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/****************************************************************************
*
* Copyright (c) 2012-2015 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 px4io.cpp
* Driver for the PX4IO board.
*
* PX4IO is connected via I2C or DMA enabled high-speed UART.
*/
#include <px4_config.h>
#include <px4_tasks.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <assert.h>
#include <debug.h>
#include <time.h>
#include <queue.h>
#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <math.h>
#include <crc32.h>
#include <arch/board/board.h>
#include <drivers/device/device.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_sbus.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
#include <rc/dsm.h>
#include <lib/mixer/mixer.h>
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <parameters/param.h>
#include <circuit_breaker/circuit_breaker.h>
#include <systemlib/mavlink_log.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/servorail_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/multirotor_motor_limits.h>
#include <debug.h>
#include <modules/px4iofirmware/protocol.h>
#include "uploader.h"
#include "modules/dataman/dataman.h"
#include "px4io_driver.h"
#define PX4IO_SET_DEBUG _IOC(0xff00, 0)
#define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1)
#define PX4IO_REBOOT_BOOTLOADER _IOC(0xff00, 2)
#define PX4IO_CHECK_CRC _IOC(0xff00, 3)
#define UPDATE_INTERVAL_MIN 2 // 2 ms -> 500 Hz
#define ORB_CHECK_INTERVAL 200000 // 200 ms -> 5 Hz
#define IO_POLL_INTERVAL 20000 // 20 ms -> 50 Hz
/**
* The PX4IO class.
*
* Encapsulates PX4FMU to PX4IO communications modeled as file operations.
*/
class PX4IO : public cdev::CDev
{
public:
/**
* Constructor.
*
* Initialize all class variables.
*/
PX4IO(device::Device *interface);
/**
* Destructor.
*
* Wait for worker thread to terminate.
*/
virtual ~PX4IO();
/**
* Initialize the PX4IO class.
*
* Retrieve relevant initial system parameters. Initialize PX4IO registers.
*/
virtual int init();
/**
* Initialize the PX4IO class.
*
* Retrieve relevant initial system parameters. Initialize PX4IO registers.
*
* @param disable_rc_handling set to true to forbid override / RC handling on IO
*/
int init(bool disable_rc_handling);
/**
* Detect if a PX4IO is connected.
*
* Only validate if there is a PX4IO to talk to.
*/
virtual int detect();
/**
* IO Control handler.
*
* Handle all IOCTL calls to the PX4IO file descriptor.
*
* @param[in] filp file handle (not used). This function is always called directly through object reference
* @param[in] cmd the IOCTL command
* @param[in] the IOCTL command parameter (optional)
*/
virtual int ioctl(file *filp, int cmd, unsigned long arg);
/**
* write handler.
*
* Handle writes to the PX4IO file descriptor.
*
* @param[in] filp file handle (not used). This function is always called directly through object reference
* @param[in] buffer pointer to the data buffer to be written
* @param[in] len size in bytes to be written
* @return number of bytes written
*/
virtual ssize_t write(file *filp, const char *buffer, size_t len);
/**
* Set the update rate for actuator outputs from FMU to IO.
*
* @param[in] rate The rate in Hz actuator outpus are sent to IO.
* Min 10 Hz, max 400 Hz
*/
int set_update_rate(int rate);
/**
* Push failsafe values to IO.
*
* @param[in] vals Failsafe control inputs: in us PPM (900 for zero, 1500 for centered, 2100 for full)
* @param[in] len Number of channels, could up to 8
*/
int set_failsafe_values(const uint16_t *vals, unsigned len);
/**
* Disable RC input handling
*/
int disable_rc_handling();
/**
* Print IO status.
*
* Print all relevant IO status information
*
* @param extended_status Shows more verbose information (in particular RC config)
*/
void print_status(bool extended_status);
/**
* Fetch and print debug console output.
*/
int print_debug();
/*
* To test what happens if IO stops receiving updates from FMU.
*
* @param is_fail true for failure condition, false for normal operation.
