diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/drivers/boards/px4fmu-v1/board_config.h | 7 | ||||
-rw-r--r-- | src/drivers/boards/px4fmu-v2/board_config.h | 28 | ||||
-rw-r--r-- | src/drivers/boards/px4io-v1/board_config.h | 4 | ||||
-rw-r--r-- | src/drivers/boards/px4io-v2/board_config.h | 6 | ||||
-rw-r--r-- | src/drivers/frsky_telemetry/frsky_data.c | 289 | ||||
-rw-r--r-- | src/drivers/frsky_telemetry/frsky_data.h | 51 | ||||
-rw-r--r-- | src/drivers/frsky_telemetry/frsky_telemetry.c | 266 | ||||
-rw-r--r-- | src/drivers/frsky_telemetry/module.mk | 41 | ||||
-rw-r--r-- | src/drivers/meas_airspeed/meas_airspeed.cpp | 4 | ||||
-rw-r--r-- | src/drivers/ms5611/ms5611.cpp | 6 | ||||
-rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 29 | ||||
-rw-r--r-- | src/modules/px4iofirmware/dsm.c | 6 | ||||
-rw-r--r-- | src/modules/px4iofirmware/px4io.c | 21 | ||||
-rw-r--r-- | src/modules/px4iofirmware/px4io.h | 4 | ||||
-rw-r--r-- | src/modules/px4iofirmware/registers.c | 15 | ||||
-rw-r--r-- | src/modules/systemlib/board_serial.c | 60 | ||||
-rw-r--r-- | src/modules/systemlib/board_serial.h | 49 | ||||
-rw-r--r-- | src/modules/systemlib/module.mk | 5 | ||||
-rw-r--r-- | src/modules/systemlib/otp.c | 224 | ||||
-rw-r--r-- | src/modules/systemlib/otp.h | 151 |
20 files changed, 1224 insertions, 42 deletions
diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h index 27621211a..02c26b5c0 100644 --- a/src/drivers/boards/px4fmu-v1/board_config.h +++ b/src/drivers/boards/px4fmu-v1/board_config.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 @@ -34,7 +34,7 @@ /** * @file board_config.h * - * PX4FMU internal definitions + * PX4FMUv1 internal definitions */ #pragma once @@ -60,6 +60,7 @@ __BEGIN_DECLS /* PX4IO connection configuration */ #define PX4IO_SERIAL_DEVICE "/dev/ttyS2" +#define UDID_START 0x1FFF7A10 //#ifdef CONFIG_STM32_SPI2 //# error "SPI2 is not supported on this board" @@ -180,7 +181,7 @@ __BEGIN_DECLS #define HRT_TIMER 1 /* use timer1 for the HRT */ #define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */ #define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */ -#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10) +#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10) /**************************************************************************************************** * Public Types diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h index 7ab63953f..4972e6914 100644 --- a/src/drivers/boards/px4fmu-v2/board_config.h +++ b/src/drivers/boards/px4fmu-v2/board_config.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 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 @@ -34,7 +34,7 @@ /** * @file board_config.h * - * PX4FMU internal definitions + * PX4FMUv2 internal definitions */ #pragma once @@ -52,6 +52,8 @@ __BEGIN_DECLS /* these headers are not C++ safe */ #include <stm32.h> #include <arch/board/board.h> + +#define UDID_START 0x1FFF7A10 /**************************************************************************************************** * Definitions @@ -82,21 +84,21 @@ __BEGIN_DECLS #define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15) /* Data ready pins off */ -#define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0) -#define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1) -#define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4) +#define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0) +#define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1) +#define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4) #define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15) /* SPI1 off */ -#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5) -#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6) -#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7) +#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5) +#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6) +#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7) /* SPI1 chip selects off */ -#define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13) -#define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15) -#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7) -#define GPIO_SPI_CS_MPU (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2) +#define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13) +#define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15) +#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7) +#define GPIO_SPI_CS_MPU (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2) /* SPI chip selects */ #define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) @@ -177,7 +179,7 @@ __BEGIN_DECLS * * PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED) */ -#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9) +#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9) /* High-resolution timer */ #define HRT_TIMER 8 /* use timer8 for the HRT */ diff --git a/src/drivers/boards/px4io-v1/board_config.h b/src/drivers/boards/px4io-v1/board_config.h index 48aadbd76..c3f39addf 100644 --- a/src/drivers/boards/px4io-v1/board_config.h +++ b/src/drivers/boards/px4io-v1/board_config.