diff options
Diffstat (limited to 'src/modules/px4iofirmware/registers.c')
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 257 |
1 files changed, 223 insertions, 34 deletions
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index a922362b6..9c95fd1c5 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -44,6 +44,7 @@ #include <string.h> #include <drivers/drv_hrt.h> +#include <drivers/drv_pwm_output.h> #include "px4io.h" #include "protocol.h" @@ -57,14 +58,18 @@ static void pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t alt * Static configuration parameters. */ static const uint16_t r_page_config[] = { - [PX4IO_P_CONFIG_PROTOCOL_VERSION] = 1, /* XXX hardcoded magic number */ - [PX4IO_P_CONFIG_SOFTWARE_VERSION] = 1, /* XXX hardcoded magic number */ + [PX4IO_P_CONFIG_PROTOCOL_VERSION] = PX4IO_PROTOCOL_VERSION, +#ifdef CONFIG_ARCH_BOARD_PX4IO_V2 + [PX4IO_P_CONFIG_HARDWARE_VERSION] = 2, +#else + [PX4IO_P_CONFIG_HARDWARE_VERSION] = 1, +#endif [PX4IO_P_CONFIG_BOOTLOADER_VERSION] = 3, /* XXX hardcoded magic number */ [PX4IO_P_CONFIG_MAX_TRANSFER] = 64, /* XXX hardcoded magic number */ [PX4IO_P_CONFIG_CONTROL_COUNT] = PX4IO_CONTROL_CHANNELS, - [PX4IO_P_CONFIG_ACTUATOR_COUNT] = IO_SERVO_COUNT, - [PX4IO_P_CONFIG_RC_INPUT_COUNT] = MAX_CONTROL_CHANNELS, - [PX4IO_P_CONFIG_ADC_INPUT_COUNT] = ADC_CHANNEL_COUNT, + [PX4IO_P_CONFIG_ACTUATOR_COUNT] = PX4IO_SERVO_COUNT, + [PX4IO_P_CONFIG_RC_INPUT_COUNT] = PX4IO_CONTROL_CHANNELS, + [PX4IO_P_CONFIG_ADC_INPUT_COUNT] = PX4IO_ADC_CHANNEL_COUNT, [PX4IO_P_CONFIG_RELAY_COUNT] = PX4IO_RELAY_CHANNELS, }; @@ -79,7 +84,10 @@ uint16_t r_page_status[] = { [PX4IO_P_STATUS_FLAGS] = 0, [PX4IO_P_STATUS_ALARMS] = 0, [PX4IO_P_STATUS_VBATT] = 0, - [PX4IO_P_STATUS_IBATT] = 0 + [PX4IO_P_STATUS_IBATT] = 0, + [PX4IO_P_STATUS_VSERVO] = 0, + [PX4IO_P_STATUS_VRSSI] = 0, + [PX4IO_P_STATUS_PRSSI] = 0 }; /** @@ -87,14 +95,14 @@ uint16_t r_page_status[] = { * * Post-mixed actuator values. */ -uint16_t r_page_actuators[IO_SERVO_COUNT]; +uint16_t r_page_actuators[PX4IO_SERVO_COUNT]; /** * PAGE 3 * * Servo PWM values */ -uint16_t r_page_servos[IO_SERVO_COUNT]; +uint16_t r_page_servos[PX4IO_SERVO_COUNT]; /** * PAGE 4 @@ -104,7 +112,7 @@ uint16_t r_page_servos[IO_SERVO_COUNT]; uint16_t r_page_raw_rc_input[] = { [PX4IO_P_RAW_RC_COUNT] = 0, - [PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + MAX_CONTROL_CHANNELS)] = 0 + [PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0 }; /** @@ -114,7 +122,7 @@ uint16_t r_page_raw_rc_input[] = */ uint16_t r_page_rc_input[] = { [PX4IO_P_RC_VALID] = 0, - [PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + MAX_CONTROL_CHANNELS)] = 0 + [PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0 }; /** @@ -138,7 +146,11 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_PWM_DEFAULTRATE] = 50, [PX4IO_P_SETUP_PWM_ALTRATE] = 200, [PX4IO_P_SETUP_RELAYS] = 0, +#ifdef ADC_VSERVO + [PX4IO_P_SETUP_VSERVO_SCALE] = 10000, +#else [PX4IO_P_SETUP_VBATT_SCALE] = 10000, +#endif [PX4IO_P_SETUP_SET_DEBUG] = 0, }; @@ -146,8 +158,11 @@ volatile uint16_t r_page_setup[] = #define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_FMU_ARMED | \ PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \ PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | \ - PX4IO_P_SETUP_ARMING_IO_ARM_OK) -#define PX4IO_P_SETUP_RATES_VALID ((1 << IO_SERVO_COUNT) - 1) + PX4IO_P_SETUP_ARMING_IO_ARM_OK | \ + PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM | \ + PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE | \ + PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) +#define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1) #define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) /** @@ -166,7 +181,7 @@ volatile uint16_t r_page_controls[PX4IO_CONTROL_CHANNELS]; * * R/C channel input configuration. */ -uint16_t r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE]; +uint16_t r_page_rc_input_config[PX4IO_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE]; /* valid options */ #define PX4IO_P_RC_CONFIG_OPTIONS_VALID (PX4IO_P_RC_CONFIG_OPTIONS_REVERSE | PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) @@ -182,9 +197,33 @@ uint16_t r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE * * Disable pulses as default. */ -uint16_t r_page_servo_failsafe[IO_SERVO_COUNT] = { 0 }; +uint16_t r_page_servo_failsafe[PX4IO_SERVO_COUNT] = { 0 }; -void +/** + * PAGE 106 + * + * minimum PWM values when armed + * + */ +uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 900, 900, 900, 900 }; + +/** + * PAGE 107 + * + * maximum PWM values when armed + * + */ +uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { 2100, 2100, 2100, 2100, 2100, 2100, 2100, 2100 }; + +/** + * PAGE 108 + * + * idle PWM values for difficult ESCs + * + */ +uint16_t r_page_servo_idle[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 900, 900, 900, 900 }; + +int registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values) { @@ -233,7 +272,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num case PX4IO_PAGE_FAILSAFE_PWM: /* copy channel data */ - while ((offset < IO_SERVO_COUNT) && (num_values > 0)) { + while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) { /* XXX range-check value? */ r_page_servo_failsafe[offset] = *values; @@ -247,6 +286,75 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num } break; + case PX4IO_PAGE_CONTROL_MIN_PWM: + + /* copy channel data */ + while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) { + + if (*values == 0) + /* set to default */ + r_page_servo_control_min[offset] = 900; + + else if (*values > 1200) + r_page_servo_control_min[offset] = 1200; + else if (*values < 900) + r_page_servo_control_min[offset] = 900; + else + r_page_servo_control_min[offset] = *values; + + offset++; + num_values--; + values++; + } + break; + + case PX4IO_PAGE_CONTROL_MAX_PWM: + + /* copy channel data */ + while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) { + + if (*values == 0) + /* set to default */ + r_page_servo_control_max[offset] = 2100; + + else if (*values > 2100) + r_page_servo_control_max[offset] = 2100; + else if (*values < 1800) + r_page_servo_control_max[offset] = 1800; + else + r_page_servo_control_max[offset] = *values; + + offset++; + num_values--; + values++; + } + break; + + case PX4IO_PAGE_IDLE_PWM: + + /* copy channel data */ + while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) { + + if (*values == 0) + /* set to default */ + r_page_servo_idle[offset] = 0; + + else if (*values < 900) + r_page_servo_idle[offset] = 900; + else if (*values > 2100) + r_page_servo_idle[offset] = 2100; + else + r_page_servo_idle[offset] = *values; + + /* flag the failsafe values as custom */ + r_setup_arming |= PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE; + + offset++; + num_values--; + values++; + } + break; + /* handle text going to the mixer parser */ case PX4IO_PAGE_MIXERLOAD: mixer_handle_text(values, num_values * sizeof(*values)); @@ -260,11 +368,13 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num /* iterate individual registers, set each in turn */ while (num_values--) { if (registers_set_one(page, offset, *values)) - break; + return -1; offset++; values++; } + break; } + return 0; } static int @@ -317,8 +427,14 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) * so that an in-air reset of FMU can not lead to a * lockup of the IO arming state. */ - if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && !(value & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; + + // XXX do not reset IO's safety state by FMU for now + // if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && !(value & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + // r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; + // } + + if (value & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) { + r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK; } r_setup_arming = value; @@ -349,10 +465,22 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_P_SETUP_RELAYS: value &= PX4IO_P_SETUP_RELAYS_VALID; r_setup_relays = value; - POWER_RELAY1(value & PX4IO_RELAY1 ? 1 : 0); - POWER_RELAY2(value & PX4IO_RELAY2 ? 1 : 0); - POWER_ACC1(value & PX4IO_ACC1 ? 1 : 0); - POWER_ACC2(value & PX4IO_ACC2 ? 1 : 0); +#ifdef POWER_RELAY1 + POWER_RELAY1((value & PX4IO_P_SETUP_RELAYS_POWER1) ? 1 : 0); +#endif +#ifdef POWER_RELAY2 + POWER_RELAY2((value & PX4IO_P_SETUP_RELAYS_POWER2) ? 1 : 0); +#endif +#ifdef POWER_ACC1 + POWER_ACC1((value & PX4IO_P_SETUP_RELAYS_ACC1) ? 1 : 0); +#endif +#ifdef POWER_ACC2 + POWER_ACC2((value & PX4IO_P_SETUP_RELAYS_ACC2) ? 