*/
void test_fmu_fail(bool is_fail)
{
_test_fmu_fail = is_fail;
};
inline uint16_t system_status() const {return _status;}
private:
device::Device *_interface;
// XXX
unsigned _hardware; ///< Hardware revision
unsigned _max_actuators; ///< Maximum # of actuators supported by PX4IO
unsigned _max_controls; ///< Maximum # of controls supported by PX4IO
unsigned _max_rc_input; ///< Maximum receiver channels supported by PX4IO
unsigned _max_relays; ///< Maximum relays supported by PX4IO
unsigned _max_transfer; ///< Maximum number of I2C transfers supported by PX4IO
unsigned _update_interval; ///< Subscription interval limiting send rate
bool _rc_handling_disabled; ///< If set, IO does not evaluate, but only forward the RC values
unsigned _rc_chan_count; ///< Internal copy of the last seen number of RC channels
uint64_t _rc_last_valid; ///< last valid timestamp
volatile int _task; ///< worker task id
volatile bool _task_should_exit; ///< worker terminate flag
orb_advert_t _mavlink_log_pub; ///< mavlink log pub
perf_counter_t _perf_update; ///< local performance counter for status updates
perf_counter_t _perf_write; ///< local performance counter for PWM control writes
perf_counter_t _perf_sample_latency; ///< total system latency (based on passed-through timestamp)
/* cached IO state */
uint16_t _status; ///< Various IO status flags
uint16_t _alarms; ///< Various IO alarms
uint16_t _last_written_arming_s; ///< the last written arming state reg
uint16_t _last_written_arming_c; ///< the last written arming state reg
/* subscribed topics */
int _t_actuator_controls_0; ///< actuator controls group 0 topic
int _t_actuator_controls_1; ///< actuator controls group 1 topic
int _t_actuator_controls_2; ///< actuator controls group 2 topic
int _t_actuator_controls_3; ///< actuator controls group 3 topic
int _t_actuator_armed; ///< system armed control topic
int _t_vehicle_control_mode;///< vehicle control mode topic
int _t_param; ///< parameter update topic
bool _param_update_force; ///< force a parameter update
int _t_vehicle_command; ///< vehicle command topic
/* advertised topics */
orb_advert_t _to_input_rc; ///< rc inputs from io
orb_advert_t _to_outputs; ///< mixed servo outputs topic
orb_advert_t _to_servorail; ///< servorail status
orb_advert_t _to_safety; ///< status of safety
orb_advert_t _to_mixer_status; ///< mixer status flags
bool _primary_pwm_device; ///< true if we are the default PWM output
bool _lockdown_override; ///< allow to override the safety lockdown
bool _armed; ///< wether the system is armed
bool _override_available; ///< true if manual reversion mode is enabled
bool _cb_flighttermination; ///< true if the flight termination circuit breaker is enabled
bool _in_esc_calibration_mode; ///< do not send control outputs to IO (used for esc calibration)
int32_t _rssi_pwm_chan; ///< RSSI PWM input channel
int32_t _rssi_pwm_max; ///< max RSSI input on PWM channel
int32_t _rssi_pwm_min; ///< min RSSI input on PWM channel
int32_t _thermal_control; ///< thermal control state
bool _analog_rc_rssi_stable; ///< true when analog RSSI input is stable
float _analog_rc_rssi_volt; ///< analog RSSI voltage
bool _test_fmu_fail; ///< To test what happens if IO looses FMU
/**
* Trampoline to the worker task
*/
static void task_main_trampoline(int argc, char *argv[]);
/**
* worker task
*/
void task_main();
/**
* Send controls for one group to IO
*/
int io_set_control_state(unsigned group);
/**
* Send all controls to IO
*/
int io_set_control_groups();
/**
* Update IO's arming-related state
*/
int io_set_arming_state();
/**
* Push RC channel configuration to IO.
*/
int io_set_rc_config();
/**
* Fetch status and alarms from IO
*
* Also publishes battery voltage/current.
*/
int io_get_status();
/**
* Disable RC input handling
*/
int io_disable_rc_handling();
/**
* Fetch RC inputs from IO.
*
* @param input_rc Input structure to populate.
* @return OK if data was returned.
*/
int io_get_raw_rc_input(input_rc_s &input_rc);
/**
* Fetch and publish raw RC input data.
*/
int io_publish_raw_rc();
/**
* Fetch and publish the PWM servo outputs.
*/
int io_publish_pwm_outputs();
/**
* write register(s)
*
* @param page Register page to write to.
* @param offset Register offset to start writing at.
* @param values Pointer to array of values to write.
* @param num_values The number of values to write.
* @return OK if all values were successfully written.
*/
int io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values);
/**
* write a register
*
* @param page Register page to write to.
* @param offset Register offset to write to.
* @param value Value to write.
* @return OK if the value was written successfully.