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 @@ -92,4 +92,4 @@ #define HRT_TIMER 1 /* use timer1 for the HRT */ #define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ #define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */ -#define GPIO_PPM_IN GPIO_TIM1_CH1IN +#define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTE|GPIO_PIN9) diff --git a/src/drivers/boards/px4io-v2/board_config.h b/src/drivers/boards/px4io-v2/board_config.h index 4d41d0d07..8da555211 100644 --- a/src/drivers/boards/px4io-v2/board_config.h +++ b/src/drivers/boards/px4io-v2/board_config.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 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 @@ -32,7 +32,7 @@ ****************************************************************************/ /** - * @file px4iov2_internal.h + * @file board_config.h * * PX4IOV2 internal definitions */ @@ -122,7 +122,7 @@ #define HRT_TIMER 1 /* use timer1 for the HRT */ #define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ #define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */ -#define GPIO_PPM_IN GPIO_TIM1_CH1IN +#define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTE|GPIO_PIN9) /* LED definitions ******************************************************************/ /* PX4 has two LEDs that we will encode as: */ diff --git a/src/drivers/frsky_telemetry/frsky_data.c b/src/drivers/frsky_telemetry/frsky_data.c new file mode 100644 index 000000000..63b2d2d29 --- /dev/null +++ b/src/drivers/frsky_telemetry/frsky_data.c @@ -0,0 +1,289 @@ +/**************************************************************************** + * + * Copyright (c) 2013-2014 PX4 Development Team. All rights reserved. + * Author: Stefan Rado <px4@sradonia.net> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file frsky_data.c + * @author Stefan Rado <px4@sradonia.net> + * + * FrSky telemetry implementation. + * + */ + +#include "frsky_data.h" + +#include <stdlib.h> +#include <stdio.h> +#include <string.h> +#include <arch/math.h> +#include <geo/geo.h> + +#include <uORB/topics/battery_status.h> +#include <uORB/topics/sensor_combined.h> +#include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_status.h> + +/* FrSky sensor hub data IDs */ +#define FRSKY_ID_GPS_ALT_BP 0x01 +#define FRSKY_ID_TEMP1 0x02 +#define FRSKY_ID_RPM 0x03 +#define FRSKY_ID_FUEL 0x04 +#define FRSKY_ID_TEMP2 0x05 +#define FRSKY_ID_VOLTS 0x06 +#define FRSKY_ID_GPS_ALT_AP 0x09 +#define FRSKY_ID_BARO_ALT_BP 0x10 +#define FRSKY_ID_GPS_SPEED_BP 0x11 +#define FRSKY_ID_GPS_LONG_BP 0x12 +#define FRSKY_ID_GPS_LAT_BP 0x13 +#define FRSKY_ID_GPS_COURS_BP 0x14 +#define FRSKY_ID_GPS_DAY_MONTH 0x15 +#define FRSKY_ID_GPS_YEAR 0x16 +#define FRSKY_ID_GPS_HOUR_MIN 0x17 +#define FRSKY_ID_GPS_SEC 0x18 +#define FRSKY_ID_GPS_SPEED_AP 0x19 +#define FRSKY_ID_GPS_LONG_AP 0x1A +#define FRSKY_ID_GPS_LAT_AP 0x1B +#define FRSKY_ID_GPS_COURS_AP 0x1C +#define FRSKY_ID_BARO_ALT_AP 0x21 +#define FRSKY_ID_GPS_LONG_EW 0x22 +#define FRSKY_ID_GPS_LAT_NS 0x23 +#define FRSKY_ID_ACCEL_X 0x24 +#define FRSKY_ID_ACCEL_Y 0x25 +#define FRSKY_ID_ACCEL_Z 0x26 +#define FRSKY_ID_CURRENT 0x28 +#define FRSKY_ID_VARIO 0x30 +#define FRSKY_ID_VFAS 0x39 +#define FRSKY_ID_VOLTS_BP 0x3A +#define FRSKY_ID_VOLTS_AP 0x3B + +#define frac(f) (f - (int)f) + +static int battery_sub = -1; +static int sensor_sub = -1; +static int global_position_sub = -1; +static int vehicle_status_sub = -1; + +/** + * Initializes the uORB subscriptions. + */ +void frsky_init() +{ + battery_sub = orb_subscribe(ORB_ID(battery_status)); + global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); + vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); +} + +/** + * Sends a 0x5E start/stop byte. + */ +static void frsky_send_startstop(int uart) +{ + static const uint8_t c = 0x5E; + write(uart, &c, sizeof(c)); +} + +/** + * Sends one byte, performing byte-stuffing if necessary. + */ +static void frsky_send_byte(int uart, uint8_t value) +{ + const uint8_t x5E[] = { 0x5D, 0x3E }; + const uint8_t x5D[] = { 0x5D, 0x3D }; + + switch (value) { + case 0x5E: + write(uart, x5E, sizeof(x5E)); + break; + + case 0x5D: + write(uart, x5D, sizeof(x5D)); + break; + + default: + write(uart, &value, sizeof(value)); + break; + } +} + +/** + * Sends one data id/value pair. + */ +static void frsky_send_data(int uart, uint8_t id, int16_t data) +{ + /* Cast data to unsigned, because signed shift might