/
fmu.cpp
3149 lines (2439 loc) · 69.8 KB
/
fmu.cpp
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/****************************************************************************
*
* Copyright (c) 2012-2018 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 fmu.cpp
*
* Driver/configurator for the PX4 FMU
*/
#include <float.h>
#include <math.h>
#include <board_config.h>
#include <drivers/device/device.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_input_capture.h>
#include <drivers/drv_mixer.h>
#include <drivers/drv_pwm_output.h>
#include <px4_config.h>
#include <px4_getopt.h>
#include <px4_log.h>
#include <px4_module.h>
#include <circuit_breaker/circuit_breaker.h>
#include <lib/cdev/CDev.hpp>
#include <lib/mixer/mixer.h>
#include <parameters/param.h>
#include <perf/perf_counter.h>
#include <pwm_limit/pwm_limit.h>
#include <uORB/uORB.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/multirotor_motor_limits.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/safety.h>
#define SCHEDULE_INTERVAL 2000 /**< The schedule interval in usec (500 Hz) */
static constexpr uint8_t CYCLE_COUNT = 10; /* safety switch must be held for 1 second to activate */
static constexpr uint8_t MAX_ACTUATORS = DIRECT_PWM_OUTPUT_CHANNELS;
/*
* Define the various LED flash sequences for each system state.
*/
#define LED_PATTERN_FMU_OK_TO_ARM 0x0003 /**< slow blinking */
#define LED_PATTERN_FMU_REFUSE_TO_ARM 0x5555 /**< fast blinking */
#define LED_PATTERN_IO_ARMED 0x5050 /**< long off, then double blink */
#define LED_PATTERN_FMU_ARMED 0x5500 /**< long off, then quad blink */
#define LED_PATTERN_IO_FMU_ARMED 0xffff /**< constantly on */
/** Mode given via CLI */
enum PortMode {
PORT_MODE_UNSET = 0,
PORT_FULL_GPIO,
PORT_FULL_PWM,
PORT_PWM8,
PORT_PWM6,
PORT_PWM5,
PORT_PWM4,
PORT_PWM3,
PORT_PWM2,
PORT_PWM1,
PORT_PWM3CAP1,
PORT_PWM4CAP1,
PORT_PWM4CAP2,
PORT_PWM5CAP1,
PORT_PWM2CAP2,
PORT_CAPTURE,
};
#if !defined(BOARD_HAS_PWM)
# error "board_config.h needs to define BOARD_HAS_PWM"
#endif
#define PX4FMU_DEVICE_PATH "/dev/px4fmu"
class PX4FMU : public cdev::CDev, public ModuleBase<PX4FMU>
{
public:
enum Mode {
MODE_NONE,
MODE_1PWM,
MODE_2PWM,
MODE_2PWM2CAP,
MODE_3PWM,
MODE_3PWM1CAP,
MODE_4PWM,
MODE_4PWM1CAP,
MODE_4PWM2CAP,
MODE_5PWM,
MODE_5PWM1CAP,
MODE_6PWM,
MODE_8PWM,
MODE_14PWM,
MODE_4CAP,
MODE_5CAP,
MODE_6CAP,
};
PX4FMU(bool run_as_task);
virtual ~PX4FMU();
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static PX4FMU *instantiate(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
/** @see ModuleBase::run() */
void run() override;
/**
* run the main loop: if running as task, continuously iterate, otherwise execute only one single cycle
*/
void cycle();
/** @see ModuleBase::print_status() */
int print_status() override;
/** change the FMU mode of the running module */
static int fmu_new_mode(PortMode new_mode);
static int test();
static int fake(int argc, char *argv[]);
virtual int ioctl(file *filp, int cmd, unsigned long arg);
virtual ssize_t write(file *filp, const char *buffer, size_t len);
virtual int init();
int set_mode(Mode mode);
Mode get_mode() { return _mode; }
int set_pwm_alt_rate(unsigned rate);
int set_pwm_alt_channels(uint32_t channels);
static int set_i2c_bus_clock(unsigned bus, unsigned clock_hz);
static void capture_trampoline(void *context, uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state,
uint32_t overflow);
void update_pwm_trims();
private:
enum class MotorOrdering : int32_t {
PX4 = 0,
Betaflight = 1
};
hrt_abstime _cycle_timestamp = 0;
hrt_abstime _last_safety_check = 0;
hrt_abstime _time_last_mix = 0;
static constexpr unsigned _max_actuators = DIRECT_PWM_OUTPUT_CHANNELS;
Mode _mode;
unsigned _pwm_default_rate;
unsigned _pwm_alt_rate;
uint32_t _pwm_alt_rate_channels;
unsigned _current_update_rate;
bool _run_as_task;
static struct work_s _work;
