %u actuators %u R/C inputs %u analog inputs %u relays\n",
- io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT),
- io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT),
- io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT),
- io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ADC_INPUT_COUNT),
- io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT));
+ io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT),
+ io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT),
+ io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT),
+ io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ADC_INPUT_COUNT),
+ io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT));
/* status */
printf("%u bytes free\n",
- io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM));
+ io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM));
uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS);
printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s%s\n",
- flags,
- ((flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED) ? " OUTPUTS_ARMED" : ""),
- ((flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? " SAFETY_OFF" : " SAFETY_SAFE"),
- ((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""),
- ((flags & PX4IO_P_STATUS_FLAGS_RC_OK) ? " RC_OK" : " RC_FAIL"),
- ((flags & PX4IO_P_STATUS_FLAGS_RC_PPM) ? " PPM" : ""),
- (((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (!(flags & PX4IO_P_STATUS_FLAGS_RC_DSM11))) ? " DSM10" : ""),
- (((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (flags & PX4IO_P_STATUS_FLAGS_RC_DSM11)) ? " DSM11" : ""),
- ((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? " SBUS" : ""),
- ((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"),
- ((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PWM_PASSTHROUGH" : ""),
- ((flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ? " MIXER_OK" : " MIXER_FAIL"),
- ((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"),
- ((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL"),
- ((flags & PX4IO_P_STATUS_FLAGS_FAILSAFE) ? " FAILSAFE" : ""));
+ flags,
+ ((flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED) ? " OUTPUTS_ARMED" : ""),
+ ((flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? " SAFETY_OFF" : " SAFETY_SAFE"),
+ ((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""),
+ ((flags & PX4IO_P_STATUS_FLAGS_RC_OK) ? " RC_OK" : " RC_FAIL"),
+ ((flags & PX4IO_P_STATUS_FLAGS_RC_PPM) ? " PPM" : ""),
+ (((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (!(flags & PX4IO_P_STATUS_FLAGS_RC_DSM11))) ? " DSM10" : ""),
+ (((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (flags & PX4IO_P_STATUS_FLAGS_RC_DSM11)) ? " DSM11" : ""),
+ ((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? " SBUS" : ""),
+ ((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"),
+ ((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PWM_PASSTHROUGH" : ""),
+ ((flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ? " MIXER_OK" : " MIXER_FAIL"),
+ ((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"),
+ ((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL"),
+ ((flags & PX4IO_P_STATUS_FLAGS_FAILSAFE) ? " FAILSAFE" : ""));
uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS);
printf("alarms 0x%04x%s%s%s%s%s%s%s%s\n",
- alarms,
- ((alarms & PX4IO_P_STATUS_ALARMS_VBATT_LOW) ? " VBATT_LOW" : ""),
- ((alarms & PX4IO_P_STATUS_ALARMS_TEMPERATURE) ? " TEMPERATURE" : ""),
- ((alarms & PX4IO_P_STATUS_ALARMS_SERVO_CURRENT) ? " SERVO_CURRENT" : ""),
- ((alarms & PX4IO_P_STATUS_ALARMS_ACC_CURRENT) ? " ACC_CURRENT" : ""),
- ((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST) ? " FMU_LOST" : ""),
- ((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""),
- ((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) ? " PWM_ERROR" : ""),
- ((alarms & PX4IO_P_STATUS_ALARMS_VSERVO_FAULT) ? " VSERVO_FAULT" : ""));
