diff options
Diffstat (limited to 'src/modules')
-rw-r--r-- | src/modules/commander/commander.cpp | 53 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink.c | 2 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 2 | ||||
-rw-r--r-- | src/modules/mavlink/orb_listener.c | 4 | ||||
-rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 2 | ||||
-rw-r--r-- | src/modules/px4iofirmware/controls.c | 243 | ||||
-rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 15 | ||||
-rw-r--r-- | src/modules/px4iofirmware/protocol.h | 20 | ||||
-rw-r--r-- | src/modules/px4iofirmware/px4io.h | 10 | ||||
-rw-r--r-- | src/modules/px4iofirmware/registers.c | 60 | ||||
-rw-r--r-- | src/modules/px4iofirmware/sbus.c | 22 | ||||
-rw-r--r-- | src/modules/sensors/sensors.cpp | 9 |
12 files changed, 297 insertions, 145 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 901f91911..d318c7017 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -153,6 +153,11 @@ static bool on_usb_power = false; static float takeoff_alt = 5.0f; +static struct vehicle_status_s status; +static struct actuator_armed_s armed; +static struct safety_s safety; +static struct vehicle_control_mode_s control_mode; + /* tasks waiting for low prio thread */ typedef enum { LOW_PRIO_TASK_NONE = 0, @@ -211,6 +216,11 @@ void print_reject_arm(const char *msg); void print_status(); +int arm(); +int disarm(); + +transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos); + /** * Loop that runs at a lower rate and priority for calibration and parameter tasks. */ @@ -236,7 +246,7 @@ int commander_main(int argc, char *argv[]) daemon_task = task_spawn_cmd("commander", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 40, - 3000, + 2088, commander_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); @@ -276,6 +286,16 @@ int commander_main(int argc, char *argv[]) exit(0); } + if (!strcmp(argv[1], "arm")) { + arm(); + exit(0); + } + + if (!strcmp(argv[1], "disarm")) { + disarm(); + exit(0); + } + usage("unrecognized command"); exit(1); } @@ -342,6 +362,30 @@ void print_status() static orb_advert_t status_pub; +int arm() +{ + int arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed); + + if (arming_res == TRANSITION_CHANGED) { + mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline"); + return 0; + } else { + return 1; + } +} + +int disarm() +{ + int arming_res = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed); + + if (arming_res == TRANSITION_CHANGED) { + mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline"); + return 0; + } else { + return 1; + } +} + bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed) { /* result of the command */ @@ -556,11 +600,6 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } -static struct vehicle_status_s status; -static struct vehicle_control_mode_s control_mode; -static struct actuator_armed_s armed; -static struct safety_s safety; - int commander_thread_main(int argc, char *argv[]) { /* not yet initialized */ @@ -672,7 +711,7 @@ int commander_thread_main(int argc, char *argv[]) pthread_attr_t commander_low_prio_attr; pthread_attr_init(&commander_low_prio_attr); - pthread_attr_setstacksize(&commander_low_prio_attr, 2992); + pthread_attr_setstacksize(&commander_low_prio_attr, 1728); struct sched_param param; (void)pthread_attr_getschedparam(&commander_low_prio_attr, ¶m); diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index 4d975066f..9bb92cbf5 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -794,7 +794,7 @@ int mavlink_main(int argc, char *argv[]) mavlink_task = task_spawn_cmd("mavlink", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, - 2048, + 1200, mavlink_thread_main, (const char **)argv); diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index a371a499e..f71dd9a3f 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -872,7 +872,7 @@ receive_start(int uart) param.sched_priority = SCHED_PRIORITY_MAX - 40; (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); - pthread_attr_setstacksize(&receiveloop_attr, 3000); + pthread_attr_setstacksize(&receiveloop_attr, 1816); pthread_t thread; pthread_create(&thread, &receiveloop_attr, receive_thread, &uart); diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 5d071d0be..3acf3e262 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -357,7 +357,7 @@ l_input_rc(const struct listener *l) for (unsigned i = 0; (i * port_width) < rc_raw.channel_count; i++) { /* Channels are sent in MAVLink main loop at a fixed interval */ mavlink_msg_rc_channels_raw_send(chan, - rc_raw.timestamp / 1000, + rc_raw.timestamp_publication / 1000, i, (rc_raw.channel_count > (i * port_width) + 0) ? rc_raw.values[(i * port_width) + 0] : UINT16_MAX, (rc_raw.channel_count > (i * port_width) + 1) ? rc_raw.values[(i * port_width) + 1] : UINT16_MAX, @@ -838,7 +838,7 @@ uorb_receive_start(void) pthread_attr_init(&uorb_attr); /* Set stack size, needs less than 2k */ - pthread_attr_setstacksize(&uorb_attr, 2048); + pthread_attr_setstacksize(&uorb_attr, 1648); pthread_t thread; pthread_create(&thread, &uorb_attr, uorb_receive_thread, NULL); diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index e045ce4cc..718e1c1f1 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -133,7 +133,7 @@ int position_estimator_inav_main(int argc, char *argv[]) thread_should_exit = false; position_estimator_inav_task = task_spawn_cmd("position_estimator_inav", - SCHED_RR, SCHED_PRIORITY_MAX - 5, 4096, + SCHED_RR, SCHED_PRIORITY_MAX - 5, 2568, position_estimator_inav_thread_main, (argv) ? (const char **) &argv[2] : (const char **) NULL); exit(0); diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 5e2c92bf4..941500f0d 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -59,6 +59,11 @@ static perf_counter_t c_gather_ppm; void controls_init(void) { + /* no channels */ + r_raw_rc_count = 0; + system_state.rc_channels_timestamp_received = 0; + system_state.rc_channels_timestamp_valid = 0; + /* DSM input (USART1) */ dsm_init("/dev/ttyS0"); @@ -97,35 +102,62 @@ controls_tick() { /* receive signal strenght indicator (RSSI). 0 = no connection, 255: perfect connection */ uint16_t rssi = 0; +#ifdef ADC_RSSI + if (r_setup_features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) { + unsigned counts = adc_measure(ADC_RSSI); + if (counts != 0xffff) { + /* use 1:1 scaling on 3.3V ADC input */ + unsigned mV = counts * 3300 / 4096; + + /* scale to 0..253 */ + rssi = mV / 13; + } + } +#endif + perf_begin(c_gather_dsm); uint16_t temp_count = r_raw_rc_count; bool dsm_updated = dsm_input(r_raw_rc_values, &temp_count); if (dsm_updated) { - r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; + r_raw_rc_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; r_raw_rc_count = temp_count & 0x7fff; if (temp_count & 0x8000) - r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM11; + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11; else - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11; + r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_DSM11; + + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP); + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); - rssi = 255; } perf_end(c_gather_dsm); perf_begin(c_gather_sbus); - bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &rssi, PX4IO_RC_INPUT_CHANNELS); bool sbus_status = (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS); + bool sbus_failsafe, sbus_frame_drop; + bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop, PX4IO_RC_INPUT_CHANNELS); + if (sbus_updated) { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS; - } - /* switch S.Bus output pin as needed */ - if (sbus_status != (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS)) { - #ifdef ENABLE_SBUS_OUT - ENABLE_SBUS_OUT((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS)); - #endif + rssi = 255; + + if (sbus_frame_drop) { + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FRAME_DROP; + rssi = 100; + } else { + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP); + } + + if (sbus_failsafe) { + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE; + rssi = 0; + } else { + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); + } + } perf_end(c_gather_sbus); @@ -136,13 +168,12 @@ controls_tick() { * disable the PPM decoder completely if we have S.bus signal. */ perf_begin(c_gather_ppm); - bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_status[PX4IO_P_STATUS_RC_DATA]); + bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_raw_rc_input[PX4IO_P_RAW_RC_DATA]); if (ppm_updated) { - /* XXX sample RSSI properly here */ - rssi = 255; - r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM; + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP); + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); } perf_end(c_gather_ppm); @@ -150,6 +181,9 @@ controls_tick() { if (r_raw_rc_count > PX4IO_RC_INPUT_CHANNELS) r_raw_rc_count = PX4IO_RC_INPUT_CHANNELS; + /* store RSSI */ + r_page_raw_rc_input[PX4IO_P_RAW_RC_NRSSI] = rssi; + /* * In some cases we may have received a frame, but input has still * been lost. @@ -161,97 +195,100 @@ controls_tick() { */ if (dsm_updated || sbus_updated || ppm_updated) { - /* update RC-received timestamp */ - system_state.rc_channels_timestamp = hrt_absolute_time(); - /* record a bitmask of channels assigned */ unsigned assigned_channels = 0; - /* map raw inputs to mapped inputs */ - /* XXX mapping