aboutsummaryrefslogtreecommitdiff
path: root/src/modules/px4iofirmware
diff options
context:
space:
mode:
Diffstat (limited to 'src/modules/px4iofirmware')
-rw-r--r--src/modules/px4iofirmware/controls.c11
-rw-r--r--src/modules/px4iofirmware/i2c.c2
-rw-r--r--src/modules/px4iofirmware/mixer.cpp1
-rw-r--r--src/modules/px4iofirmware/protocol.h16
-rw-r--r--src/modules/px4iofirmware/px4io.c5
-rw-r--r--src/modules/px4iofirmware/registers.c27
-rw-r--r--src/modules/px4iofirmware/sbus.c6
7 files changed, 47 insertions, 21 deletions
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index 56c5aa005..185cb20dd 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -47,8 +47,8 @@
#include "px4io.h"
#define RC_FAILSAFE_TIMEOUT 2000000 /**< two seconds failsafe timeout */
-#define RC_CHANNEL_HIGH_THRESH 5000
-#define RC_CHANNEL_LOW_THRESH -5000
+#define RC_CHANNEL_HIGH_THRESH 5000 /* 75% threshold */
+#define RC_CHANNEL_LOW_THRESH -8000 /* 10% threshold */
static bool ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
@@ -291,6 +291,7 @@ controls_tick() {
/* set RC OK flag, as we got an update */
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK;
+ r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_OK;
/* if we have enough channels (5) to control the vehicle, the mapping is ok */
if (assigned_channels > 4) {
@@ -336,6 +337,9 @@ controls_tick() {
PX4IO_P_STATUS_FLAGS_OVERRIDE |
PX4IO_P_STATUS_FLAGS_RC_OK);
+ /* flag raw RC as lost */
+ r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_RC_OK);
+
/* Mark all channels as invalid, as we just lost the RX */
r_rc_valid = 0;
@@ -405,8 +409,9 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
if (*num_values > PX4IO_RC_INPUT_CHANNELS)
*num_values = PX4IO_RC_INPUT_CHANNELS;
- for (unsigned i = 0; i < *num_values; i++)
+ for (unsigned i = 0; i < *num_values; i++) {
values[i] = ppm_buffer[i];
+ }
/* clear validity */
ppm_last_valid_decode = 0;
diff --git a/src/modules/px4iofirmware/i2c.c b/src/modules/px4iofirmware/i2c.c
index 79b6546b3..76762c0fc 100644
--- a/src/modules/px4iofirmware/i2c.c
+++ b/src/modules/px4iofirmware/i2c.c
@@ -331,6 +331,7 @@ i2c_tx_complete(void)
i2c_tx_setup();
}
+#ifdef DEBUG
static void
i2c_dump(void)
{
@@ -339,3 +340,4 @@ i2c_dump(void)
debug("CCR 0x%08x TRISE 0x%08x", rCCR, rTRISE);
debug("SR1 0x%08x SR2 0x%08x", rSR1, rSR2);
}
+#endif
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index ebf4f3e8e..2f721bf1e 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -213,6 +213,7 @@ mixer_tick(void)
mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT);
in_mixer = false;
+ /* the pwm limit call takes care of out of band errors */
pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++)
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index 6c20d6006..d5a6b1ec4 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -142,6 +142,7 @@
#define PX4IO_P_RAW_RC_FLAGS_FAILSAFE (1 << 1) /* receiver is in failsafe mode */
#define PX4IO_P_RAW_RC_FLAGS_RC_DSM11 (1 << 2) /* DSM decoding is 11 bit mode */
#define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK (1 << 3) /* Channel mapping is ok */
+#define PX4IO_P_RAW_RC_FLAGS_RC_OK (1 << 4) /* RC reception ok */
#define PX4IO_P_RAW_RC_NRSSI 2 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
#define PX4IO_P_RAW_RC_DATA 3 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
@@ -189,6 +190,8 @@
#define PX4IO_P_SETUP_RELAYS_POWER2 (1<<1) /* hardware rev [1] power relay 2 */
#define PX4IO_P_SETUP_RELAYS_ACC1 (1<<2) /* hardware rev [1] accessory power 1 */
#define PX4IO_P_SETUP_RELAYS_ACC2 (1<<3) /* hardware rev [1] accessory power 2 */
+#else
+#define PX4IO_P_SETUP_RELAYS_PAD 5
#endif
#define PX4IO_P_SETUP_VBATT_SCALE 6 /* hardware rev [1] battery voltage correction factor (float) */
@@ -208,15 +211,16 @@ enum { /* DSM bind states */
#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */
#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */
- /* 12 occupied by CRC */
+ /* storage space of 12 occupied by CRC */
+#define PX4IO_P_SETUP_FORCE_SAFETY_OFF 12 /* force safety switch into
+ 'armed' (PWM enabled) state - this is a non-data write and
+ hence index 12 can safely be used. */
#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */
-#define PX4IO_P_SETUP_FORCE_SAFETY_OFF 12 /* force safety switch into