+ alarms,
+ ((alarms & PX4IO_P_STATUS_ALARMS_VBATT_LOW) ? " VBATT_LOW" : ""),
+ ((alarms & PX4IO_P_STATUS_ALARMS_TEMPERATURE) ? " TEMPERATURE" : ""),
+ ((alarms & PX4IO_P_STATUS_ALARMS_SERVO_CURRENT) ? " SERVO_CURRENT" : ""),
+ ((alarms & PX4IO_P_STATUS_ALARMS_ACC_CURRENT) ? " ACC_CURRENT" : ""),
+ ((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST) ? " FMU_LOST" : ""),
+ ((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""),
+ ((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) ? " PWM_ERROR" : ""),
+ ((alarms & PX4IO_P_STATUS_ALARMS_VSERVO_FAULT) ? " VSERVO_FAULT" : ""));
/* now clear alarms */
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, 0xFFFF);
@@ -1548,79 +1714,107 @@ PX4IO::print_status()
(double)_battery_amp_per_volt,
(double)_battery_amp_bias,
(double)_battery_mamphour_total);
+
} else if (_hardware == 2) {
printf("vservo %u mV vservo scale %u\n",
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VSERVO),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VSERVO_SCALE));
printf("vrssi %u\n", io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VRSSI));
}
+
printf("actuators");
+
for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_ACTUATORS, i));
+
printf("\n");
printf("servos");
+
for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_SERVOS, i));
+
printf("\n");
uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT);
printf("%d raw R/C inputs", raw_inputs);
+
for (unsigned i = 0; i < raw_inputs; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i));
+
printf("\n");
uint16_t mapped_inputs = io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_VALID);
printf("mapped R/C inputs 0x%04x", mapped_inputs);
+
for (unsigned i = 0; i < _max_rc_input; i++) {
if (mapped_inputs & (1 << i))
printf(" %u:%d", i, REG_TO_SIGNED(io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_BASE + i)));
}
+
printf("\n");
uint16_t adc_inputs = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ADC_INPUT_COUNT);
printf("ADC inputs");
+
for (unsigned i = 0; i < adc_inputs; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_RAW_ADC_INPUT, i));
+
printf("\n");
/* setup and state */
printf("features 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES));
uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
printf("arming 0x%04x%s%s%s%s%s%s\n",
- arming,
- ((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : " FMU_DISARMED"),
- ((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : " IO_ARM_DENIED"),
- ((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""),
- ((arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ? " FAILSAFE_CUSTOM" : ""),
- ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""),
- ((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : ""));
+ arming,
+ ((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : " FMU_DISARMED"),
+ ((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : " IO_ARM_DENIED"),
+ ((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""),
+ ((arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ? " FAILSAFE_CUSTOM" : ""),
+ ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""),
+ ((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : ""));
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
- io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
- io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE),
- io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE),
- io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS));
+ io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
+ io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE),
+ io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE),
+ io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS));
+#endif
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+ printf("rates 0x%04x default %u alt %u\n",