1 : 0); +#endif + break; + + case PX4IO_P_SETUP_VBATT_SCALE: + r_page_setup[PX4IO_P_SETUP_VBATT_SCALE] = value; break; case PX4IO_P_SETUP_SET_DEBUG: @@ -371,9 +499,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_PAGE_RC_CONFIG: { - /* do not allow a RC config change while fully armed */ - if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && - /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { + /** + * do not allow a RC config change while outputs armed + */ + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || + (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) || + (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { break; } @@ -381,7 +512,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) unsigned index = offset - channel * PX4IO_P_RC_CONFIG_STRIDE; uint16_t *conf = &r_page_rc_input_config[channel * PX4IO_P_RC_CONFIG_STRIDE]; - if (channel >= MAX_CONTROL_CHANNELS) + if (channel >= PX4IO_CONTROL_CHANNELS) return -1; /* disable the channel until we have a chance to sanity-check it */ @@ -401,6 +532,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) value &= PX4IO_P_RC_CONFIG_OPTIONS_VALID; r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK; + /* clear any existing RC disabled flag */ + r_setup_arming &= ~(PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED); + /* set all options except the enabled option */ conf[index] = value & ~PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; @@ -426,7 +560,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) { count++; } - if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= MAX_CONTROL_CHANNELS) { + if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_CONTROL_CHANNELS) { count++; } @@ -446,6 +580,14 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) /* case PX4IO_RC_PAGE_CONFIG */ } + case PX4IO_PAGE_TEST: + switch (offset) { + case PX4IO_P_TEST_LED: + LED_AMBER(value & 1); + break; + } + break; + default: return -1; } @@ -482,6 +624,7 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val /* PX4IO_P_STATUS_ALARMS maintained externally */ +#ifdef ADC_VBATT /* PX4IO_P_STATUS_VBATT */ { /* @@ -515,7 +658,8 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val r_page_status[PX4IO_P_STATUS_VBATT] = corrected; } } - +#endif +#ifdef ADC_IBATT /* PX4IO_P_STATUS_IBATT */ { /* @@ -525,26 +669,62 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val FMU sort it out, with user selectable configuration for their sensor */ - unsigned counts = adc_measure(ADC_IN5); + unsigned counts = adc_measure(ADC_IBATT); if (counts != 0xffff) { r_page_status[PX4IO_P_STATUS_IBATT] = counts; } } +#endif +#ifdef ADC_VSERVO + /* PX4IO_P_STATUS_VSERVO */ + { + /* + * Coefficients here derived by measurement of the 5-16V + * range on one unit: + * + * XXX pending measurements + * + * slope = xxx + * intercept = xxx + * + * Intercept corrected for best results @ 5.0V. + */ + unsigned counts = adc_measure(ADC_VSERVO); + if (counts != 0xffff) { + unsigned mV = (4150 + (counts * 46)) / 10 - 200; + unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VSERVO_SCALE]) / 10000; + + r_page_status[PX4IO_P_STATUS_VSERVO] = corrected; + } + } +#endif + /* XXX PX4IO_P_STATUS_VRSSI */ + /* XXX PX4IO_P_STATUS_PRSSI */ SELECT_PAGE(r_page_status); break; case PX4IO_PAGE_RAW_ADC_INPUT: memset(r_page_scratch, 0, sizeof(r_page_scratch)); +#ifdef ADC_VBATT r_page_scratch[0] = adc_measure(ADC_VBATT); - r_page_scratch[1] = adc_measure(ADC_IN5); - +#endif +#ifdef ADC_IBATT + r_page_scratch[1] = adc_measure(ADC_IBATT); +#endif + +#ifdef ADC_VSERVO + r_page_scratch[0] = adc_measure(ADC_VSERVO); +#endif +#ifdef ADC_RSSI + r_page_scratch[1] = adc_measure(ADC_RSSI); +#endif SELECT_PAGE(r_page_scratch); break; case PX4IO_PAGE_PWM_INFO: memset(r_page_scratch, 0, sizeof(r_page_scratch)); - for (unsigned i = 0; i < IO_SERVO_COUNT; i++) + for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) r_page_scratch[PX4IO_RATE_MAP_BASE + i] = up_pwm_servo_get_rate_group(i); SELECT_PAGE(r_page_scratch); @@ -587,6 +767,15 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val case PX4IO_PAGE_FAILSAFE_PWM: SELECT_PAGE(r_page_servo_failsafe); break; + case PX4IO_PAGE_CONTROL_MIN_PWM: + SELECT_PAGE(r_page_servo_control_min); + break; + case PX4IO_PAGE_CONTROL_MAX_PWM: + SELECT_PAGE(r_page_servo_control_max); + break; + case PX4IO_PAGE_IDLE_PWM: + SELECT_PAGE(r_page_servo_idle); + break; default: return -1; @@ -616,7 +805,7 @@ static void pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t altrate) { for (unsigned pass = 0; pass < 2; pass++) { - for (unsigned group = 0; group < IO_SERVO_COUNT; group++) { + for (unsigned group = 0; group < PX4IO_SERVO_COUNT; group++) { /* get the channel mask for this rate group */ uint32_t mask = up_pwm_servo_get_rate_group(group); |