*/
int io_reg_set(uint8_t page, uint8_t offset, const uint16_t value);
/**
* read register(s)
*
* @param page Register page to read from.
* @param offset Register offset to start reading from.
* @param values Pointer to array where values should be stored.
* @param num_values The number of values to read.
* @return OK if all values were successfully read.
*/
int io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values);
/**
* read a register
*
* @param page Register page to read from.
* @param offset Register offset to start reading from.
* @return Register value that was read, or _io_reg_get_error on error.
*/
uint32_t io_reg_get(uint8_t page, uint8_t offset);
static const uint32_t _io_reg_get_error = 0x80000000;
/**
* modify a register
*
* @param page Register page to modify.
* @param offset Register offset to modify.
* @param clearbits Bits to clear in the register.
* @param setbits Bits to set in the register.
*/
int io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits);
/**
* Send mixer definition text to IO
*/
int mixer_send(const char *buf, unsigned buflen, unsigned retries = 3);
/**
* Handle a status update from IO.
*
* Publish IO status information if necessary.
*
* @param status The status register
*/
int io_handle_status(uint16_t status);
/**
* Handle an alarm update from IO.
*
* Publish IO alarm information if necessary.
*
* @param alarm The status register
*/
int io_handle_alarms(uint16_t alarms);
/**
* Handle issuing dsm bind ioctl to px4io.
*
* @param dsmMode 0:dsm2, 1:dsmx
*/
void dsm_bind_ioctl(int dsmMode);
/**
* Handle a servorail update from IO.
*
* Publish servo rail information if necessary.
*
* @param vservo vservo register
* @param vrssi vrssi register
*/
void io_handle_vservo(uint16_t vservo, uint16_t vrssi);
/* do not allow to copy this class due to ptr data members */
PX4IO(const PX4IO &);
PX4IO operator=(const PX4IO &);
};
namespace
{
PX4IO *g_dev = nullptr;
}
#define PX4IO_DEVICE_PATH "/dev/px4io"
PX4IO::PX4IO(device::Device *interface) :
CDev(PX4IO_DEVICE_PATH),
_interface(interface),
_hardware(0),
_max_actuators(0),
_max_controls(0),
_max_rc_input(0),
_max_relays(0),
_max_transfer(16), /* sensible default */
_update_interval(0),
_rc_handling_disabled(false),
_rc_chan_count(0),
_rc_last_valid(0),
_task(-1),
_task_should_exit(false),
_mavlink_log_pub(nullptr),
_perf_update(perf_alloc(PC_ELAPSED, "io update")),
_perf_write(perf_alloc(PC_ELAPSED, "io write")),
_perf_sample_latency(perf_alloc(PC_ELAPSED, "io control latency")),
_status(0),
_alarms(0),
_last_written_arming_s(0),
_last_written_arming_c(0),
_t_actuator_controls_0(-1),
_t_actuator_controls_1(-1),
_t_actuator_controls_2(-1),
_t_actuator_controls_3(-1),
_t_actuator_armed(-1),
_t_vehicle_control_mode(-1),
_t_param(-1),
_param_update_force(false),
_t_vehicle_command(-1),
_to_input_rc(nullptr),
_to_outputs(nullptr),
_to_servorail(nullptr),
_to_safety(nullptr),
_to_mixer_status(nullptr),
_primary_pwm_device(false),
_lockdown_override(false),
_armed(false),
_override_available(false),
_cb_flighttermination(true),
_in_esc_calibration_mode(false),
_rssi_pwm_chan(0),
_rssi_pwm_max(0),
_rssi_pwm_min(0),
_thermal_control(-1),
_analog_rc_rssi_stable(false),
_analog_rc_rssi_volt(-1.0f),
_test_fmu_fail(false)
{
/* we need this potentially before it could be set in task_main */
g_dev = this;
}
PX4IO::~PX4IO()
{
/* tell the task we want it to go away */
_task_should_exit = true;
/* spin waiting for the task to stop */
for (unsigned i = 0; (i < 10) && (_task != -1); i++) {
/* give it another 100ms */
px4_usleep(100000);
}
/* well, kill it anyway, though this will probably crash */
if (_task != -1) {
task_delete(_task);
}
if (_interface != nullptr) {
delete _interface;
}
/* deallocate perfs */
perf_free(_perf_update);
perf_free(_perf_write);
perf_free(_perf_sample_latency);
g_dev = nullptr;
}
int
PX4IO::detect()
{
int ret;
if (_task == -1) {
/* do regular cdev init */
ret = CDev::init();
if (ret != OK) {
return ret;
}
/* get some parameters */
unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
if (protocol != PX4IO_PROTOCOL_VERSION) {
if (protocol == _io_reg_get_error) {
PX4_ERR("IO not installed");
} else {
PX4_ERR("IO version error");
mavlink_log_emergency(&_mavlink_log_pub, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!");
}
return -1;
}
}
PX4_INFO("IO found");
return 0;
}
int
PX4IO::init(bool rc_handling_disabled)
{
_rc_handling_disabled = rc_handling_disabled;
return init();
}
int
PX4IO::init()
{
int ret;
param_t sys_restart_param;
int32_t sys_restart_val = DM_INIT_REASON_VOLATILE;
sys_restart_param = param_find("SYS_RESTART_TYPE");
if (sys_restart_param != PARAM_INVALID) {
/* Indicate restart type is unknown */
int32_t prev_val;
param_get(sys_restart_param, &prev_val);
if (prev_val != DM_INIT_REASON_POWER_ON) {
param_set_no_notification(sys_restart_param, &sys_restart_val);
}
}
/* do regular cdev init */
ret = CDev::init();
if (ret != OK) {
return ret;
}
/* get some parameters */
unsigned protocol;
hrt_abstime start_try_time = hrt_absolute_time();
do {
px4_usleep(2000);
protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
} while (protocol == _io_reg_get_error && (hrt_elapsed_time(&start_try_time) < 700U * 1000U));
/* if the error still persists after timing out, we give up */
if (protocol == _io_reg_get_error) {
mavlink_log_emergency(&_mavlink_log_pub, "Failed to communicate with IO, abort.");
return -1;
}
if (protocol != PX4IO_PROTOCOL_VERSION) {
mavlink_log_emergency(&_mavlink_log_pub, "IO protocol/firmware mismatch, abort.");
return -1;
}
_hardware = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_HARDWARE_VERSION);
_max_actuators = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT);
_max_controls = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT);
_max_relays = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT);
_max_transfer = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER) - 2;
_max_rc_input = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT);
if ((_max_actuators < 1) || (_max_actuators > 16) ||
(_max_relays > 32) ||
(_max_transfer < 16) || (_max_transfer > 255) ||
(_max_rc_input < 1) || (_max_rc_input > 255)) {
PX4_ERR("config read error");
mavlink_log_emergency(&_mavlink_log_pub, "[IO] config read fail, abort.");
// ask IO to reboot into bootloader as the failure may
// be due to mismatched firmware versions and we want
// the startup script to be able to load a new IO
// firmware
// If IO has already safety off it won't accept going into bootloader mode,
// therefore we need to set safety on first.
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
// Now the reboot into bootloader mode should succeed.
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_REBOOT_BL, PX4IO_REBOOT_BL_MAGIC);
return -1;
}
if (_max_rc_input > input_rc_s::RC_INPUT_MAX_CHANNELS) {
_max_rc_input = input_rc_s::RC_INPUT_MAX_CHANNELS;
}
param_get(param_find("RC_RSSI_PWM_CHAN"), &_rssi_pwm_chan);
param_get(param_find("RC_RSSI_PWM_MAX"), &_rssi_pwm_max);
param_get(param_find("RC_RSSI_PWM_MIN"), &_rssi_pwm_min);
/*
* Check for IO flight state - if FMU was flagged to be in
* armed state, FMU is recovering from an in-air reset.
* Read back status and request the commander to arm
* in this case.
*/
uint16_t reg;
/* get IO's last seen FMU state */
ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, &reg, sizeof(reg));
if (ret != OK) {
return ret;
}
/*
* in-air restart is only tried if the IO board reports it is
* already armed, and has been configured for in-air restart
*/
if ((reg & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) &&
(reg & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
/* get a status update from IO */
io_get_status();
mavlink_log_emergency(&_mavlink_log_pub, "RECOVERING FROM FMU IN-AIR RESTART");
/* WARNING: COMMANDER app/vehicle status must be initialized.
* If this fails (or the app is not started), worst-case IO
* remains untouched (so manual override is still available).