- 'armed' (PWM enabled) state */
-#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */
+#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */
/* autopilot control values, -10000..10000 */
-#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */
+#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */
#define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
#define PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
#define PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
@@ -308,7 +312,7 @@ struct IOPacket {
#define PKT_COUNT(_p) ((_p).count_code & PKT_COUNT_MASK)
#define PKT_CODE(_p) ((_p).count_code & PKT_CODE_MASK)
-#define PKT_SIZE(_p) ((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p)))
+#define PKT_SIZE(_p) ((size_t)((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p))))
static const uint8_t crc8_tab[256] __attribute__((unused)) =
{
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c
index d4c25911e..cd134ccb4 100644
--- a/src/modules/px4iofirmware/px4io.c
+++ b/src/modules/px4iofirmware/px4io.c
@@ -37,6 +37,7 @@
*/
#include <nuttx/config.h>
+#include <nuttx/arch.h>
#include <stdio.h> // required for task_create
#include <stdbool.h>
@@ -303,14 +304,12 @@ user_start(int argc, char *argv[])
*/
if (hrt_absolute_time() - last_debug_time > (1000 * 1000)) {
- struct mallinfo minfo = mallinfo();
-
isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x m=%u",
(unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG],
(unsigned)r_status_flags,
(unsigned)r_setup_arming,
(unsigned)r_setup_features,
- (unsigned)minfo.mxordblk);
+ (unsigned)mallinfo().mxordblk);
last_debug_time = hrt_absolute_time();
}
}
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index fd7c6081f..50108ea1b 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -119,7 +119,6 @@ uint16_t r_page_raw_rc_input[] =
[PX4IO_P_RAW_RC_DATA] = 0,
[PX4IO_P_RAW_FRAME_COUNT] = 0,
[PX4IO_P_RAW_LOST_FRAME_COUNT] = 0,
- [PX4IO_P_RAW_RC_DATA] = 0,
[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_RC_INPUT_CHANNELS)] = 0
};
@@ -160,6 +159,9 @@ volatile uint16_t r_page_setup[] =
[PX4IO_P_SETUP_PWM_ALTRATE] = 200,
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
[PX4IO_P_SETUP_RELAYS] = 0,
+#else
+ /* this is unused, but we will pad it for readability (the compiler pads it automatically) */
+ [PX4IO_P_SETUP_RELAYS_PAD] = 0,
#endif
#ifdef ADC_VSERVO
[PX4IO_P_SETUP_VSERVO_SCALE] = 10000,
@@ -523,18 +525,22 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
break;
case PX4IO_P_SETUP_PWM_DEFAULTRATE:
- if (value < 50)
+ if (value < 50) {
value = 50;
- if (value > 400)
+ }
+ if (value > 400) {
value = 400;
+ }
pwm_configure_rates(r_setup_pwm_rates, value, r_setup_pwm_altrate);
break;
case PX4IO_P_SETUP_PWM_ALTRATE:
- if (value < 50)
+ if (value < 50) {
value = 50;
- if (value > 400)
+ }
+ if (value > 400) {
value = 400;
+ }
pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value);
break;
@@ -566,8 +572,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
}
// check the magic value
- if (value != PX4IO_REBOOT_BL_MAGIC)
+ if (value != PX4IO_REBOOT_BL_MAGIC) {
break;
+ }
// we schedule a reboot rather than rebooting
// immediately to allow the IO board to ACK
@@ -585,6 +592,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
}
break;
+ case PX4IO_P_SETUP_RC_THR_FAILSAFE_US:
+ if (value > 650 && value < 2350) {
+ r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = value;
+ }
+ break;
+
default:
return -1;
}
@@ -656,7 +669,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) {
disabled = true;
- } else if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
+ } else if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
count++;
}
diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c
index 0e7dc621c..70ccab180 100644
--- a/src/modules/px4iofirmware/sbus.c
+++ b/src/modules/px4iofirmware/sbus.c
@@ -119,13 +119,15 @@ sbus_init(const char *device)
bool
sbus1_output(uint16_t *values, uint16_t num_values)
{
- write(sbus_fd, 'A', 1);
+ char a = 'A';
+ write(sbus_fd, &a, 1);
}
bool
sbus2_output(uint16_t *values, uint16_t num_values)
{
- write(sbus_fd, 'B', 1);
+ char b = 'B';
+ write(sbus_fd, &b, 1);
}
bool
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-07 23:05:30 +0000