int _armed_sub;
int _param_sub;
int _safety_sub;
orb_advert_t _outputs_pub;
unsigned _num_outputs;
int _class_instance;
bool _throttle_armed;
bool _pwm_on;
uint32_t _pwm_mask;
bool _pwm_initialized;
bool _test_mode;
MixerGroup *_mixers;
uint32_t _groups_required;
uint32_t _groups_subscribed;
int _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {-1, -1, -1, -1};
actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
orb_id_t _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
pollfd _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
unsigned _poll_fds_num;
static pwm_limit_t _pwm_limit;
static actuator_armed_s _armed;
uint16_t _failsafe_pwm[_max_actuators] {};
uint16_t _disarmed_pwm[_max_actuators] {};
uint16_t _min_pwm[_max_actuators] {};
uint16_t _max_pwm[_max_actuators] {};
uint16_t _reverse_pwm_mask;
unsigned _num_failsafe_set;
unsigned _num_disarmed_set;
bool _safety_off; ///< State of the safety button from the subscribed safety topic
bool _safety_btn_off; ///< State of the safety button read from the HW button
bool _safety_disabled;
orb_advert_t _to_safety;
orb_advert_t _to_mixer_status; ///< mixer status flags
float _mot_t_max; ///< maximum rise time for motor (slew rate limiting)
float _thr_mdl_fac; ///< thrust to pwm modelling factor
Mixer::Airmode _airmode; ///< multicopter air-mode
MotorOrdering _motor_ordering;
perf_counter_t _perf_control_latency;
static bool arm_nothrottle()
{
return ((_armed.prearmed && !_armed.armed) || _armed.in_esc_calibration_mode);
}
static void cycle_trampoline(void *arg);
int start();
static int control_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input);
void capture_callback(uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
void subscribe();
int set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate);
int pwm_ioctl(file *filp, int cmd, unsigned long arg);
void update_pwm_rev_mask();
void update_pwm_out_state(bool on);
void update_params();
static void sensor_reset(int ms);
static void peripheral_reset(int ms);
int capture_ioctl(file *filp, int cmd, unsigned long arg);
PX4FMU(const PX4FMU &) = delete;
PX4FMU operator=(const PX4FMU &) = delete;
void safety_check_button(void);
void flash_safety_button(void);
/**
* Reorder PWM outputs according to _motor_ordering
* @param values PWM values to reorder
*/
inline void reorder_outputs(uint16_t values[MAX_ACTUATORS]);
};
pwm_limit_t PX4FMU::_pwm_limit;
actuator_armed_s PX4FMU::_armed = {};
work_s PX4FMU::_work = {};
PX4FMU::PX4FMU(bool run_as_task) :
CDev(PX4FMU_DEVICE_PATH),
_mode(MODE_NONE),
_pwm_default_rate(50),
_pwm_alt_rate(50),
_pwm_alt_rate_channels(0),
_current_update_rate(0),
_run_as_task(run_as_task),
_armed_sub(-1),
_param_sub(-1),
_safety_sub(-1),
_outputs_pub(nullptr),
_num_outputs(0),
_class_instance(0),
_throttle_armed(false),
_pwm_on(false),
_pwm_mask(0),
_pwm_initialized(false),
_test_mode(false),
_mixers(nullptr),
_groups_required(0),
_groups_subscribed(0),
_poll_fds_num(0),
_reverse_pwm_mask(0),
_num_failsafe_set(0),
_num_disarmed_set(0),
_safety_off(false),
_safety_btn_off(false),
_safety_disabled(false),
_to_safety(nullptr),
_to_mixer_status(nullptr),
_mot_t_max(0.0f),
_thr_mdl_fac(0.0f),
_airmode(Mixer::Airmode::disabled),
_motor_ordering(MotorOrdering::PX4),
_perf_control_latency(perf_alloc(PC_ELAPSED, "fmu control latency"))
{
for (unsigned i = 0; i < _max_actuators; i++) {
_min_pwm[i] = PWM_DEFAULT_MIN;
_max_pwm[i] = PWM_DEFAULT_MAX;
}
_control_topics[0] = ORB_ID(actuator_controls_0);
_control_topics[1] = ORB_ID(actuator_controls_1);
_control_topics[2] = ORB_ID(actuator_controls_2);
_control_topics[3] = ORB_ID(actuator_controls_3);
for (int i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; ++i) {
_control_subs[i] = -1;
}
memset(_controls, 0, sizeof(_controls));
memset(_poll_fds, 0, sizeof(_poll_fds));
// Safely initialize armed flags.