+ io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
+ io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE),
+ io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE));
+#endif
printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG));
printf("controls");
+
for (unsigned i = 0; i < _max_controls; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_CONTROLS, i));
+
printf("\n");
+
for (unsigned i = 0; i < _max_rc_input; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
uint16_t options = io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_OPTIONS);
printf("input %u min %u center %u max %u deadzone %u assigned %u options 0x%04x%s%s\n",
- i,
- io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN),
- io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER),
- io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MAX),
- io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_DEADZONE),
- io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_ASSIGNMENT),
- options,
- ((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""),
- ((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : ""));
+ i,
+ io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN),
+ io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER),
+ io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MAX),
+ io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_DEADZONE),
+ io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_ASSIGNMENT),
+ options,
+ ((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""),
+ ((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : ""));
}
+
printf("failsafe");
+
for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i));
- printf("\nidle values");
+
+ printf("\ndisarmed values");
+
for (unsigned i = 0; i < _max_actuators; i++)
- printf(" %u", io_reg_get(PX4IO_PAGE_IDLE_PWM, i));
+ printf(" %u", io_reg_get(PX4IO_PAGE_DISARMED_PWM, i));
+
printf("\n");
}
@@ -1652,44 +1846,119 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FMU_ARMED, 0);
break;
+ case PWM_SERVO_GET_DEFAULT_UPDATE_RATE:
+ /* get the default update rate */
+ *(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE);
+ break;
+
case PWM_SERVO_SET_UPDATE_RATE:
/* set the requested alternate rate */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg);
break;
- case PWM_SERVO_SELECT_UPDATE_RATE: {
-
- /* blindly clear the PWM update alarm - might be set for some other reason */
- io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR);
+ case PWM_SERVO_GET_UPDATE_RATE:
+ /* get the alternative update rate */
+ *(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE);
+ break;
- /* attempt to set the rate map */
- io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES, arg);
+ case PWM_SERVO_SET_SELECT_UPDATE_RATE: {
- /* check that the changes took */
- uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS);
- if (alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) {
- ret = -EINVAL;
+ /* blindly clear the PWM update alarm - might be set for some other reason */
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR);
+
+ /* attempt to set the rate map */
+ io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES, arg);
+
+ /* check that the changes took */
+ uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS);
+
+ if (alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) {
+ ret = -EINVAL;
+ io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR);
+ }
+
+ break;
}
+
+ case PWM_SERVO_GET_SELECT_UPDATE_RATE:
+
+ *(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES);
+ break;
+
+ case PWM_SERVO_SET_FAILSAFE_PWM: {
+ struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
+ if (pwm->channel_count > _max_actuators)
+ /* fail with error */
+ return E2BIG;
+
+ /* copy values to registers in IO */
+ ret = io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm->values, pwm->channel_count);