behave incorrectly */ + uint16_t udata = data; + + frsky_send_startstop(uart); + + frsky_send_byte(uart, id); + frsky_send_byte(uart, udata); /* LSB */ + frsky_send_byte(uart, udata >> 8); /* MSB */ +} + +/** + * Sends frame 1 (every 200ms): + * acceleration values, barometer altitude, temperature, battery voltage & current + */ +void frsky_send_frame1(int uart) +{ + /* get a local copy of the current sensor values */ + struct sensor_combined_s raw; + memset(&raw, 0, sizeof(raw)); + orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); + + /* get a local copy of the battery data */ + struct battery_status_s battery; + memset(&battery, 0, sizeof(battery)); + orb_copy(ORB_ID(battery_status), battery_sub, &battery); + + /* send formatted frame */ + frsky_send_data(uart, FRSKY_ID_ACCEL_X, + roundf(raw.accelerometer_m_s2[0] * 1000.0f)); + frsky_send_data(uart, FRSKY_ID_ACCEL_Y, + roundf(raw.accelerometer_m_s2[1] * 1000.0f)); + frsky_send_data(uart, FRSKY_ID_ACCEL_Z, + roundf(raw.accelerometer_m_s2[2] * 1000.0f)); + + frsky_send_data(uart, FRSKY_ID_BARO_ALT_BP, + raw.baro_alt_meter); + frsky_send_data(uart, FRSKY_ID_BARO_ALT_AP, + roundf(frac(raw.baro_alt_meter) * 100.0f)); + + frsky_send_data(uart, FRSKY_ID_TEMP1, + roundf(raw.baro_temp_celcius)); + + frsky_send_data(uart, FRSKY_ID_VFAS, + roundf(battery.voltage_v * 10.0f)); + frsky_send_data(uart, FRSKY_ID_CURRENT, + (battery.current_a < 0) ? 0 : roundf(battery.current_a * 10.0f)); + + frsky_send_startstop(uart); +} + +/** + * Formats the decimal latitude/longitude to the required degrees/minutes/seconds. + */ +static float frsky_format_gps(float dec) +{ + float dms_deg = (int) dec; + float dec_deg = dec - dms_deg; + float dms_min = (int) (dec_deg * 60); + float dec_min = (dec_deg * 60) - dms_min; + float dms_sec = dec_min * 60; + + return (dms_deg * 100.0f) + dms_min + (dms_sec / 100.0f); +} + +/** + * Sends frame 2 (every 1000ms): + * GPS course, latitude, longitude, ground speed, GPS altitude, remaining battery level + */ +void frsky_send_frame2(int uart) +{ + /* get a local copy of the global position data */ + struct vehicle_global_position_s global_pos; + memset(&global_pos, 0, sizeof(global_pos)); + orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos); + + /* get a local copy of the vehicle status data */ + struct vehicle_status_s vehicle_status; + memset(&vehicle_status, 0, sizeof(vehicle_status)); + orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status); + + /* send formatted frame */ + float course = 0, lat = 0, lon = 0, speed = 0, alt = 0; + char lat_ns = 0, lon_ew = 0; + int sec = 0; + if (global_pos.valid) { + time_t time_gps = global_pos.time_gps_usec / 1000000; + struct tm *tm_gps = gmtime(&time_gps); + + course = (global_pos.yaw + M_PI_F) / M_PI_F * 180.0f; + lat = frsky_format_gps(abs(global_pos.lat) / 10000000.0f); + lat_ns = (global_pos.lat < 0) ? 'S' : 'N'; + lon = frsky_format_gps(abs(global_pos.lon) / 10000000.0f); + lon_ew = (global_pos.lon < 0) ? 'W' : 'E'; + speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy) + * 25.0f / 46.0f; + alt = global_pos.alt; + sec = tm_gps->tm_sec; + } + + frsky_send_data(uart, FRSKY_ID_GPS_COURS_BP, course); + frsky_send_data(uart, FRSKY_ID_GPS_COURS_AP, frac(course) * 1000.0f); + + frsky_send_data(uart, FRSKY_ID_GPS_LAT_BP, lat); + frsky_send_data(uart, FRSKY_ID_GPS_LAT_AP, frac(lat) * 10000.0f); + frsky_send_data(uart, FRSKY_ID_GPS_LAT_NS, lat_ns); + + frsky_send_data(uart, FRSKY_ID_GPS_LONG_BP, lon); + frsky_send_data(uart, FRSKY_ID_GPS_LONG_AP, frac(lon) * 10000.0f); + frsky_send_data(uart, FRSKY_ID_GPS_LONG_EW, lon_ew); + + frsky_send_data(uart, FRSKY_ID_GPS_SPEED_BP, speed); + frsky_send_data(uart, FRSKY_ID_GPS_SPEED_AP, frac(speed) * 100.0f); + + frsky_send_data(uart, FRSKY_ID_GPS_ALT_BP, alt); + frsky_send_data(uart, FRSKY_ID_GPS_ALT_AP, frac(alt) * 100.0f); + + frsky_send_data(uart, FRSKY_ID_FUEL, + roundf(vehicle_status.battery_remaining * 100.0f)); + + frsky_send_data(uart, FRSKY_ID_GPS_SEC, sec); + + frsky_send_startstop(uart); +} + +/** + * Sends frame 3 (every 5000ms): + * GPS date & time + */ +void frsky_send_frame3(int uart) +{ + /* get a local copy of the battery data */ + struct vehicle_global_position_s global_pos; + memset(&global_pos, 0, sizeof(global_pos)); + orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos); + + /* send formatted frame */ + time_t time_gps = global_pos.time_gps_usec / 1000000; + struct tm *tm_gps = gmtime(&time_gps); + uint16_t hour_min = (tm_gps->tm_min << 8) | (tm_gps->tm_hour & 0xff); + frsky_send_data(uart, FRSKY_ID_GPS_DAY_MONTH, tm_gps->tm_mday); + frsky_send_data(uart, FRSKY_ID_GPS_YEAR, tm_gps->tm_year); + frsky_send_data(uart, FRSKY_ID_GPS_HOUR_MIN, hour_min); + frsky_send_data(uart, FRSKY_ID_GPS_SEC, tm_gps->tm_sec); + + frsky_send_startstop(uart); +} diff --git a/src/drivers/frsky_telemetry/frsky_data.h b/src/drivers/frsky_telemetry/frsky_data.h new file mode 100644 index 000000000..a7d9eee53 --- /dev/null +++ b/src/drivers/frsky_telemetry/frsky_data.h @@ -0,0 +1,51 @@ +/**************************************************************************** + * + * Copyright (c) 2013-2014 PX4 Development Team. All rights reserved. + * Author: Stefan Rado <px4@sradonia.net> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file frsky_data.h + * @author Stefan Rado <px4@sradonia.net> + * + * FrSky telemetry implementation. + * + */ +#ifndef _FRSKY_DATA_H +#define _FRSKY_DATA_H + +// Public functions +void frsky_init(void); +void frsky_send_frame1(int uart); +void frsky_send_frame2(int uart); +void frsky_send_frame3(int uart); + +#endif /* _FRSKY_TELEMETRY_H */ diff --git a/src/drivers/frsky_telemetry/frsky_telemetry.c b/src/drivers/frsky_telemetry/frsky_telemetry.c new file mode 100644 index 000000000..7b08ca69e --- /dev/null +++ b/src/drivers/frsky_telemetry/frsky_telemetry.c @@ -0,0 +1,266 @@ +/**************************************************************************** + * + * Copyright (c) 2013-2014 PX4 Development Team. All rights reserved. + * Author: Stefan Rado <px4@sradonia.net> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file frsky_telemetry.c + * @author Stefan Rado <px4@sradonia.net> + * + * FrSky telemetry implementation. + * + * This daemon emulates an FrSky sensor hub by periodically sending data + * packets to an attached FrSky receiver. + * + */ + +#include <stdlib.h> +#include <stdio.h> +#include <stdbool.h> +#include <string.h> +#include <sys/types.h> +#include <fcntl.h> +#include <unistd.h> +#include <systemlib/err.h> +#include <systemlib/systemlib.h> +#include <termios.h> + +#include "frsky_data.h" + + +/* thread state */ +static volatile bool thread_should_exit = false; +static volatile bool thread_running = false; +static int frsky_task; + +/* functions */ +static int frsky_open_uart(const char *uart_name, struct termios *uart_config_original); +static void usage(void); +static int frsky_telemetry_thread_main(int argc, char *argv[]); +__EXPORT int frsky_telemetry_main(int argc, char *argv[]); + + +/** + * Opens the UART device and sets all required serial parameters. + */ +static int frsky_open_uart(const char *uart_name, struct termios *uart_config_original) +{ + /* Open UART */ + const int uart = open(uart_name, O_WRONLY | O_NOCTTY); + + if (uart < 0) { + err(1, "Error opening port: %s", uart_name); + } + + /* Back up the original UART configuration to restore it after exit */ + int termios_state; + if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { + warnx("ERROR get termios config %s: %d\n", uart_name, termios_state); + close(uart); + return -1; + } + + /* Fill the struct for the new configuration */ + struct termios uart_config; + tcgetattr(uart, &uart_config); + + /* Disable output post-processing */ + uart_config.c_oflag &= ~OPOST; + + /* Set baud rate */ + static const speed_t speed = B9600; + + if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { + warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); + close(uart); + return -1; + } + + if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { + warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); + close(uart); + return -1; + } + + return uart; +} + +/** + * Print command usage information + */ +static void usage() +{ + fprintf(stderr, + "usage: frsky_telemetry start [-d <devicename>]\n" + " frsky_telemetry stop\n" + " frsky_telemetry status\n"); + exit(1); +} + +/** + * The daemon thread. + */ +static int frsky_telemetry_thread_main(int argc, char *argv[]) +{ + /* Default values for arguments */ + char *device_name = "/dev/ttyS1"; /* USART2 */ + + /* Work around some stupidity in task_create's argv handling */ + argc -= 2; + argv += 2; + + int ch; + while ((ch = getopt(argc, argv, "d:")) != EOF) { + switch (ch) { + case 'd': + device_name = optarg; + break; + + default: + usage(); + break; + } + } + + /* Print welcome text */ + warnx("FrSky telemetry interface starting..."); + + /* Open UART */ + struct termios uart_config_original; + const int uart = frsky_open_uart(device_name, &uart_config_original); + + if (uart < 0) + err(1, "could not open %s", device_name); + + /* Subscribe to topics */ + frsky_init(); + + thread_running = true; + + /* Main thread loop */ + unsigned int iteration = 0; + while (!thread_should_exit) { + + /* Sleep 200 ms */ + usleep(200000); + + /* Send frame 1 (every 200ms): acceleration values, altitude (vario), temperatures, current & voltages, RPM */ + frsky_send_frame1(uart); + + /* Send frame 2 (every 1000ms): course, latitude, longitude, speed, altitude (GPS), fuel level */ + if (iteration % 5 == 0) + { + frsky_send_frame2(uart); + } + + /* Send frame 3 (every 5000ms): date, time */ + if (iteration % 25 == 0) + { + frsky_send_frame3(uart); + + iteration = 0; + } + + iteration++; + } + + /* Reset the UART flags to original state */ + tcsetattr(uart, TCSANOW, &uart_config_original); + close(uart); + + thread_running = false; + return 0; +} + +/** + * The main command function. + * Processes command line arguments and starts the daemon. + */ +int frsky_telemetry_main(int argc, char *argv[]) +{ + if (argc < 2) { + warnx("missing command"); + usage(); + } + + if (!strcmp(argv[1], "start")) { + + /* this is not an error */ + if (thread_running) + errx(0, "frsky_telemetry already running"); + + thread_should_exit = false; + frsky_task = task_spawn_cmd("frsky_telemetry", + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT, + 2048, + frsky_telemetry_thread_main, + (const char **)argv); + + while (!thread_running) { + usleep(200); + } + + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + + /* this is not an error */ + if (!thread_running) + errx(0, "frsky_telemetry already stopped"); + + thread_should_exit = true; + + while (thread_running) { + usleep(200000); + warnx("."); + } + + warnx("terminated."); + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + errx(0, "running"); + + } else { + errx(1, "not running"); + } + } + + warnx("unrecognized command"); + usage(); + /* not getting here */ + return 0; +} diff --git a/src/drivers/frsky_telemetry/module.mk b/src/drivers/frsky_telemetry/module.mk new file mode 100644 index 000000000..1632c74f7 --- /dev/null +++ b/src/drivers/frsky_telemetry/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2013-2014 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 +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# FrSky telemetry application. +# + +MODULE_COMMAND = frsky_telemetry + +SRCS = frsky_data.c \ + frsky_telemetry.c diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index 3cd6d6720..a95c4576b 100644 --- a/src/drivers/meas_airspeed/meas_airspeed.cpp +++ b/src/drivers/meas_airspeed/meas_airspeed.cpp @@ -198,7 +198,9 @@ MEASAirspeed::collect() // uint16_t diff_press_pa = abs(dp_raw - (16384 / 2.0f)); const float P_min = -1.0f; const float P_max = 1.0f; - float diff_press_pa = math::max(0.0f, fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f) - _diff_pres_offset); + float diff_press_pa = fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f) - _diff_pres_offset; + if (diff_press_pa < 0.0f) + diff_press_pa = 0.0f; struct differential_pressure_s report; diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index 87788824a..6326cf7fc 100644 --- a/src/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp @@ -124,6 +124,8 @@ protected: int32_t _TEMP; int64_t _OFF; int64_t _SENS; + float _P; + float _T; /* altitude conversion calibration */ unsigned _msl_pressure; /* in kPa */ @@ -623,6 +625,8 @@ MS5611::collect() /* pressure calculation, result in Pa */ int32_t P = (((raw * _SENS) >> 21) - _OFF) >> 15; + _P = P * 0.01f; + _T = _TEMP * 0.01f; /* generate a new report */ report.temperature = _TEMP / 100.0f; @@ -695,6 +699,8 @@ MS5611::print_info() printf("TEMP: %d\n", _TEMP); printf("SENS: %lld\n", _SENS); printf("OFF: %lld\n", _OFF); + printf("P: %.3f\n", _P); + printf("T: %.3f\n", _T); printf("MSL pressure: %10.4f\n", (double)(_msl_pressure / 100.f)); printf("factory_setup %u\n", _prom.factory_setup); diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index b878d29bc..b28d318d7 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -65,6 +65,7 @@ #include <systemlib/err.h> #include <systemlib/mixer/mixer.h> #include <systemlib/pwm_limit/pwm_limit.h> +#include <systemlib/board_serial.h> #include <drivers/drv_mixer.h> #include <drivers/drv_rc_input.h> @@ -224,10 +225,10 @@ PX4FMU::PX4FMU() : _armed(false), _pwm_on(false), _mixers(nullptr), - _failsafe_pwm( {0}), - _disarmed_pwm( {0}), - _num_failsafe_set(0), - _num_disarmed_set(0) + _failsafe_pwm({0}), + _disarmed_pwm({0}), + _num_failsafe_set(0), + _num_disarmed_set(0) { for (unsigned i = 0; i < _max_actuators; i++) { _min_pwm[i] = PWM_DEFAULT_MIN; @@ -575,7 +576,7 @@ PX4FMU::task_main() if (i >= outputs.noutputs || !isfinite(outputs.output[i]) || outputs.output[i] < -1.0f || - outputs.output[i] > 1.0f) { + outputs.output[i] > 1.0f) { /* * Value is NaN, INF or out of band - set to the minimum value. * This will be clearly visible on the servo status and will limit the risk of accidentally @@ -933,7 +934,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) break; } - /* FALLTHROUGH */ + /* FALLTHROUGH */ case PWM_SERVO_SET(3): case PWM_SERVO_SET(2): if (_mode < MODE_4PWM) { @@ -941,7 +942,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) break; } - /* FALLTHROUGH */ + /* FALLTHROUGH */ case PWM_SERVO_SET(1): case PWM_SERVO_SET(0): if (arg <= 2100) { @@ -960,7 +961,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) break; } - /* FALLTHROUGH */ + /* FALLTHROUGH */ case PWM_SERVO_GET(3): case PWM_SERVO_GET(2): if (_mode < MODE_4PWM) { @@ -968,7 +969,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) break; } - /* FALLTHROUGH */ + /* FALLTHROUGH */ case PWM_SERVO_GET(1): case PWM_SERVO_GET(0): *(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0)); @@ -1591,6 +1592,15 @@ fmu_main(int argc, char *argv[]) errx(0, "FMU driver stopped"); } + if (!strcmp(verb, "id")) { + char id[12]; + (void)get_board_serial(id); + + errx(0, "Board serial:\n %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X", + (unsigned)id[0], (unsigned)id[1], (unsigned)id[2], (unsigned)id[3], (unsigned)id[4], (unsigned)id[5], + (unsigned)id[6], (unsigned)id[7], (unsigned)id[8], (unsigned)id[9], (unsigned)id[10], (unsigned)id[11]); + } + if (fmu_start() != OK) errx(1, "failed to start the FMU driver"); @@ -1647,6 +1657,7 @@ fmu_main(int argc, char *argv[]) sensor_reset(0); warnx("resettet default time"); } + exit(0); } diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c index 4d306d6d0..60eda2319 100644 --- a/src/modules/px4iofirmware/dsm.c +++ b/src/modules/px4iofirmware/dsm.c @@ -203,6 +203,12 @@ dsm_guess_format(bool reset) int dsm_init(const char *device) { + +#ifdef CONFIG_ARCH_BOARD_PX4IO_V2 + // enable power on DSM connector + POWER_SPEKTRUM(true); +#endif + if (dsm_fd < 0) dsm_fd = open(device, O_RDONLY | O_NONBLOCK); diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c index 745bd5705..0b8c4a6a8 100644 --- a/src/modules/px4iofirmware/px4io.c +++ b/src/modules/px4iofirmware/px4io.c @@ -125,6 +125,25 @@ heartbeat_blink(void) LED_BLUE(heartbeat = !heartbeat); } +static uint64_t reboot_time; + +/** + schedule a reboot in time_delta_usec microseconds + */ +void schedule_reboot(uint32_t time_delta_usec) +{ + reboot_time = hrt_absolute_time() + time_delta_usec; +} + +/** + check for a scheduled reboot + */ +static void check_reboot(void) +{ + if (reboot_time != 0 && hrt_absolute_time() > reboot_time) { + up_systemreset(); + } +} static void calculate_fw_crc(void) @@ -249,6 +268,8 @@ user_start(int argc, char *argv[]) heartbeat_blink(); } + check_reboot(); + #if 0 /* check for debug activity */ show_debug_messages(); diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index dea04a663..a0daa97ea 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -220,3 +220,7 @@ extern volatile uint8_t debug_level; /** send a debug message to the console */ extern void isr_debug(uint8_t level, const char *fmt, ...); + +/** schedule a reboot */ +extern void schedule_reboot(uint32_t time_delta_usec); + diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 0358725db..ad4473073 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -518,16 +518,11 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) // check the magic value if (value != PX4IO_REBOOT_BL_MAGIC) break; - - // note that we don't set BL_WAIT_MAGIC in - // BKP_DR1 as that is not necessary given the - // timing of the forceupdate command. The - // bootloader on px4io waits for enough time - // anyway, and this method works with older - // bootloader versions (tested with both - // revision 3 and revision 4). - - up_systemreset(); + + // we schedule a reboot rather than rebooting + // immediately to allow the IO board to ACK + // the reboot command + schedule_reboot(100000); break; case PX4IO_P_SETUP_DSM: diff --git a/src/modules/systemlib/board_serial.c b/src/modules/systemlib/board_serial.c new file mode 100644 index 000000000..ad8c2bf83 --- /dev/null +++ b/src/modules/systemlib/board_serial.c @@ -0,0 +1,60 @@ +/**************************************************************************** + * + * 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 + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file board_serial.h + * Read off the board serial + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com> + * + */ + +#include "otp.h" +#include "board_config.h" +#include "board_serial.h" + +int get_board_serial(char *serialid) +{ + const volatile unsigned *udid_ptr = (const unsigned *)UDID_START; + union udid id; + val_read((unsigned *)&id, udid_ptr, sizeof(id)); + + + /* Copy the serial from the chips non-write memory and swap endianess */ + serialid[0] = id.data[3]; serialid[1] = id.data[2]; serialid[2] = id.data[1]; serialid[3] = id.data[0]; + serialid[4] = id.data[7]; serialid[5] = id.data[6]; serialid[6] = id.data[5]; serialid[7] = id.data[4]; + serialid[8] = id.data[11]; serialid[9] = id.data[10]; serialid[10] = id.data[9]; serialid[11] = id.data[8]; + + return 0; +}