_armed.armed = false;
_armed.prearmed = false;
_armed.ready_to_arm = false;
_armed.lockdown = false;
_armed.force_failsafe = false;
_armed.in_esc_calibration_mode = false;
// If there is no safety button, disable it on boot.
#ifndef GPIO_BTN_SAFETY
_safety_off = true;
_safety_btn_off = true;
#endif
}
PX4FMU::~PX4FMU()
{
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] >= 0) {
orb_unsubscribe(_control_subs[i]);
}
}
orb_unsubscribe(_armed_sub);
orb_unsubscribe(_param_sub);
orb_unsubscribe(_safety_sub);
orb_unadvertise(_outputs_pub);
orb_unadvertise(_to_safety);
orb_unadvertise(_to_mixer_status);
/* make sure servos are off */
up_pwm_servo_deinit();
/* note - someone else is responsible for restoring the GPIO config */
/* clean up the alternate device node */
unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
perf_free(_perf_control_latency);
}
int
PX4FMU::init()
{
int ret;
/* do regular cdev init */
ret = CDev::init();
if (ret != OK) {
return ret;
}
// XXX best would be to register / de-register the device depending on modes
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
_class_instance = register_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* lets not be too verbose */
} else if (_class_instance < 0) {
PX4_ERR("FAILED registering class device");
}
_safety_disabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY);
if (_safety_disabled) {
_safety_off = true;
_safety_btn_off = true;
}
/* force a reset of the update rate */
_current_update_rate = 0;
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
_param_sub = orb_subscribe(ORB_ID(parameter_update));
_safety_sub = orb_subscribe(ORB_ID(safety));
/* initialize PWM limit lib */
pwm_limit_init(&_pwm_limit);
// Getting initial parameter values
update_params();
return 0;
}
void
PX4FMU::safety_check_button(void)
{
#ifdef GPIO_BTN_SAFETY
if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_PX4IO)) {
static int counter = 0;
/*
* Debounce the safety button, change state if it has been held for long enough.
*
*/
bool safety_button_pressed = px4_arch_gpioread(GPIO_BTN_SAFETY);
/*
* Keep pressed for a while to arm.
*
* Note that the counting sequence has to be same length
* for arming / disarming in order to end up as proper
* state machine, keep ARM_COUNTER_THRESHOLD the same
* length in all cases of the if/else struct below.