break;
}
+ case PWM_SERVO_GET_FAILSAFE_PWM:
+
+ ret = io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, 0, (uint16_t*)arg, _max_actuators);
+ if (ret != OK) {
+ ret = -EIO;
+ }
+ break;
+
case PWM_SERVO_SET_DISARMED_PWM: {
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
- set_idle_values(pwm->values, pwm->channel_count);
+ if (pwm->channel_count > _max_actuators)
+ /* fail with error */
+ return E2BIG;
+
+ /* copy values to registers in IO */
+ ret = io_reg_set(PX4IO_PAGE_DISARMED_PWM, 0, pwm->values, pwm->channel_count);
+ break;
}
+
+ case PWM_SERVO_GET_DISARMED_PWM:
+
+ ret = io_reg_get(PX4IO_PAGE_DISARMED_PWM, 0, (uint16_t*)arg, _max_actuators);
+ if (ret != OK) {
+ ret = -EIO;
+ }
break;
case PWM_SERVO_SET_MIN_PWM: {
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
- set_min_values(pwm->values, pwm->channel_count);
+ if (pwm->channel_count > _max_actuators)
+ /* fail with error */
+ return E2BIG;
+
+ /* copy values to registers in IO */
+ ret = io_reg_set(PX4IO_PAGE_CONTROL_MIN_PWM, 0, pwm->values, pwm->channel_count);
+ break;
}
+
+ case PWM_SERVO_GET_MIN_PWM:
+
+ ret = io_reg_get(PX4IO_PAGE_CONTROL_MIN_PWM, 0, (uint16_t*)arg, _max_actuators);
+ if (ret != OK) {
+ ret = -EIO;
+ }
break;
case PWM_SERVO_SET_MAX_PWM: {
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
- set_max_values(pwm->values, pwm->channel_count);
+ if (pwm->channel_count > _max_actuators)
+ /* fail with error */
+ return E2BIG;
+
+ /* copy values to registers in IO */
+ ret = io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, pwm->values, pwm->channel_count);
+ break;
}
+
+ case PWM_SERVO_GET_MAX_PWM:
+
+ ret = io_reg_get(PX4IO_PAGE_CONTROL_MAX_PWM, 0, (uint16_t*)arg, _max_actuators);
+ if (ret != OK) {
+ ret = -EIO;
+ }
break;
case PWM_SERVO_GET_COUNT:
@@ -1697,11 +1966,11 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
break;
case DSM_BIND_START:
- io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
+ io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
usleep(500000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
- usleep(50000);
+ usleep(72000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
usleep(50000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
@@ -1713,77 +1982,115 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS - 1): {
- /* TODO: we could go lower for e.g. TurboPWM */
- unsigned channel = cmd - PWM_SERVO_SET(0);
- if ((channel >= _max_actuators) || (arg < 900) || (arg > 2100)) {
- ret = -EINVAL;
- } else {
- /* send a direct PWM value */
- ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, channel, arg);
- }
+ /* TODO: we could go lower for e.g. TurboPWM */
+ unsigned channel = cmd - PWM_SERVO_SET(0);
- break;
- }
+ if ((channel >= _max_actuators) || (arg < PWM_MIN) || (arg > PWM_MAX)) {
+ ret = -EINVAL;
+
+ } else {
+ /* send a direct PWM value */
+ ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, channel, arg);
+ }
+
+ break;
+ }
case PWM_SERVO_GET(0) ... PWM_SERVO_GET(PWM_OUTPUT_MAX_CHANNELS - 1): {
- unsigned channel = cmd - PWM_SERVO_GET(0);
+ unsigned channel = cmd - PWM_SERVO_GET(0);
+
+ if (channel >= _max_actuators) {
+ ret = -EINVAL;
- if (channel >= _max_actuators) {
- ret = -EINVAL;
- } else {
- /* fetch a current PWM value */
- uint32_t value = io_reg_get(PX4IO_PAGE_SERVOS, channel);
- if (value == _io_reg_get_error) {
- ret = -EIO;
} else {
- *(servo_position_t *)arg = value;
+ /* fetch a current PWM value */
+ uint32_t value = io_reg_get(PX4IO_PAGE_SERVOS, channel);
+
+ if (value == _io_reg_get_error) {
+ ret = -EIO;
+
+ } else {
+ *(servo_position_t *)arg = value;
+ }
}
+
+ break;
}
- break;
- }
case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): {
- unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0);
+ unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0);
