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IOMCU: io firmware enhancements #9661

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IOMCU: io firmware enhancements #9661

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tridge
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@tridge tridge commented Oct 31, 2018 •
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This adds support for IO failsafe mixing with ChibiOS IO firmware, and adds DSM RC input support

@WickedShell please test

@tridge tridge added the ChibiOS label Oct 31, 2018
@tridge tridge force-pushed the pr-io-mixer branch 4 times, most recently from 6252c4b to 274a1b7 Compare October 31, 2018 05:42
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Initial testing results:

  • Attempts to break servos during initial boot after uploading new firmware (moves to extreme limits and is bound mechanically) possibly associated with doing IO firmware update? Haven't seen it on subsequent runs.
  • Cube has green internal LED's illuminated which are not normally lit with a PX4 build
  • Safety button LED is always illuminated, but can blink stronger (Please see video here: https://drive.google.com/file/d/1oyioIoYkDDC5YEzXXKGknovXamyM7OYT/view?usp=sharing) Most likely a difference in pull down/up settings?
  • Servos are slack as if no pulses were received after power cycling (I should be seeing overrides active with manual control of the rudder/elevator regardless of safety switch state)

Will move to a logic analyzer before proceeding further with testing.

@tridge tridge force-pushed the pr-io-mixer branch 2 times, most recently from a2a74c0 to 69a3285 Compare November 1, 2018 03:40
@tridge tridge changed the title IOMCU: added failsafe mixer IOMCU: io firmware enhancements Nov 1, 2018
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IMU heater does not appear to be working (was tested with #9674 so the changes in this PR are not present).

@tridge tridge force-pushed the pr-io-mixer branch 2 times, most recently from 7ec4e00 to f0d32e4 Compare November 1, 2018 07:28
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tridge commented Nov 1, 2018

@WickedShell I've fixed the heater

@tridge tridge mentioned this pull request Nov 1, 2018
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Comments from 7c11cf498f7ec4:

  • DSM Input works (have not attempted binding yet)
  • Still see an attempt to break servos, I need to check if there is a servo side failsafe configured on one servo by accident as the logic analzer isn't showing any pulses that explain it.
  • Safety switch was required to change the IO firmware back to px4-v3
  • BRD_SAFETY_MASK does not function resulting in no outputs while safety has not been pressed

I still need to verify overrides with this setup.

@tridge tridge force-pushed the pr-io-mixer branch 5 times, most recently from fe3c6a3 to 4f86fc3 Compare November 3, 2018 06:32
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tridge commented Nov 3, 2018

@WickedShell I believe I have fixed the issues you found

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rmackay9 commented Nov 3, 2018

I flew this in my venerable IRIS and it seems a-ok.

@tridge tridge force-pushed the pr-io-mixer branch 2 times, most recently from d3900ed to b84dfd0 Compare November 5, 2018 05:46
@tridge
AP_RCProtocol: return protocol name string
69bd14d
@tridge
AP_HAL: added readptr() and advance() to ObjectBuffer
d884633 
this gives a more efficient way of accessing an ObjectBuffer, which
reduces interrupt latency in SoftSigReader
@tridge
HAL_ChibiOS: make SoftSigReader considerably more efficient
7594156 
this reduces interrupt latency on the F100, which allows us to use all
RC input protocols on the pulse based decoder, allowing for more
flexibility in RC input protocols
@tridge
AP_RCProtocol: added process_pulse_list()
e83196a 
this provides more efficient processing of RC pulses
@tridge
AP_RCProtocol: use pulses as clock for frame timeout
88260f9 
for SRXL and DSM we should judge a frame timeout from the pulses,
otherwise lag in the DMA capture can cause a false frame drop
@tridge
AP_IOMCU: allow DSM input as pulses in iomcu
8372e34 
useful for receivers where DSM uses a normal servo plug
@tridge
Tools: new IO firmware
039a675
@tridge
HAL_ChibiOS: fixed build with EICU RC input
ee6b736
@tridge
waf: omit bootloader for px4-v2 build
0125e82 
This saves 8k of flash, and allows the plane stable release for older
Pixhawk1 boards to build
@tridge
HAL_ChibiOS: fixed build of bootloaders
98945d7
@tridge
AP_RCProtocol: allow switching between all protocols on IOMCU
82b4ad5 
this allows searching for uart protocols after losing a pulse based
protocol
@tridge
AP_IOMCU: run main loop at max rate
e2fa11d 
removed delay in main loop to reduce latency of RC input. This works
as we only have one thread
@tridge
Tools: updated IO firmware
036899d
@tridge
HAL_SITL: fixed SITL example progs
19519d5
@tridge
SITL: fixed running of example programs
7a43389
@tridge
HAL_ChibiOS: switched to USB for console on pixracer
fd4e69c
@tridge
AP_IOMCU: fixed stop bits in sbus output
aaae846
@tridge
AP_RCProtocol: improved reliability of DSM vs SRXL detection
a81e09c 
base detection on framing, not including failsafe
@tridge tridge mentioned this pull request Nov 5, 2018
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tridge commented Nov 6, 2018

this has been merged

@tridge tridge closed this Nov 6, 2018
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@tridge @WickedShell @rmackay9 @OXINARF @EShamaev