*/
if (safety_button_pressed && !_safety_btn_off) {
if (counter < CYCLE_COUNT) {
counter++;
} else if (counter == CYCLE_COUNT) {
/* switch to armed state */
_safety_btn_off = true;
counter++;
}
} else if (safety_button_pressed && _safety_btn_off) {
if (counter < CYCLE_COUNT) {
counter++;
} else if (counter == CYCLE_COUNT) {
/* change to disarmed state and notify the FMU */
_safety_btn_off = false;
counter++;
}
} else {
counter = 0;
}
}
#endif
}
void
PX4FMU::flash_safety_button()
{
#if defined(GPIO_BTN_SAFETY) && defined(GPIO_LED_SAFETY)
if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_PX4IO)) {
/* Select the appropriate LED flash pattern depending on the current arm state */
uint16_t pattern = LED_PATTERN_FMU_REFUSE_TO_ARM;
/* cycle the blink state machine at 10Hz */
static int blink_counter = 0;
if (_safety_btn_off) {
if (_armed.armed) {
pattern = LED_PATTERN_IO_FMU_ARMED;
} else {
pattern = LED_PATTERN_IO_ARMED;
}
} else if (_armed.armed) {
pattern = LED_PATTERN_FMU_ARMED;
} else {
pattern = LED_PATTERN_FMU_OK_TO_ARM;
}
/* Turn the LED on if we have a 1 at the current bit position */
px4_arch_gpiowrite(GPIO_LED_SAFETY, !(pattern & (1 << blink_counter++)));
if (blink_counter > 15) {
blink_counter = 0;
}
}
#endif
}
int
PX4FMU::set_mode(Mode mode)
{
unsigned old_mask = _pwm_mask;
/*
* Configure for PWM output.
*
* Note that regardless of the configured mode, the task is always
* listening and mixing; the mode just selects which of the channels
* are presented on the output pins.
*/
switch (mode) {
case MODE_1PWM:
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0x1;
_pwm_initialized = false;
_num_outputs = 1;
break;
#if defined(BOARD_HAS_CAPTURE)
case MODE_2PWM2CAP: // v1 multi-port with flow control lines as PWM
up_input_capture_set(2, Rising, 0, NULL, NULL);
up_input_capture_set(3, Rising, 0, NULL, NULL);
PX4_DEBUG("MODE_2PWM2CAP");
#endif
/* FALLTHROUGH */
case MODE_2PWM: // v1 multi-port with flow control lines as PWM
PX4_DEBUG("MODE_2PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0x3;
_pwm_initialized = false;
_num_outputs = 2;
break;
#if defined(BOARD_HAS_CAPTURE)
case MODE_3PWM1CAP: // v1 multi-port with flow control lines as PWM
PX4_DEBUG("MODE_3PWM1CAP");
up_input_capture_set(3, Rising, 0, NULL, NULL);
#endif
/* FALLTHROUGH */
case MODE_3PWM: // v1 multi-port with flow control lines as PWM
PX4_DEBUG("MODE_3PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0x7;
_pwm_initialized = false;
_num_outputs = 3;
break;
#if defined(BOARD_HAS_CAPTURE)
case MODE_4PWM1CAP:
PX4_DEBUG("MODE_4PWM1CAP");
up_input_capture_set(4, Rising, 0, NULL, NULL);
#endif
/* FALLTHROUGH */
case MODE_4PWM: // v1 or v2 multi-port as 4 PWM outs
PX4_DEBUG("MODE_4PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0xf;
_pwm_initialized = false;
_num_outputs = 4;
break;
#if defined(BOARD_HAS_CAPTURE)
case MODE_4PWM2CAP:
PX4_DEBUG("MODE_4PWM2CAP");
up_input_capture_set(5, Rising, 0, NULL, NULL);
/* default output rates */
_pwm_default_rate = 400;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0x0f;
_pwm_initialized = false;
_num_outputs = 4;
break;
#endif
#if defined(BOARD_HAS_CAPTURE)
case MODE_5PWM1CAP:
PX4_DEBUG("MODE_5PWM1CAP");
up_input_capture_set(5, Rising, 0, NULL, NULL);
#endif
/* FALLTHROUGH */
case MODE_5PWM: // v1 or v2 multi-port as 5 PWM outs
PX4_DEBUG("MODE_5PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0x1f;
_pwm_initialized = false;
_num_outputs = 4;
break;
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
case MODE_6PWM:
PX4_DEBUG("MODE_6PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0x3f;
_pwm_initialized = false;
_num_outputs = 6;
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case MODE_8PWM: // AeroCore PWMs as 8 PWM outs
PX4_DEBUG("MODE_8PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0xff;
_pwm_initialized = false;
_num_outputs = 8;
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
case MODE_14PWM:
PX4_DEBUG("MODE_14PWM");
/* default output rates */
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0x3fff;
_pwm_initialized = false;
_num_outputs = 14;
break;
#endif
case MODE_NONE:
PX4_DEBUG("MODE_NONE");
_pwm_default_rate = 10; /* artificially reduced output rate */
_pwm_alt_rate = 10;
_pwm_alt_rate_channels = 0;
_pwm_mask = 0x0;
_pwm_initialized = false;
_num_outputs = 0;
if (old_mask != _pwm_mask) {
/* disable servo outputs - no need to set rates */
up_pwm_servo_deinit();
}
break;
default:
return -EINVAL;
}
_mode = mode;
return OK;
}
/* When set_pwm_rate is called from either of the 2 IOCTLs:
*
* PWM_SERVO_SET_UPDATE_RATE - Sets the "alternate" channel's rate to the callers's rate specified
* and the non "alternate" channels to the _pwm_default_rate.