*/
int safety_sub = orb_subscribe(ORB_ID(actuator_armed));
/* fill with initial values, clear updated flag */
struct actuator_armed_s safety;
uint64_t try_start_time = hrt_absolute_time();
bool updated = false;
/* keep checking for an update, ensure we got a arming information,
not something that was published a long time ago. */
do {
orb_check(safety_sub, &updated);
if (updated) {
/* got data, copy and exit loop */
orb_copy(ORB_ID(actuator_armed), safety_sub, &safety);
break;
}
/* wait 10 ms */
px4_usleep(10000);
/* abort after 5s */
if ((hrt_absolute_time() - try_start_time) / 1000 > 3000) {
mavlink_log_emergency(&_mavlink_log_pub, "Failed to recover from in-air restart (1), abort");
return 1;
}
} while (true);
/* send this to itself */
param_t sys_id_param = param_find("MAV_SYS_ID");
param_t comp_id_param = param_find("MAV_COMP_ID");
int32_t sys_id;
int32_t comp_id;
if (param_get(sys_id_param, &sys_id)) {
errx(1, "PRM SYSID");
}
if (param_get(comp_id_param, &comp_id)) {
errx(1, "PRM CMPID");
}
/* send command to arm system via command API */
vehicle_command_s vcmd = {};
vcmd.timestamp = hrt_absolute_time();
vcmd.param1 = 1.0f; /* request arming */
vcmd.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM;
vcmd.target_system = (uint8_t)sys_id;
vcmd.target_component = (uint8_t)comp_id;
vcmd.source_system = (uint8_t)sys_id;
vcmd.source_component = (uint8_t)comp_id;
vcmd.confirmation = true; /* ask to confirm command */
/* send command once */
orb_advert_t pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
/* spin here until IO's state has propagated into the system */
do {
orb_check(safety_sub, &updated);
if (updated) {
orb_copy(ORB_ID(actuator_armed), safety_sub, &safety);
}
/* wait 50 ms */
px4_usleep(50000);
/* abort after 5s */
if ((hrt_absolute_time() - try_start_time) / 1000 > 2000) {
mavlink_log_emergency(&_mavlink_log_pub, "Failed to recover from in-air restart (2), abort");
return 1;
}
/* re-send if necessary */
if (!safety.armed) {
orb_publish(ORB_ID(vehicle_command), pub, &vcmd);
PX4_WARN("re-sending arm cmd");
}
/* keep waiting for state change for 2 s */
} while (!safety.armed);
/* Indicate restart type is in-flight */
sys_restart_val = DM_INIT_REASON_IN_FLIGHT;
int32_t prev_val;
param_get(sys_restart_param, &prev_val);
if (prev_val != sys_restart_val) {
param_set(sys_restart_param, &sys_restart_val);
}
/* regular boot, no in-air restart, init IO */
} else {
/* dis-arm IO before touching anything */
io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING,
PX4IO_P_SETUP_ARMING_FMU_ARMED |
PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK |
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK |
PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE |
PX4IO_P_SETUP_ARMING_LOCKDOWN, 0);
if (_rc_handling_disabled) {
ret = io_disable_rc_handling();
if (ret != OK) {
PX4_ERR("failed disabling RC handling");
return ret;
}
} else {
/* publish RC config to IO */
ret = io_set_rc_config();
if (ret != OK) {
mavlink_log_critical(&_mavlink_log_pub, "IO RC config upload fail");
return ret;
}
}
/* Indicate restart type is power on */
sys_restart_val = DM_INIT_REASON_POWER_ON;
int32_t prev_val;
param_get(sys_restart_param, &prev_val);
if (prev_val != sys_restart_val) {
param_set(sys_restart_param, &sys_restart_val);
}
}
/* set safety to off if circuit breaker enabled */
if (circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY)) {
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
}
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
ret = register_driver(PWM_OUTPUT0_DEVICE_PATH, &fops, 0666, (void *)this);
if (ret == OK) {
PX4_INFO("default PWM output device");
_primary_pwm_device = true;
}
/* start the IO interface task */
_task = px4_task_spawn_cmd("px4io",
SCHED_DEFAULT,
SCHED_PRIORITY_ACTUATOR_OUTPUTS,
1500,
(main_t)&PX4IO::task_main_trampoline,
nullptr);
if (_task < 0) {
PX4_ERR("task start failed: %d", errno);
return -errno;
}
return OK;
}
void
PX4IO::task_main_trampoline(int argc, char *argv[])
{
g_dev->task_main();
}
void
PX4IO::task_main()
{
hrt_abstime poll_last = 0;
hrt_abstime orb_check_last = 0;
/*
* Subscribe to the appropriate PWM output topic based on whether we are the
* primary PWM output or not.