should be atomic relative to protocol */ - for (unsigned i = 0; i < r_raw_rc_count; i++) { - - /* map the input channel */ - uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE]; - - if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { - - uint16_t raw = r_raw_rc_values[i]; - - int16_t scaled; - - /* - * 1) Constrain to min/max values, as later processing depends on bounds. - */ - if (raw < conf[PX4IO_P_RC_CONFIG_MIN]) - raw = conf[PX4IO_P_RC_CONFIG_MIN]; - if (raw > conf[PX4IO_P_RC_CONFIG_MAX]) - raw = conf[PX4IO_P_RC_CONFIG_MAX]; - - /* - * 2) Scale around the mid point differently for lower and upper range. - * - * This is necessary as they don't share the same endpoints and slope. - * - * First normalize to 0..1 range with correct sign (below or above center), - * then scale to 20000 range (if center is an actual center, -10000..10000, - * if parameters only support half range, scale to 10000 range, e.g. if - * center == min 0..10000, if center == max -10000..0). - * - * As the min and max bounds were enforced in step 1), division by zero - * cannot occur, as for the case of center == min or center == max the if - * statement is mutually exclusive with the arithmetic NaN case. - * - * DO NOT REMOVE OR ALTER STEP 1! - */ - if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])); - - } else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN])); - - } else { - /* in the configured dead zone, output zero */ - scaled = 0; - } - - /* invert channel if requested */ - if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) - scaled = -scaled; + /* update RC-received timestamp */ + system_state.rc_channels_timestamp_received = hrt_absolute_time(); + + /* do not command anything in failsafe, kick in the RC loss counter */ + if (!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) { + + /* update RC-received timestamp */ + system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received; + + /* map raw inputs to mapped inputs */ + /* XXX mapping should be atomic relative to protocol */ + for (unsigned i = 0; i < r_raw_rc_count; i++) { + + /* map the input channel */ + uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE]; + + if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { + + uint16_t raw = r_raw_rc_values[i]; + + int16_t scaled; + + /* + * 1) Constrain to min/max values, as later processing depends on bounds. + */ + if (raw < conf[PX4IO_P_RC_CONFIG_MIN]) + raw = conf[PX4IO_P_RC_CONFIG_MIN]; + if (raw > conf[PX4IO_P_RC_CONFIG_MAX]) + raw = conf[PX4IO_P_RC_CONFIG_MAX]; + + /* + * 2) Scale around the mid point differently for lower and upper range. + * + * This is necessary as they don't share the same endpoints and slope. + * + * First normalize to 0..1 range with correct sign (below or above center), + * then scale to 20000 range (if center is an actual center, -10000..10000, + * if parameters only support half range, scale to 10000 range, e.g. if + * center == min 0..10000, if center == max -10000..0). + * + * As the min and max bounds were enforced in step 1), division by zero + * cannot occur, as for the case of center == min or center == max the if + * statement is mutually exclusive with the arithmetic NaN case. + * + * DO NOT REMOVE OR ALTER STEP 1! + */ + if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) { + scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])); + + } else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { + scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN])); + + } else { + /* in the configured dead zone, output zero */ + scaled = 0; + } + + /* invert channel if requested */ + if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) + scaled = -scaled; - /* and update the scaled/mapped version */ - unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; - if (mapped < PX4IO_CONTROL_CHANNELS) { + /* and update the scaled/mapped version */ + unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; + if (mapped < PX4IO_CONTROL_CHANNELS) { - /* invert channel if pitch - pulling the lever down means pitching up by convention */ - if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ - scaled = -scaled; + /* invert channel if pitch - pulling the lever down means pitching up by convention */ + if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ + scaled = -scaled; - r_rc_values[mapped] = SIGNED_TO_REG(scaled); - assigned_channels |= (1 << mapped); + r_rc_values[mapped] = SIGNED_TO_REG(scaled); + assigned_channels |= (1 << mapped); + } } } - } - /* set un-assigned controls to zero */ - for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { - if (!(assigned_channels & (1 << i))) - r_rc_values[i] = 0; - } + /* set un-assigned controls to zero */ + for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { + if (!