*
* rate_map = _pwm_alt_rate_channels
* default_rate = _pwm_default_rate
* alt_rate = arg of IOCTL (see rates)
*
* PWM_SERVO_SET_SELECT_UPDATE_RATE - The caller's specified rate map selects the "alternate" channels
* to be set to the alt rate. (_pwm_alt_rate)
* All other channels are set to the default rate. (_pwm_default_rate)
*
* rate_map = arg of IOCTL
* default_rate = _pwm_default_rate
* alt_rate = _pwm_alt_rate
* rate_map - A mask of 1's for the channels to be set to the
* alternate rate.
* N.B. All channels is a given group must be set
* to the same rate/mode. (default or alt)
* rates:
* alt_rate, default_rate For PWM is 25 or 400Hz
* For Oneshot there is no rate, 0 is therefore used
* to select Oneshot mode
*/
int
PX4FMU::set_pwm_rate(uint32_t rate_map, unsigned default_rate, unsigned alt_rate)
{
PX4_DEBUG("set_pwm_rate %x %u %u", rate_map, default_rate, alt_rate);
for (unsigned pass = 0; pass < 2; pass++) {
/* We should note that group is iterated over from 0 to _max_actuators.
* This allows for the ideal worlds situation: 1 channel per group
* configuration.
*
* This is typically not what HW supports. A group represents a timer
* and channels belongs to a timer.
* Therefore all channels in a group are dependent on the timer's
* common settings and can not be independent in terms of count frequency
* (granularity of pulse width) and rate (period of repetition).
*
* To say it another way, all channels in a group moust have the same
* rate and mode. (See rates above.)
*/
for (unsigned group = 0; group < _max_actuators; group++) {
// get the channel mask for this rate group
uint32_t mask = up_pwm_servo_get_rate_group(group);
if (mask == 0) {
continue;
}
// all channels in the group must be either default or alt-rate
uint32_t alt = rate_map & mask;
if (pass == 0) {
// preflight
if ((alt != 0) && (alt != mask)) {
PX4_WARN("rate group %u mask %x bad overlap %x", group, mask, alt);
// not a legal map, bail
return -EINVAL;
}
} else {
// set it - errors here are unexpected
if (alt != 0) {
if (up_pwm_servo_set_rate_group_update(group, alt_rate) != OK) {
PX4_WARN("rate group set alt failed");
return -EINVAL;
}
} else {
if (up_pwm_servo_set_rate_group_update(group, default_rate) != OK) {
PX4_WARN("rate group set default failed");
return -EINVAL;
}
}
}
}
}
_pwm_alt_rate_channels = rate_map;
_pwm_default_rate = default_rate;
_pwm_alt_rate = alt_rate;
return OK;
}
int
PX4FMU::set_pwm_alt_rate(unsigned rate)
{
return set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, rate);
}
int
PX4FMU::set_pwm_alt_channels(uint32_t channels)
{
return set_pwm_rate(channels, _pwm_default_rate, _pwm_alt_rate);
}
int
PX4FMU::set_i2c_bus_clock(unsigned bus, unsigned clock_hz)
{
return device::I2C::set_bus_clock(bus, clock_hz);
}
void
PX4FMU::subscribe()
{
/* subscribe/unsubscribe to required actuator control groups */
uint32_t sub_groups = _groups_required & ~_groups_subscribed;