- *(uint32_t *)arg = io_reg_get(PX4IO_PAGE_PWM_INFO, PX4IO_RATE_MAP_BASE + channel);
- if (*(uint32_t *)arg == _io_reg_get_error)
- ret = -EIO;
- break;
- }
+ *(uint32_t *)arg = io_reg_get(PX4IO_PAGE_PWM_INFO, PX4IO_RATE_MAP_BASE + channel);
+
+ if (*(uint32_t *)arg == _io_reg_get_error)
+ ret = -EIO;
+
+ break;
+ }
case GPIO_RESET: {
- uint32_t bits = (1 << _max_relays) - 1;
- /* don't touch relay1 if it's controlling RX vcc */
- if (_dsm_vcc_ctl)
- bits &= ~PX4IO_P_SETUP_RELAYS_POWER1;
- ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, bits, 0);
- break;
- }
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
+ uint32_t bits = (1 << _max_relays) - 1;
+
+ /* don't touch relay1 if it's controlling RX vcc */
+ if (_dsm_vcc_ctl)
+ bits &= ~PX4IO_P_SETUP_RELAYS_POWER1;
+
+ ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, bits, 0);
+#endif
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+ ret = -EINVAL;
+#endif
+ break;
+ }
case GPIO_SET:
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
arg &= ((1 << _max_relays) - 1);
+
/* don't touch relay1 if it's controlling RX vcc */
- if (_dsm_vcc_ctl & (arg & PX4IO_P_SETUP_RELAYS_POWER1))
+ if (_dsm_vcc_ctl & (arg & PX4IO_P_SETUP_RELAYS_POWER1)) {
ret = -EINVAL;
- else
- ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0, arg);
+ break;
+ }
+
+ ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0, arg);
+#endif
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+ ret = -EINVAL;
+#endif
break;
case GPIO_CLEAR:
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
arg &= ((1 << _max_relays) - 1);
+
/* don't touch relay1 if it's controlling RX vcc */
- if (_dsm_vcc_ctl & (arg & PX4IO_P_SETUP_RELAYS_POWER1))
+ if (_dsm_vcc_ctl & (arg & PX4IO_P_SETUP_RELAYS_POWER1)) {
ret = -EINVAL;
- else
- ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, arg, 0);
+ break;
+ }
+
+ ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, arg, 0);
+#endif
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+ ret = -EINVAL;
+#endif
break;
case GPIO_GET:
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
*(uint32_t *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS);
+
if (*(uint32_t *)arg == _io_reg_get_error)
ret = -EIO;
+
+#endif
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+ ret = -EINVAL;
+#endif
break;
case MIXERIOCGETOUTPUTCOUNT:
@@ -1795,40 +2102,44 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
break;
case MIXERIOCLOADBUF: {
- const char *buf = (const char *)arg;
- ret = mixer_send(buf, strnlen(buf, 2048));
- break;
- }
+ const char *buf = (const char *)arg;
+ ret = mixer_send(buf, strnlen(buf, 2048));
+ break;
+ }
case RC_INPUT_GET: {
- uint16_t status;
- rc_input_values *rc_val = (rc_input_values *)arg;
+ uint16_t status;
+ rc_input_values *rc_val = (rc_input_values *)arg;
- ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &status, 1);
- if (ret != OK)
- break;
+ ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &status, 1);
- /* if no R/C input, don't try to fetch anything */
- if (!(status & PX4IO_P_STATUS_FLAGS_RC_OK)) {
- ret = -ENOTCONN;
- break;
- }
+ if (ret != OK)
+ break;
- /* sort out the source of the values */
- if (status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
- rc_val->input_source = RC_INPUT_SOURCE_PX4IO_PPM;
- } else if (status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
- rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
- } else if (status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
- rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SBUS;
- } else {
- rc_val->input_source = RC_INPUT_SOURCE_UNKNOWN;
- }
+ /* if no R/C input, don't try to fetch anything */
+ if (!(status & PX4IO_P_STATUS_FLAGS_RC_OK)) {
+ ret = -ENOTCONN;
+ break;
+ }
- /* read raw R/C input values */
- ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE, &(rc_val->values[0]), _max_rc_input);
- break;
- }