\ No newline at end of file diff --git a/src/modules/systemlib/board_serial.h b/src/modules/systemlib/board_serial.h new file mode 100644 index 000000000..b14bb4376 --- /dev/null +++ b/src/modules/systemlib/board_serial.h @@ -0,0 +1,49 @@ +/**************************************************************************** + * + * 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 + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file board_serial.h + * Read off the board serial + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com> + * + */ + +#pragma once + +__BEGIN_DECLS + +__EXPORT int get_board_serial(char *serialid); + +__END_DECLS diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk index 843cda722..8c6c300d6 100644 --- a/src/modules/systemlib/module.mk +++ b/src/modules/systemlib/module.mk @@ -49,4 +49,7 @@ SRCS = err.c \ airspeed.c \ system_params.c \ mavlink_log.c \ - rc_check.c + rc_check.c \ + otp.c \ + board_serial.c + diff --git a/src/modules/systemlib/otp.c b/src/modules/systemlib/otp.c new file mode 100644 index 000000000..695574fdc --- /dev/null +++ b/src/modules/systemlib/otp.c @@ -0,0 +1,224 @@ +/**************************************************************************** + * + * Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. + * Authors: + * Lorenz Meier <lm@inf.ethz.ch> + * David "Buzz" Bussenschutt <davidbuzz@gmail.com> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file otp.c + * otp estimation + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com> + * + */ + +#include <nuttx/config.h> +#include <board_config.h> +#include <stdio.h> +#include <math.h> +#include <unistd.h> +#include <string.h> // memset +#include "conversions.h" +#include "otp.h" +#include "err.h" // warnx +#include <assert.h> + + +int val_read(void *dest, volatile const void *src, int bytes) +{ + + int i; + + for (i = 0; i < bytes / 4; i++) { + *(((volatile unsigned *)dest) + i) = *(((volatile unsigned *)src) + i); + } + + return i * 4; +} + + +int write_otp(uint8_t id_type, uint32_t vid, uint32_t pid, char *signature) +{ + + warnx("write_otp: PX4 / %02X / %02X / %02X / ... etc \n", id_type, vid, pid); + + int errors = 0; + + // descriptor + if (F_write_byte(ADDR_OTP_START, 'P')) + errors++; + // write the 'P' from PX4. to first byte in OTP + if (F_write_byte(ADDR_OTP_START + 1, 'X')) + errors++; // write the 'P' from PX4. to first byte in OTP + if (F_write_byte(ADDR_OTP_START + 2, '4')) + errors++; + if (F_write_byte(ADDR_OTP_START + 3, '\0')) + errors++; + //id_type + if (F_write_byte(ADDR_OTP_START + 4, id_type)) + errors++; + // vid and pid are 4 bytes each + if (F_write_word(ADDR_OTP_START + 5, vid)) + errors++; + if (F_write_word(ADDR_OTP_START + 9, pid)) + errors++; + + // leave some 19 bytes of space, and go to the next block... + // then the auth sig starts + for (int i = 0 ; i < 128 ; i++) { + if (F_write_byte(ADDR_OTP_START + 32 + i, signature[i])) + errors++; + } + + return errors; +} + +int lock_otp(void) +{ + //determine the required locking size - can only write full lock bytes */ +// int size = sizeof(struct otp) / 32; +// +// struct otp_lock otp_lock_mem; +// +// memset(&otp_lock_mem, OTP_LOCK_UNLOCKED, sizeof(otp_lock_mem)); +// for (int i = 0; i < sizeof(otp_lock_mem) / sizeof(otp_lock_mem.lock_bytes[0]); i++) +// otp_lock_mem.lock_bytes[i] = OTP_LOCK_LOCKED; + //XXX add the actual call here to write the OTP_LOCK bytes only at final stage + // val_copy(lock_ptr, &otp_lock_mem, sizeof(otp_lock_mem)); + + int locksize = 5; + + int errors = 0; + + // or just realise it's exctly 5x 32byte blocks we need to lock. 1 block for ID,type,vid,pid, and 4 blocks for certificate, which is 128 bytes. + for (int i = 0 ; i < locksize ; i++) { + if (F_write_byte(ADDR_OTP_LOCK_START + i, OTP_LOCK_LOCKED)) + errors++; + } + + return errors; +} + + + +// COMPLETE, BUSY, or other flash error? +int F_GetStatus(void) +{ + int fs = F_COMPLETE; + + if ((FLASH->status & F_BSY) == F_BSY) { fs = F_BUSY; } else { + + if ((FLASH->status & F_WRPERR) != (uint32_t)0x00) { fs = F_ERROR_WRP; } else { + + if ((FLASH->status & (uint32_t)0xEF) != (uint32_t)0x00) { fs = F_ERROR_PROGRAM; } else { + + if ((FLASH->status & F_OPERR) != (uint32_t)0x00) { fs = F_ERROR_OPERATION; } else { + fs = F_COMPLETE; + } + } + } + } + + return fs; +} + + +// enable FLASH Registers +void F_unlock(void) +{ + if ((FLASH->control & F_CR_LOCK) != 0) { + FLASH->key = F_KEY1; + FLASH->key = F_KEY2; + } +} + +// lock the FLASH Registers +void F_lock(void) +{ + FLASH->control |= F_CR_LOCK; +} + +// flash write word. +int F_write_word(uint32_t Address, uint32_t Data) +{ + unsigned char octet[4] = {0, 0, 0, 0}; + + int ret = 0; + + for (int i = 0; i < 4; i++) { + octet[i] = (Data >> (i * 8)) & 0xFF; + ret = F_write_byte(Address + i, octet[i]); + } + + return ret; +} + +// flash write