(assigned_channels & (1 << i))) + r_rc_values[i] = 0; + } - /* - * If we got an update with zero channels, treat it as - * a loss of input. - * - * This might happen if a protocol-based receiver returns an update - * that contains no channels that we have mapped. - */ - if (assigned_channels == 0 || rssi == 0) { - rc_input_lost = true; - } else { - /* set RC OK flag */ + /* set RC OK flag, as we got an update */ r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK; + + /* if we have enough channels (5) to control the vehicle, the mapping is ok */ + if (assigned_channels > 4) { + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK; + } else { + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK); + } } /* @@ -264,7 +301,7 @@ controls_tick() { * If we haven't seen any new control data in 200ms, assume we * have lost input. */ - if (hrt_elapsed_time(&system_state.rc_channels_timestamp) > 200000) { + if (hrt_elapsed_time(&system_state.rc_channels_timestamp_received) > 200000) { rc_input_lost = true; /* clear the input-kind flags here */ @@ -272,24 +309,32 @@ controls_tick() { PX4IO_P_STATUS_FLAGS_RC_PPM | PX4IO_P_STATUS_FLAGS_RC_DSM | PX4IO_P_STATUS_FLAGS_RC_SBUS); + } /* * Handle losing RC input */ - if (rc_input_lost) { + /* this kicks in if the receiver is gone or the system went to failsafe */ + if (rc_input_lost || (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) { /* Clear the RC input status flag, clear manual override flag */ r_status_flags &= ~( PX4IO_P_STATUS_FLAGS_OVERRIDE | PX4IO_P_STATUS_FLAGS_RC_OK); + /* Mark all channels as invalid, as we just lost the RX */ + r_rc_valid = 0; + /* Set the RC_LOST alarm */ r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST; + } - /* Mark the arrays as empty */ + /* this kicks in if the receiver is completely gone */ + if (rc_input_lost) { + + /* Set channel count to zero */ r_raw_rc_count = 0; - r_rc_valid = 0; } /* diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 2e79f0ac6..f39fcf7ec 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -223,14 +223,25 @@ mixer_tick(void) } } - if ((should_arm || should_always_enable_pwm) && !mixer_servos_armed) { + /* set arming */ + bool needs_to_arm = (should_arm || should_always_enable_pwm); + + /* check any conditions that prevent arming */ + if (r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) { + needs_to_arm = false; + } + if (!should_arm && !should_always_enable_pwm) { + needs_to_arm = false; + } + + if (needs_to_arm && !mixer_servos_armed) { /* need to arm, but not armed */ up_pwm_servo_arm(true); mixer_servos_armed = true; r_status_flags |= PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED; isr_debug(5, "> PWM enabled"); - } else if ((!should_arm && !should_always_enable_pwm) && mixer_servos_armed) { + } else if (!needs_to_arm && mixer_servos_armed) { /* armed but need to disarm */ up_pwm_servo_arm(false); mixer_servos_armed = false; diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index e5bef6eb3..d48c6c529 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -111,7 +111,6 @@ #define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */ #define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */ #define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */ -#define PX4IO_P_STATUS_FLAGS_RC_DSM11 (1 << 13) /* DSM input is 11 bit data */ #define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */ #define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* [1] VBatt is very close to regulator dropout */ @@ -128,8 +127,6 @@ #define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */ #define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */ #define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */ -#define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */ -#define PX4IO_P_STATUS_RC_DATA 10 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */ /* array of post-mix actuator outputs, -10000..10000 */ #define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ @@ -140,7 +137,17 @@ /* array of raw RC input values, microseconds */ #define PX4IO_PAGE_RAW_RC_INPUT 4 #define PX4IO_P_RAW_RC_COUNT 0 /* number of valid channels */ -#define PX4IO_P_RAW_RC_BASE 1 /* CONFIG_RC_INPUT_COUNT channels from here */ +#define PX4IO_P_RAW_RC_FLAGS 1 /* RC detail status flags */ +#define PX4IO_P_RAW_RC_FLAGS_FRAME_DROP (1 << 0) /* single frame drop */ +#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_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) */ +#define PX4IO_P_RAW_FRAME_COUNT 4 /* Number of total received frames (wrapping counter) */ +#define PX4IO_P_RAW_LOST_FRAME_COUNT 