+ /* sort out the source of the values */
+ if (status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
+ rc_val->input_source = RC_INPUT_SOURCE_PX4IO_PPM;
+
+ } else if (status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
+ rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
+
+ } else if (status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
+ rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SBUS;
+
+ } else {
+ rc_val->input_source = RC_INPUT_SOURCE_UNKNOWN;
+ }
+
+ /* read raw R/C input values */
+ ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE, &(rc_val->values[0]), _max_rc_input);
+ break;
+ }
case PX4IO_SET_DEBUG:
/* set the debug level */
@@ -1836,12 +2147,15 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
break;
case PX4IO_INAIR_RESTART_ENABLE:
+
/* set/clear the 'in-air restart' bit */
if (arg) {
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK);
+
} else {
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK, 0);
}
+
break;
default:
@@ -1860,11 +2174,14 @@ PX4IO::write(file * /*filp*/, const char *buffer, size_t len)
if (count > _max_actuators)
count = _max_actuators;
+
if (count > 0) {
int ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, (uint16_t *)buffer, count);
+
if (ret != OK)
return ret;
}
+
return count * 2;
}
@@ -1872,8 +2189,9 @@ int
PX4IO::set_update_rate(int rate)
{
int interval_ms = 1000 / rate;
- if (interval_ms < 3) {
- interval_ms = 3;
+
+ if (interval_ms < UPDATE_INTERVAL_MIN) {
+ interval_ms = UPDATE_INTERVAL_MIN;
warnx("update rate too high, limiting interval to %d ms (%d Hz).", interval_ms, 1000 / interval_ms);
}
@@ -1904,22 +2222,27 @@ get_interface()
device::Device *interface = nullptr;
#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
+
/* try for a serial interface */
if (PX4IO_serial_interface != nullptr)
interface = PX4IO_serial_interface();
+
if (interface != nullptr)
goto got;
+
#endif
/* try for an I2C interface if we haven't got a serial one */
if (PX4IO_i2c_interface != nullptr)
interface = PX4IO_i2c_interface();
+
if (interface != nullptr)
goto got;
errx(1, "cannot alloc interface");
got:
+
if (interface->init() != OK) {
delete interface;
errx(1, "interface init failed");
@@ -1953,7 +2276,7 @@ start(int argc, char *argv[])
if (argc > 1) {
if (!strcmp(argv[1], "norc")) {
- if(g_dev->disable_rc_handling())
+ if (g_dev->disable_rc_handling())
warnx("Failed disabling RC handling");
} else {
@@ -1961,6 +2284,7 @@ start(int argc, char *argv[])
}
}
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
int dsm_vcc_ctl;
if (param_get(param_find("RC_RL1_DSM_VCC"), &dsm_vcc_ctl) == OK) {
@@ -1969,6 +2293,8 @@ start(int argc, char *argv[])
g_dev->ioctl(nullptr, DSM_BIND_POWER_UP, 0);
}
}
+
+#endif
exit(0);
}
@@ -1995,6 +2321,7 @@ detect(int argc, char *argv[])
if (ret) {
/* nonzero, error */
exit(1);
+
} else {
exit(0);
}
@@ -2008,21 +2335,33 @@ bind(int argc, char *argv[])
if (g_dev == nullptr)
errx(1, "px4io must be started first");
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
+
if (!g_dev->get_dsm_vcc_ctl())
errx(1, "DSM bind feature not enabled");
+#endif
+
if (argc < 3)
errx(0, "needs argument, use dsm2 or dsmx");
if (!strcmp(argv[2], "dsm2"))
- pulses = 3;
+ pulses = DSM2_BIND_PULSES;
else if (!strcmp(argv[2], "dsmx"))
- pulses = 7;
+ pulses = DSMX_BIND_PULSES;
+ else if (!strcmp(argv[2], "dsmx8"))
+ pulses = DSMX8_BIND_PULSES;
else
errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]);
+ // Test for custom pulse parameter
+ if (argc > 3)
+ pulses = atoi(argv[3]);
+ if (g_dev->system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
+ errx(1, "system must not be armed");
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
warnx("This command will only bind DSM if satellite VCC (red wire) is controlled by relay 1.");
-
+#endif
g_dev->ioctl(nullptr, DSM_BIND_START, pulses);
exit(0);
@@ -2048,16 +2387,16 @@ test(void)