byte +int F_write_byte(uint32_t Address, uint8_t Data) +{ + volatile int status = F_COMPLETE; + + //warnx("F_write_byte: %08X %02d", Address , Data ) ; + + //Check the parameters + assert(IS_F_ADDRESS(Address)); + + //Wait for FLASH operation to complete by polling on BUSY flag. + status = F_GetStatus(); + + while (status == F_BUSY) { status = F_GetStatus();} + + if (status == F_COMPLETE) { + //if the previous operation is completed, proceed to program the new data + FLASH->control &= CR_PSIZE_MASK; + FLASH->control |= F_PSIZE_BYTE; + FLASH->control |= F_CR_PG; + + *(volatile uint8_t *)Address = Data; + + //Wait for FLASH operation to complete by polling on BUSY flag. + status = F_GetStatus(); + + while (status == F_BUSY) { status = F_GetStatus();} + + //if the program operation is completed, disable the PG Bit + FLASH->control &= (~F_CR_PG); + } + + //Return the Program Status + return !(status == F_COMPLETE); +} + + + diff --git a/src/modules/systemlib/otp.h b/src/modules/systemlib/otp.h new file mode 100644 index 000000000..f10e129d8 --- /dev/null +++ b/src/modules/systemlib/otp.h @@ -0,0 +1,151 @@ +/**************************************************************************** + * + * 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 + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file otp.h + * One TIme Programmable ( OTP ) Flash routine/s. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author David "Buzz" Bussenschutt <davidbuzz@gmail.com> + * + */ + +#ifndef OTP_H_ +#define OTP_H_ + +__BEGIN_DECLS + +#define ADDR_OTP_START 0x1FFF7800 +#define ADDR_OTP_LOCK_START 0x1FFF7A00 + +#define OTP_LOCK_LOCKED 0x00 +#define OTP_LOCK_UNLOCKED 0xFF + + + +#include <unistd.h> +#include <stdio.h> + +// possible flash statuses +#define F_BUSY 1 +#define F_ERROR_WRP 2 +#define F_ERROR_PROGRAM 3 +#define F_ERROR_OPERATION 4 +#define F_COMPLETE 5 + +typedef struct { + volatile uint32_t accesscontrol; // 0x00 + volatile uint32_t key; // 0x04 + volatile uint32_t optionkey; // 0x08 + volatile uint32_t status; // 0x0C + volatile uint32_t control; // 0x10 + volatile uint32_t optioncontrol; //0x14 +} flash_registers; + +#define PERIPH_BASE ((uint32_t)0x40000000) //Peripheral base address +#define AHB1PERIPH_BASE (PERIPH_BASE + 0x00020000) +#define F_R_BASE (AHB1PERIPH_BASE + 0x3C00) +#define FLASH ((flash_registers *) F_R_BASE) + +#define F_BSY ((uint32_t)0x00010000) //FLASH Busy flag bit +#define F_OPERR ((uint32_t)0x00000002) //FLASH operation Error flag bit +#define F_WRPERR ((uint32_t)0x00000010) //FLASH Write protected error flag bit +#define CR_PSIZE_MASK ((uint32_t)0xFFFFFCFF) +#define F_PSIZE_WORD ((uint32_t)0x00000200) +#define F_PSIZE_BYTE ((uint32_t)0x00000000) +#define F_CR_PG ((uint32_t)0x00000001) // a bit in the F_CR register +#define F_CR_LOCK ((uint32_t)0x80000000) // also another bit. + +#define F_KEY1 ((uint32_t)0x45670123) +#define F_KEY2 ((uint32_t)0xCDEF89AB) +#define IS_F_ADDRESS(ADDRESS) ((((ADDRESS) >= 0x08000000) && ((ADDRESS) < 0x080FFFFF)) || (((ADDRESS) >= 0x1FFF7800) && ((ADDRESS) < 0x1FFF7A0F))) + + + +#pragma pack(push, 1) + +/* + * The OTP area is divided into 16 OTP data blocks of 32 bytes and one lock OTP block of 16 bytes. + * The OTP data and lock blocks cannot be erased. The lock block contains 16 bytes LOCKBi (0 ≤ i ≤ 15) + * to lock the corresponding OTP data block (blocks 0 to 15). Each OTP data block can be programmed + * until the value 0x00 is programmed in the corresponding OTP lock byte. The lock bytes must only + * contain 0x00 and 0xFF values, otherwise the OTP bytes might not be taken into account correctly. + */ + +struct otp { + // first 32 bytes = the '0' Block + char id[4]; ///4 bytes < 'P' 'X' '4' '\n' + uint8_t id_type; ///1 byte < 0 for USB VID, 1 for generic VID + uint32_t vid; ///4 bytes + uint32_t pid; ///4 bytes + char unused[19]; ///19 bytes + // Cert-of-Auth is next 4 blocks ie 1-4 ( where zero is first block ) + char signature[128]; + // insert extras here + uint32_t lock_bytes[4]; +}; + +struct otp_lock { + uint8_t lock_bytes[16]; +}; +#pragma pack(pop) + +#define ADDR_F_SIZE 0x1FFF7A22 + +#pragma pack(push, 1) +union udid { + uint32_t serial[3]; + char data[12]; +}; +#pragma pack(pop) + + +/** + * s + */ +//__EXPORT float calc_indicated_airspeed(float differential_pressure); + +__EXPORT void F_unlock(void); +__EXPORT void F_lock(void); +__EXPORT int val_read(void *dest, volatile const void *src, int bytes); +__EXPORT int val_write(volatile void *dest, const void *src, int bytes); +__EXPORT int write_otp(uint8_t id_type, uint32_t vid, uint32_t pid, char *signature); +__EXPORT int lock_otp(void); + + +__EXPORT int F_write_byte(uint32_t Address, uint8_t Data); +__EXPORT int F_write_word(uint32_t Address, uint32_t Data); + +__END_DECLS + +#endif |