uint32_t unsub_groups = _groups_subscribed & ~_groups_required;
_poll_fds_num = 0;
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (sub_groups & (1 << i)) {
PX4_DEBUG("subscribe to actuator_controls_%d", i);
_control_subs[i] = orb_subscribe(_control_topics[i]);
}
if (unsub_groups & (1 << i)) {
PX4_DEBUG("unsubscribe from actuator_controls_%d", i);
orb_unsubscribe(_control_subs[i]);
_control_subs[i] = -1;
}
if (_control_subs[i] >= 0) {
_poll_fds[_poll_fds_num].fd = _control_subs[i];
_poll_fds[_poll_fds_num].events = POLLIN;
_poll_fds_num++;
}
}
}
void
PX4FMU::update_pwm_rev_mask()
{
_reverse_pwm_mask = 0;
const char *pname_format;
if (_class_instance == CLASS_DEVICE_PRIMARY) {
pname_format = "PWM_MAIN_REV%d";
} else if (_class_instance == CLASS_DEVICE_SECONDARY) {
pname_format = "PWM_AUX_REV%d";
} else {
PX4_ERR("PWM REV only for MAIN and AUX");
return;
}
for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
/* fill the channel reverse mask from parameters */
sprintf(pname, pname_format, i + 1);
param_t param_h = param_find(pname);
if (param_h != PARAM_INVALID) {
int32_t ival = 0;
param_get(param_h, &ival);
_reverse_pwm_mask |= ((int16_t)(ival != 0)) << i;
}
}
}
void
PX4FMU::update_pwm_trims()
{
PX4_DEBUG("update_pwm_trims");
if (_mixers != nullptr) {
int16_t values[_max_actuators] = {};
const char *pname_format;
if (_class_instance == CLASS_DEVICE_PRIMARY) {
pname_format = "PWM_MAIN_TRIM%d";
} else if (_class_instance == CLASS_DEVICE_SECONDARY) {
pname_format = "PWM_AUX_TRIM%d";
} else {
PX4_ERR("PWM TRIM only for MAIN and AUX");
return;
}
for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
/* fill the struct from parameters */
sprintf(pname, pname_format, i + 1);
param_t param_h = param_find(pname);
if (param_h != PARAM_INVALID) {
float pval = 0.0f;
param_get(param_h, &pval);
values[i] = (int16_t)(10000 * pval);
PX4_DEBUG("%s: %d", pname, values[i]);
}
}
/* copy the trim values to the mixer offsets */
unsigned n_out = _mixers->set_trims(values, _max_actuators);
PX4_DEBUG("set %d trims", n_out);
}
}
int
PX4FMU::task_spawn(int argc, char *argv[])
{
bool run_as_task = false;
bool error_flag = false;
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "t", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 't':
run_as_task = true;
break;
case '?':
error_flag = true;
break;
default:
PX4_WARN("unrecognized flag");
error_flag = true;
break;
}
}
if (error_flag) {
return -1;
}
if (!run_as_task) {
/* schedule a cycle to start things */
int ret = work_queue(HPWORK, &_work, (worker_t)&PX4FMU::cycle_trampoline, nullptr, 0);
if (ret < 0) {
return ret;
}
_task_id = task_id_is_work_queue;
} else {
/* start the IO interface task */
_task_id = px4_task_spawn_cmd("fmu",
SCHED_DEFAULT,
SCHED_PRIORITY_ACTUATOR_OUTPUTS,
1340,
(px4_main_t)&run_trampoline,
nullptr);
if (_task_id < 0) {
_task_id = -1;
return -errno;
}
}
// wait until task is up & running (the mode_* commands depend on it)