/* tell IO that its ok to disable its safety with the switch */
ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
+
if (ret != OK)
err(1, "PWM_SERVO_SET_ARM_OK");
if (ioctl(fd, PWM_SERVO_ARM, 0))
err(1, "failed to arm servos");
- /* Open console directly to grab CTRL-C signal */
- int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
- if (!console)
- err(1, "failed opening console");
+ struct pollfd fds;
+ fds.fd = 0; /* stdin */
+ fds.events = POLLIN;
warnx("Press CTRL-C or 'c' to abort.");
@@ -2065,22 +2404,27 @@ test(void)
/* sweep all servos between 1000..2000 */
servo_position_t servos[servo_count];
+
for (unsigned i = 0; i < servo_count; i++)
servos[i] = pwm_value;
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;
}
@@ -2092,16 +2436,21 @@ 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]);
}
/* Check if user wants to quit */
char c;
- if (read(console, &c, 1) == 1) {
+ ret = poll(&fds, 1, 0);
+
+ if (ret > 0) {
+
+ read(0, &c, 1);
+
if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("User abort\n");
- close(console);
exit(0);
}
}
@@ -2111,28 +2460,38 @@ test(void)
void
monitor(void)
{
+ /* clear screen */
+ printf("\033[2J");
+
unsigned cancels = 3;
- printf("Hit <enter> three times to exit monitor mode\n");
for (;;) {
pollfd fds[1];
fds[0].fd = 0;
fds[0].events = POLLIN;
- poll(fds, 1, 500);
+ poll(fds, 1, 2000);
if (fds[0].revents == POLLIN) {
int c;
read(0, &c, 1);
- if (cancels-- == 0)
+ if (cancels-- == 0) {
+ printf("\033[H"); /* move cursor home and clear screen */
exit(0);
+ }
}
-#warning implement this
+ if (g_dev != nullptr) {
+
+ printf("\033[H"); /* move cursor home and clear screen */
+ (void)g_dev->print_status();
+ (void)g_dev->print_debug();
+ printf("[ Use 'px4io debug <N>' for more output. Hit <enter> three times to exit monitor mode ]\n");
-// if (g_dev != nullptr)
-// g_dev->dump_one = true;
+ } else {
+ errx(1, "driver not loaded, exiting");
+ }
}
}
@@ -2171,7 +2530,7 @@ px4io_main(int argc, char *argv[])
}
PX4IO_Uploader *up;
- const char *fn[5];
+ const char *fn[3];
/* work out what we're uploading... */
if (argc > 2) {
@@ -2179,11 +2538,19 @@ px4io_main(int argc, char *argv[])
fn[1] = nullptr;
} else {
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
+ fn[0] = "/etc/extras/px4io-v1_default.bin";
+ fn[1] = "/fs/microsd/px4io1.bin";
+ fn[2] = "/fs/microsd/px4io.bin";
+ fn[3] = nullptr;
+#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
fn[0] = "/etc/extras/px4io-v2_default.bin";
- fn[1] = "/etc/extras/px4io-v1_default.bin";
+ fn[1] = "/fs/microsd/px4io2.bin";
fn[2] = "/fs/microsd/px4io.bin";
- fn[3] = "/fs/microsd/px4io2.bin";
- fn[4] = nullptr;
+ fn[3] = nullptr;
+#else
+#error "unknown board"
+#endif
}
up = new PX4IO_Uploader;
@@ -2230,164 +2597,35 @@ px4io_main(int argc, char *argv[])
if ((argc > 2)) {
g_dev->set_update_rate(atoi(argv[2]));
+
} else {
- errx(1, "missing argument (50 - 400 Hz)");
+ errx(1, "missing argument (50 - 500 Hz)");
return 1;
}
+
exit(0);
}
if (!strcmp(argv[1], "current")) {
if ((argc > 3)) {
g_dev->set_battery_current_scaling(atof(argv[2]), atof(argv[3]));
+
} else {
errx(1, "missing argument (apm_per_volt, amp_offset)");
return 1;
}
- exit(0);
- }
-
- if (!strcmp(argv[1], "failsafe")) {
-
- if (argc < 3) {
- errx(1, "failsafe command needs at least one channel value (ppm)");
- }
-
- /* set values for first 8 channels, fill unassigned channels with 1500. */
- uint16_t failsafe[8];
-
- for (unsigned i = 0; i < sizeof(failsafe) / sizeof(failsafe[0]); i++) {
-
- /* set channel to commandline argument or to 900 for non-provided channels */
- if (argc > i + 2) {
- failsafe[i] = atoi(argv[i+2]);
- if (failsafe[i] < 800 || failsafe[i] > 2200) {
- errx(1, "value out of range of 800 < value < 2200. Aborting.");
- }
- } else {
- /* a zero value will result in stopping to output any pulse */
- failsafe[i] = 0;