5 /* Number of total dropped frames (wrapping counter) */ +#define PX4IO_P_RAW_RC_BASE 6 /* CONFIG_RC_INPUT_COUNT channels from here */ /* array of scaled RC input values, -10000..10000 */ #define PX4IO_PAGE_RC_INPUT 5 @@ -157,6 +164,10 @@ /* setup page */ #define PX4IO_PAGE_SETUP 50 #define PX4IO_P_SETUP_FEATURES 0 +#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) /* enable S.Bus v1 output */ +#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /* enable S.Bus v2 output */ +#define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /* enable PWM RSSI parsing */ +#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /* enable ADC RSSI parsing */ #define PX4IO_P_SETUP_ARMING 1 /* arming controls */ #define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */ @@ -166,6 +177,7 @@ #define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */ #define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE (1 << 5) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */ #define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 6) /* Disable the IO-internal evaluation of the RC */ +#define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 7) /* If set, the system operates normally, but won't actuate any servos */ #define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ #define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index 393e0560e..bb224f388 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -96,8 +96,9 @@ extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */ #define r_raw_rc_count r_page_raw_rc_input[PX4IO_P_RAW_RC_COUNT] #define r_raw_rc_values (&r_page_raw_rc_input[PX4IO_P_RAW_RC_BASE]) +#define r_raw_rc_flags r_page_raw_rc_input[PX4IO_P_RAW_RC_FLAGS] #define r_rc_valid r_page_rc_input[PX4IO_P_RC_VALID] -#define r_rc_values (&r_page_rc_input[PX4IO_P_RAW_RC_BASE]) +#define r_rc_values (&r_page_rc_input[PX4IO_P_RC_BASE]) #define r_setup_features r_page_setup[PX4IO_P_SETUP_FEATURES] #define r_setup_arming r_page_setup[PX4IO_P_SETUP_ARMING] @@ -115,7 +116,8 @@ extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */ */ struct sys_state_s { - volatile uint64_t rc_channels_timestamp; + volatile uint64_t rc_channels_timestamp_received; + volatile uint64_t rc_channels_timestamp_valid; /** * Last FMU receive time, in microseconds since system boot @@ -215,7 +217,7 @@ extern int dsm_init(const char *device); extern bool dsm_input(uint16_t *values, uint16_t *num_values); extern void dsm_bind(uint16_t cmd, int pulses); extern int sbus_init(const char *device); -extern bool sbus_input(uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels); +extern bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels); /** global debug level for isr_debug() */ extern volatile uint8_t debug_level; diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 2c437d2c0..1335f52e1 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -90,8 +90,6 @@ uint16_t r_page_status[] = { [PX4IO_P_STATUS_VSERVO] = 0, [PX4IO_P_STATUS_VRSSI] = 0, [PX4IO_P_STATUS_PRSSI] = 0, - [PX4IO_P_STATUS_NRSSI] = 0, - [PX4IO_P_STATUS_RC_DATA] = 0 }; /** @@ -116,6 +114,12 @@ uint16_t r_page_servos[PX4IO_SERVO_COUNT]; uint16_t r_page_raw_rc_input[] = { [PX4IO_P_RAW_RC_COUNT] = 0, + [PX4IO_P_RAW_RC_FLAGS] = 0, + [PX4IO_P_RAW_RC_NRSSI] = 0, + [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 }; @@ -144,7 +148,12 @@ uint16_t r_page_scratch[32]; */ volatile uint16_t r_page_setup[] = { +#ifdef CONFIG_ARCH_BOARD_PX4IO_V2 + /* default to RSSI ADC functionality */ + [PX4IO_P_SETUP_FEATURES] = PX4IO_P_SETUP_FEATURES_ADC_RSSI, +#else [PX4IO_P_SETUP_FEATURES] = 0, +#endif [PX4IO_P_SETUP_ARMING] = 0, [PX4IO_P_SETUP_PWM_RATES] = 0, [PX4IO_P_SETUP_PWM_DEFAULTRATE] = 50, @@ -162,14 +171,22 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0, }; -#define PX4IO_P_SETUP_FEATURES_VALID (0) +#ifdef CONFIG_ARCH_BOARD_PX4IO_V2 +#define PX4IO_P_SETUP_FEATURES_VALID (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | \ + PX4IO_P_SETUP_FEATURES_SBUS2_OUT | \ + PX4IO_P_SETUP_FEATURES_ADC_RSSI | \ + PX4IO_P_SETUP_FEATURES_PWM_RSSI) +#else +#define PX4IO_P_SETUP_FEATURES_VALID 0 +#endif #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 | \ PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM | \ PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE | \ - PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) + PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED | \ + PX4IO_P_SETUP_ARMING_LOCKDOWN) #define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1) #define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) @@ -438,9 +455,35 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_P_SETUP_FEATURES: value &= PX4IO_P_SETUP_FEATURES_VALID; - r_setup_features = value; - /* no implemented feature selection at this point */ + /* some of the options conflict - give S.BUS out precedence, then ADC RSSI, then PWM RSSI */ + + /* switch S.Bus output pin as needed */ + #ifdef ENABLE_SBUS_OUT + ENABLE_SBUS_OUT(value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT)); + + /* disable the conflicting options */ + if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT)) { + value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | PX4IO_P_SETUP_FEATURES_ADC_RSSI); + } + #endif + + /* disable the conflicting options with ADC RSSI */ + if (value & (PX4IO_P_SETUP_FEATURES_ADC_RSSI)) { + value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | + PX4IO_P_SETUP_FEATURES_SBUS1_OUT | + PX4IO_P_SETUP_FEATURES_SBUS2_OUT); + } + + /* disable the conflicting options with PWM RSSI (without effect here, but for completeness) */ + if (value & (PX4IO_P_SETUP_FEATURES_PWM_RSSI)) { + value &= ~(PX4IO_P_SETUP_FEATURES_ADC_RSSI | + PX4IO_P_SETUP_FEATURES_SBUS1_OUT | + PX4IO_P_SETUP_FEATURES_SBUS2_OUT); + } + + /* apply changes */ + r_setup_features = value; break; @@ -456,11 +499,6 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) * lockup of the IO arming state. */ - // 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; } diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index 495447740..f6ec542eb 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -87,7 +87,7 @@ static unsigned partial_frame_count; unsigned sbus_frame_drops; -static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels); +static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels); int sbus_init(const char *device) @@ -118,7 +118,7 @@ sbus_init(const char *device) } bool -sbus_input(uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels) +sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels) { ssize_t ret; hrt_abstime now; @@ -175,7 +175,7 @@ sbus_input(uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_ * decode it. */ partial_frame_count = 0; - return sbus_decode(now, values, num_values, rssi, max_channels); + return sbus_decode(now, values, num_values, sbus_failsafe, sbus_frame_drop, max_channels); } /* @@ -215,7 +215,7 @@ static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = { }; static bool -sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_values) +sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_values) { /* check frame boundary markers to avoid out-of-sync cases */ if ((frame[0] != 0x0f)) { @@ -289,20 +289,22 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint /* decode and handle failsafe and frame-lost flags */ if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FAILSAFE_BIT)) { /* failsafe */ /* report that we failed to read anything valid off the receiver */ - *rssi = 0; - return false; + *sbus_failsafe = true; + *sbus_frame_drop = true; } else if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FRAMELOST_BIT)) { /* a frame was lost */ - /* set a special warning flag or try to calculate some kind of RSSI information - to be implemented + /* set a special warning flag * * Attention! This flag indicates a skipped frame only, not a total link loss! Handling this * condition as fail-safe greatly reduces the reliability and range of the radio link, * e.g. by prematurely issueing return-to-launch!!! */ - *rssi = 100; // XXX magic number indicating bad signal, but not a signal loss (yet) + *sbus_failsafe = false; + *sbus_frame_drop = true; + } else { + *sbus_failsafe = false; + *sbus_frame_drop = false; } - *rssi = 255; - return true; } diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index ea864390d..bd665b592 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1274,6 +1274,9 @@ Sensors::rc_poll() orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + if (rc_input.rc_lost) + return; + struct manual_control_setpoint_s manual_control; struct actuator_controls_s actuator_group_3; @@ -1318,7 +1321,7 @@ Sensors::rc_poll() channel_limit = _rc_max_chan_count; /* we are accepting this message */ - _rc_last_valid = rc_input.timestamp; + _rc_last_valid = rc_input.timestamp_last_signal; /* Read out values from raw message */ for (unsigned int i = 0; i < channel_limit; i++) { @@ -1367,9 +1370,9 @@ Sensors::rc_poll() } _rc.chan_count = rc_input.channel_count; - _rc.timestamp = rc_input.timestamp; + _rc.timestamp = rc_input.timestamp_last_signal; - manual_control.timestamp = rc_input.timestamp; + manual_control.timestamp = rc_input.timestamp_last_signal; /* roll input - rolling right is stick-wise and rotation-wise positive */ manual_control.roll = limit_minus_one_to_one(_rc.chan[_rc.function[ROLL]].scaled); |