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-rw-r--r--src/drivers/px4io/module.mk2
-rw-r--r--src/drivers/px4io/px4io.cpp113
-rw-r--r--src/drivers/px4io/px4io_serial.cpp2
-rw-r--r--src/drivers/px4io/px4io_uploader.cpp6
4 files changed, 87 insertions, 36 deletions
diff --git a/src/drivers/px4io/module.mk b/src/drivers/px4io/module.mk
index 2054faa12..c14f1f783 100644
--- a/src/drivers/px4io/module.mk
+++ b/src/drivers/px4io/module.mk
@@ -44,3 +44,5 @@ SRCS = px4io.cpp \
# XXX prune to just get UART registers
INCLUDE_DIRS += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
+
+MODULE_STACKSIZE = 1200
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index aec6dd3b7..24da4c68b 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -72,6 +72,7 @@
#include <systemlib/systemlib.h>
#include <systemlib/scheduling_priorities.h>
#include <systemlib/param/param.h>
+#include <systemlib/circuit_breaker.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
@@ -197,8 +198,10 @@ public:
* Print IO status.
*
* Print all relevant IO status information
+ *
+ * @param extended_status Shows more verbose information (in particular RC config)
*/
- void print_status();
+ void print_status(bool extended_status);
/**
* Fetch and print debug console output.
@@ -529,6 +532,11 @@ PX4IO::~PX4IO()
if (_interface != nullptr)
delete _interface;
+ /* deallocate perfs */
+ perf_free(_perf_update);
+ perf_free(_perf_write);
+ perf_free(_perf_chan_count);
+
g_dev = nullptr;
}
@@ -576,8 +584,10 @@ PX4IO::init()
ASSERT(_task == -1);
sys_restart_param = param_find("SYS_RESTART_TYPE");
- /* Indicate restart type is unknown */
- param_set(sys_restart_param, &sys_restart_val);
+ if (sys_restart_param != PARAM_INVALID) {
+ /* Indicate restart type is unknown */
+ param_set(sys_restart_param, &sys_restart_val);
+ }
/* do regular cdev init */
ret = CDev::init();
@@ -789,7 +799,12 @@ PX4IO::init()
}
/* start the IO interface task */
- _task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 2048, (main_t)&PX4IO::task_main_trampoline, nullptr);
+ _task = task_spawn_cmd("px4io",
+ SCHED_DEFAULT,
+ SCHED_PRIORITY_ACTUATOR_OUTPUTS,
+ 2000,
+ (main_t)&PX4IO::task_main_trampoline,
+ nullptr);
if (_task < 0) {
debug("task start failed: %d", errno);
@@ -984,13 +999,30 @@ PX4IO::task_main()
int32_t failsafe_param_val;
param_t failsafe_param = param_find("RC_FAILS_THR");
- if (failsafe_param > 0) {
+ if (failsafe_param != PARAM_INVALID) {
param_get(failsafe_param, &failsafe_param_val);
- uint16_t failsafe_thr = failsafe_param_val;
- pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1);
- if (pret != OK) {
- log("failsafe upload failed");
+
+ if (failsafe_param_val > 0) {
+
+ uint16_t failsafe_thr = failsafe_param_val;
+ pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1);
+ if (pret != OK) {
+ log("failsafe upload failed, FS: %d us", (int)failsafe_thr);
+ }
+ }
+ }
+
+ int32_t safety_param_val;
+ param_t safety_param = param_find("RC_FAILS_THR");
+
+ if (safety_param != PARAM_INVALID) {
+
+ param_get(safety_param, &safety_param_val);
+
+ if (safety_param_val == PX4IO_FORCE_SAFETY_MAGIC) {
+ /* disable IO safety if circuit breaker asked for it */
+ (void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, safety_param_val);
}
}
@@ -1448,7 +1480,7 @@ 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);
+ const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT);
uint16_t regs[RC_INPUT_MAX_CHANNELS + prolog];
/*
@@ -1456,8 +1488,6 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
*
* This should be the common case (9 channel R/C control being a reasonable upper bound).