- }
- }
-
- int ret = g_dev->set_failsafe_values(failsafe, sizeof(failsafe) / sizeof(failsafe[0]));
-
- if (ret != OK)
- errx(ret, "failed setting failsafe values");
- exit(0);
- }
-
- if (!strcmp(argv[1], "min")) {
-
- if (argc < 3) {
- errx(1, "min command needs at least one channel value (PWM)");
- }
-
- int iofd = open(PWM_OUTPUT_DEVICE_PATH, 0);
- struct pwm_output_values pwm;
- if (iofd > 0) {
-
- pwm.channel_count = 0;
-
- for (unsigned i = 0; i < sizeof(pwm.values) / sizeof(pwm.values[0]); i++)
- {
- /* set channel to commanline argument or to 900 for non-provided channels */
- if (argc > i + 2) {
- pwm.values[i] = atoi(argv[i+2]);
- if (pwm.values[i] < 900 || pwm.values[i] > 1200) {
- errx(1, "value out of range of 900 < value < 1200. Aborting.");
- }
- pwm.channel_count++;
- }
- }
-
- int ret = ioctl(iofd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm);
-
- if (ret != OK)
- errx(ret, "failed setting min values");
- } else {
- errx(1, "not loaded");
- }
exit(0);
}
- if (!strcmp(argv[1], "max")) {
-
- if (argc < 3) {
- errx(1, "max command needs at least one channel value (PWM)");
- }
-
- int iofd = open(PWM_OUTPUT_DEVICE_PATH, 0);
- struct pwm_output_values pwm;
- if (iofd > 0) {
-
- pwm.channel_count = 0;
-
- for (int i = 0; i < sizeof(pwm.values) / sizeof(pwm.values[0]); i++)
- {
- /* set channel to commanline argument or to 2100 for non-provided channels */
- if (argc > i + 2) {
- pwm.values[i] = atoi(argv[i+2]);
- if (pwm.values[i] < 1800 || pwm.values[i] > 2100) {
- errx(1, "value out of range of 1800 < value < 2100. Aborting.");
- }
- pwm.channel_count++;
- }
- }
-
- int ret = ioctl(iofd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm);
-
- if (ret != OK)
- errx(ret, "failed setting max values");
- } else {
- errx(1, "not loaded");
- }
- exit(0);
- }
-
- if (!strcmp(argv[1], "idle") || !strcmp(argv[1], "disarmed")) {
-
- if (argc < 3) {
- errx(1, "max command needs at least one channel value (PWM)");
- }
-
- int iofd = open(PWM_OUTPUT_DEVICE_PATH, 0);
- struct pwm_output_values pwm;
-
- if (iofd > 0) {
-
- pwm.channel_count = 0;
-
- for (unsigned i = 0; i < sizeof(pwm.values) / sizeof(pwm.values[0]); i++)
- {
- /* set channel to commanline argument or to 0 for non-provided channels */
- if (argc > i + 2) {
- pwm.values[i] = atoi(argv[i+2]);
- if (pwm.values[i] < 900 || pwm.values[i] > 2100) {
- errx(1, "value out of range of 900 < value < 2100. Aborting.");
- }
- pwm.channel_count++;
- }
- }
-
- int ret = ioctl(iofd, PWM_SERVO_SET_DISARMED_PWM, (long unsigned int)&pwm);
-
- if (ret != OK)
- errx(ret, "failed setting idle values");
- } else {
- errx(1, "not loaded");
- }
- exit(0);
- }
if (!strcmp(argv[1], "recovery")) {
/*
* Enable in-air restart support.
* We can cheat and call the driver directly, as it
- * doesn't reference filp in ioctl()
+ * doesn't reference filp in ioctl()
*/
g_dev->ioctl(NULL, PX4IO_INAIR_RESTART_ENABLE, 1);
exit(0);
@@ -2414,19 +2652,23 @@ px4io_main(int argc, char *argv[])
printf("usage: px4io debug LEVEL\n");
exit(1);
}
+
if (g_dev == nullptr) {
printf("px4io is not started\n");
exit(1);
}
+
uint8_t level = atoi(argv[2]);
/* we can cheat and call the driver directly, as it
* doesn't reference filp in ioctl()
*/
int ret = g_dev->ioctl(nullptr, PX4IO_SET_DEBUG, level);
+
if (ret != 0) {
printf("SET_DEBUG failed - %d\n", ret);
exit(1);
}
+
printf("SET_DEBUG %u OK\n", (unsigned)level);
exit(0);
}
@@ -2447,6 +2689,6 @@ px4io_main(int argc, char *argv[])
if (!strcmp(argv[1], "bind"))
bind(argc, argv);
- out:
- errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug',\n 'recovery', 'limit', 'current', 'failsafe', 'min, 'max',\n 'idle', 'bind' or 'update'");
+out:
+ errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug',\n 'recovery', 'limit', 'current', 'bind' or 'update'");
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-08 22:22:59 +0000