diff options
Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 155 |
1 files changed, 114 insertions, 41 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 010272c6f..cbdd5acc4 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -228,33 +228,36 @@ private: device::Device *_interface; // XXX - unsigned _hardware; ///< Hardware revision - unsigned _max_actuators; ///<Maximum # of actuators supported by PX4IO - unsigned _max_controls; ///<Maximum # of controls supported by PX4IO - unsigned _max_rc_input; ///<Maximum receiver channels supported by PX4IO - unsigned _max_relays; ///<Maximum relays supported by PX4IO - unsigned _max_transfer; ///<Maximum number of I2C transfers supported by PX4IO + unsigned _hardware; ///< Hardware revision + unsigned _max_actuators; ///< Maximum # of actuators supported by PX4IO + unsigned _max_controls; ///< Maximum # of controls supported by PX4IO + unsigned _max_rc_input; ///< Maximum receiver channels supported by PX4IO + unsigned _max_relays; ///< Maximum relays supported by PX4IO + unsigned _max_transfer; ///< Maximum number of I2C transfers supported by PX4IO unsigned _update_interval; ///< Subscription interval limiting send rate bool _rc_handling_disabled; ///< If set, IO does not evaluate, but only forward the RC values unsigned _rc_chan_count; ///< Internal copy of the last seen number of RC channels - volatile int _task; ///<worker task id - volatile bool _task_should_exit; ///<worker terminate flag + volatile int _task; ///< worker task id + volatile bool _task_should_exit; ///< worker terminate flag - 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. + 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 for status updates perf_counter_t _perf_write; ///<local performance counter for PWM control writes perf_counter_t _perf_chan_count; ///<local performance counter for channel number changes /* cached IO state */ - uint16_t _status; ///<Various IO status flags - uint16_t _alarms; ///<Various IO alarms + uint16_t _status; ///< Various IO status flags + uint16_t _alarms; ///< Various IO alarms /* subscribed topics */ - int _t_actuators; ///< actuator controls topic + int _t_actuator_controls_0; ///< actuator controls group 0 topic + int _t_actuator_controls_1; ///< actuator controls group 1 topic + int _t_actuator_controls_2; ///< actuator controls group 2 topic + int _t_actuator_controls_3; ///< actuator controls group 3 topic int _t_actuator_armed; ///< system armed control topic int _t_vehicle_control_mode;///< vehicle control mode topic int _t_param; ///< parameter update topic @@ -269,15 +272,15 @@ private: actuator_outputs_s _outputs; ///<mixed outputs - bool _primary_pwm_device; ///<true if we are the default PWM output + bool _primary_pwm_device; ///< true if we are the default PWM output - float _battery_amp_per_volt; ///<current sensor amps/volt - float _battery_amp_bias; ///<current sensor bias - float _battery_mamphour_total;///<amp hours consumed so far - uint64_t _battery_last_timestamp;///<last amp hour calculation timestamp + float _battery_amp_per_volt; ///< current sensor amps/volt + float _battery_amp_bias; ///< current sensor bias + 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 + bool _dsm_vcc_ctl; ///< true if relay 1 controls DSM satellite RX power #endif /** @@ -291,9 +294,14 @@ private: void task_main(); /** - * Send controls to IO + * Send controls for one group to IO */ - int io_set_control_state(); + int io_set_control_state(unsigned group); + + /** + * Send all controls to IO + */ + int io_set_control_groups(); /** * Update IO's arming-related state @@ -467,7 +475,10 @@ PX4IO::PX4IO(device::Device *interface) : _perf_chan_count(perf_alloc(PC_COUNT, "io rc #")), _status(0), _alarms(0), - _t_actuators(-1), + _t_actuator_controls_0(-1), + _t_actuator_controls_1(-1), + _t_actuator_controls_2(-1), + _t_actuator_controls_3(-1), _t_actuator_armed(-1), _t_vehicle_control_mode(-1), _t_param(-1), @@ -769,15 +780,20 @@ PX4IO::task_main() * Subscribe to the appropriate PWM output topic based on whether we are the * primary PWM output or not. */ - _t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : - ORB_ID(actuator_controls_1)); - orb_set_interval(_t_actuators, 20); /* default to 50Hz */ + _t_actuator_controls_0 = orb_subscribe(ORB_ID(actuator_controls_0)); + orb_set_interval(_t_actuator_controls_0, 20); /* default to 50Hz */ + _t_actuator_controls_1 = orb_subscribe(ORB_ID(actuator_controls_1)); + orb_set_interval(_t_actuator_controls_1, 33); /* default to 30Hz */ + _t_actuator_controls_2 = orb_subscribe(ORB_ID(actuator_controls_2)); + orb_set_interval(_t_actuator_controls_2, 33); /* default to 30Hz */ + _t_actuator_controls_3 = orb_subscribe(ORB_ID(actuator_controls_3)); + orb_set_interval(_t_actuator_controls_3, 33); /* default to 30Hz */ _t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed)); _t_vehicle_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode)); _t_param = orb_subscribe(ORB_ID(parameter_update)); _t_vehicle_command = orb_subscribe(ORB_ID(vehicle_command)); - if ((_t_actuators < 0) || + if ((_t_actuator_controls_0 < 0) || (_t_actuator_armed < 0) || (_t_vehicle_control_mode < 0) || (_t_param < 0) || @@ -788,7 +804,7 @@ PX4IO::task_main() /* poll descriptor */ pollfd fds[1]; - fds[0].fd = _t_actuators; + fds[0].fd = _t_actuator_controls_0; fds[0].events = POLLIN; log("ready"); @@ -807,7 +823,11 @@ PX4IO::task_main() if (_update_interval > 100) _update_interval = 100; - orb_set_interval(_t_actuators, _update_interval); + orb_set_interval(_t_actuator_controls_0, _update_interval); + /* + * NOT changing the rate of groups 1-3 here, because only attitude + * really needs to run fast. + */ _update_interval = 0; } @@ -827,7 +847,10 @@ PX4IO::task_main() /* if we have new control data from the ORB, handle it */ if (fds[0].revents & POLLIN) { - io_set_control_state(); + + /* we're not nice to the lower-priority control groups and only check them + when the primary group updated (which is now). */ + (void)io_set_control_groups(); } if (now >= poll_last + IO_POLL_INTERVAL) { @@ -870,7 +893,7 @@ PX4IO::task_main() 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)) { + if (((int)cmd.command == VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) { dsm_bind_ioctl((int)cmd.param2); } } @@ -937,20 +960,74 @@ out: } int -PX4IO::io_set_control_state() +PX4IO::io_set_control_groups() +{ + int ret = io_set_control_state(0); + + /* send auxiliary control groups */ + (void)io_set_control_state(1); + (void)io_set_control_state(2); + (void)io_set_control_state(3); + + return ret; +} + +int +PX4IO::io_set_control_state(unsigned group) { actuator_controls_s controls; ///< actuator outputs uint16_t regs[_max_actuators]; /* get controls */ - orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : - ORB_ID(actuator_controls_1), _t_actuators, &controls); + bool changed; + + switch (group) { + case 0: + { + orb_check(_t_actuator_controls_0, &changed); + + if (changed) { + orb_copy(ORB_ID(actuator_controls_0), _t_actuator_controls_0, &controls); + } + } + break; + case 1: + { + orb_check(_t_actuator_controls_1, &changed); + + if (changed) { + orb_copy(ORB_ID(actuator_controls_1), _t_actuator_controls_1, &controls); + } + } + break; + case 2: + { + orb_check(_t_actuator_controls_2, &changed); + + if (changed) { + orb_copy(ORB_ID(actuator_controls_2), _t_actuator_controls_2, &controls); + } + } + break; + case 3: + { + orb_check(_t_actuator_controls_3, &changed); + + if (changed) { + orb_copy(ORB_ID(actuator_controls_3), _t_actuator_controls_3, &controls); + } + } + break; + } + + if (!changed) + return -1; for (unsigned i = 0; i < _max_controls; i++) regs[i] = FLOAT_TO_REG(controls.control[i]); /* copy values to registers in IO */ - return io_reg_set(PX4IO_PAGE_CONTROLS, 0, regs, _max_controls); + return io_reg_set(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT, regs, _max_controls); } @@ -1018,8 +1095,10 @@ PX4IO::io_set_rc_config() * assign RC_MAP_ROLL/PITCH/YAW/THROTTLE to the canonical * controls. */ + + /* fill the mapping with an error condition triggering value */ for (unsigned i = 0; i < _max_rc_input; i++) - input_map[i] = -1; + input_map[i] = UINT8_MAX; /* * NOTE: The indices for mapped channels are 1-based @@ -1051,12 +1130,6 @@ PX4IO::io_set_rc_config() if ((ichan >= 0) && (ichan < (int)_max_rc_input)) input_map[ichan - 1] = 4; - ichan = 5; - - for (unsigned i = 0; i < _max_rc_input; i++) - if (input_map[i] == -1) - input_map[i] = ichan++; - /* * Iterate all possible RC inputs. */ |