*/
- input_rc.timestamp_publication = hrt_absolute_time();
-
ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT, &regs[0], prolog + 9);
if (ret != OK)
@@ -1469,23 +1499,38 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
*/
channel_count = regs[PX4IO_P_RAW_RC_COUNT];
- if (channel_count != _rc_chan_count)
+ /* limit the channel count */
+ if (channel_count > RC_INPUT_MAX_CHANNELS) {
+ channel_count = RC_INPUT_MAX_CHANNELS;
+ }
+
+ /* count channel count changes to identify signal integrity issues */
+ if (channel_count != _rc_chan_count) {
perf_count(_perf_chan_count);
+ }
_rc_chan_count = channel_count;
+ input_rc.timestamp_publication = hrt_absolute_time();
+
input_rc.rc_ppm_frame_length = regs[PX4IO_P_RAW_RC_DATA];
input_rc.rssi = regs[PX4IO_P_RAW_RC_NRSSI];
input_rc.rc_failsafe = (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
+ input_rc.rc_lost = !(regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_RC_OK);
input_rc.rc_lost_frame_count = regs[PX4IO_P_RAW_LOST_FRAME_COUNT];
input_rc.rc_total_frame_count = regs[PX4IO_P_RAW_FRAME_COUNT];
+ input_rc.channel_count = channel_count;
/* rc_lost has to be set before the call to this function */
- if (!input_rc.rc_lost && !input_rc.rc_failsafe)
+ if (!input_rc.rc_lost && !input_rc.rc_failsafe) {
_rc_last_valid = input_rc.timestamp_publication;
+ }
input_rc.timestamp_last_signal = _rc_last_valid;
+ /* FIELDS NOT SET HERE */
+ /* input_rc.input_source is set after this call XXX we might want to mirror the flags in the RC struct */
+
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);
@@ -1493,8 +1538,10 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
return ret;
}
- input_rc.channel_count = channel_count;
- memcpy(input_rc.values, &regs[prolog], channel_count * 2);
+ /* last thing set are the actual channel values as 16 bit values */
+ for (unsigned i = 0; i < channel_count; i++) {
+ input_rc.values[i] = regs[prolog + i];
+ }
return ret;
}
@@ -1819,7 +1866,7 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
}
void
-PX4IO::print_status()
+PX4IO::print_status(bool extended_status)
{
/* basic configuration */
printf("protocol %u hardware %u bootloader %u buffer %uB crc 0x%04x%04x\n",
@@ -1982,19 +2029,21 @@ PX4IO::print_status()
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" : ""));
+ if (extended_status) {
+ 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" : ""));
+ }
}
printf("failsafe");
@@ -2822,7 +2871,7 @@ monitor(void)
if (g_dev != nullptr) {
printf("\033[2J\033[H"); /* move cursor home and clear screen */
- (void)g_dev->print_status();
+ (void)g_dev->print_status(false);
(void)g_dev->print_debug();
printf("\n\n\n[ Use 'px4io debug <N>' for more output. Hit <enter> three times to exit monitor mode ]\n");
@@ -3088,7 +3137,7 @@ px4io_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
printf("[px4io] loaded\n");
- g_dev->print_status();
+ g_dev->print_status(true);
exit(0);
}
diff --git a/src/drivers/px4io/px4io_serial.cpp b/src/drivers/px4io/px4io_serial.cpp
index 43318ca84..c39494fb0 100644
--- a/src/drivers/px4io/px4io_serial.cpp
+++ b/src/drivers/px4io/px4io_serial.cpp
@@ -639,7 +639,7 @@ PX4IO_serial::_do_interrupt()
if (_rx_dma_status == _dma_status_waiting) {
/* verify that the received packet is complete */
- unsigned length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma);
+ size_t length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma);
if ((length < 1) || (length < PKT_SIZE(_dma_buffer))) {
perf_count(_pc_badidle);
diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp
index 28ec62356..7b6361a7c 100644
--- a/src/drivers/px4io/px4io_uploader.cpp
+++ b/src/drivers/px4io/px4io_uploader.cpp
@@ -240,9 +240,9 @@ PX4IO_Uploader::upload(const char *filenames[])
close(_io_fd);
_io_fd = -1;
- // sleep for enough time for the IO chip to boot. This makes
- // forceupdate more reliably startup IO again after update
- up_udelay(100*1000);
+ // sleep for enough time for the IO chip to boot. This makes
+ // forceupdate more reliably startup IO again after update
+ up_udelay(100*1000);
return ret;
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-08 09:55:35 +0000