*/
_t_actuator_controls_0 = orb_subscribe(ORB_ID(actuator_controls_0));
orb_set_interval(_t_actuator_controls_0, 20); /* default to 50Hz */
_t_actuator_controls_1 = orb_subscribe(ORB_ID(actuator_controls_1));
orb_set_interval(_t_actuator_controls_1, 33); /* default to 30Hz */
_t_actuator_controls_2 = orb_subscribe(ORB_ID(actuator_controls_2));
orb_set_interval(_t_actuator_controls_2, 33); /* default to 30Hz */
_t_actuator_controls_3 = orb_subscribe(ORB_ID(actuator_controls_3));
orb_set_interval(_t_actuator_controls_3, 33); /* default to 30Hz */
_t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed));
_t_vehicle_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode));
_t_param = orb_subscribe(ORB_ID(parameter_update));
_t_vehicle_command = orb_subscribe(ORB_ID(vehicle_command));
if ((_t_actuator_controls_0 < 0) ||
(_t_actuator_armed < 0) ||
(_t_vehicle_control_mode < 0) ||
(_t_param < 0) ||
(_t_vehicle_command < 0)) {
warnx("subscription(s) failed");
goto out;
}
/* Fetch initial flight termination circuit breaker state */
_cb_flighttermination = circuit_breaker_enabled("CBRK_FLIGHTTERM", CBRK_FLIGHTTERM_KEY);
/* poll descriptor */
pollfd fds[1];
fds[0].fd = _t_actuator_controls_0;
fds[0].events = POLLIN;
_param_update_force = true;
/* lock against the ioctl handler */
lock();
/* loop talking to IO */
while (!_task_should_exit) {
/* adjust update interval */
if (_update_interval != 0) {
if (_update_interval < UPDATE_INTERVAL_MIN) {
_update_interval = UPDATE_INTERVAL_MIN;
}
if (_update_interval > 100) {
_update_interval = 100;
}
orb_set_interval(_t_actuator_controls_0, _update_interval);
/*
* NOT changing the rate of groups 1-3 here, because only attitude
* really needs to run fast.
*/
_update_interval = 0;
}
/* sleep waiting for topic updates, but no more than 20ms */
unlock();
int ret = ::poll(fds, 1, 20);
lock();
/* this would be bad... */
if (ret < 0) {
warnx("poll error %d", errno);
continue;
}
perf_begin(_perf_update);
hrt_abstime now = hrt_absolute_time();
/* if we have new control data from the ORB, handle it */
if (fds[0].revents & POLLIN) {
/* we're not nice to the lower-priority control groups and only check them
when the primary group updated (which is now). */
(void)io_set_control_groups();
}
if (now >= poll_last + IO_POLL_INTERVAL) {
/* run at 50-250Hz */
poll_last = now;
/* pull status and alarms from IO */
io_get_status();
/* get raw R/C input from IO */
io_publish_raw_rc();
/* fetch PWM outputs from IO */
io_publish_pwm_outputs();
/* check updates on uORB topics and handle it */
bool updated = false;
/* arming state */
orb_check(_t_actuator_armed, &updated);
if (!updated) {
orb_check(_t_vehicle_control_mode, &updated);
}
if (updated) {
io_set_arming_state();
}
}
if (!_armed && (now >= orb_check_last + ORB_CHECK_INTERVAL)) {
/* run at 5Hz */
orb_check_last = now;
/* check updates on uORB topics and handle it */
bool updated = false;
/* vehicle command */
orb_check(_t_vehicle_command, &updated);
if (updated) {
struct vehicle_command_s cmd;
orb_copy(ORB_ID(vehicle_command), _t_vehicle_command, &cmd);
// Check for a DSM pairing command
if (((unsigned int)cmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) {
dsm_bind_ioctl((int)cmd.param2);
}
}
/*
* If parameters have changed, re-send RC mappings to IO
*
* XXX this may be a bit spammy
*/
orb_check(_t_param, &updated);
if (updated || _param_update_force) {
_param_update_force = false;
parameter_update_s pupdate;
orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
if (!_rc_handling_disabled) {
/* re-upload RC input config as it may have changed */
io_set_rc_config();
}
/* send RC throttle failsafe value to IO */
int32_t failsafe_param_val;
param_t failsafe_param = param_find("RC_FAILS_THR");
if (failsafe_param != PARAM_INVALID) {
param_get(failsafe_param, &failsafe_param_val);
if (failsafe_param_val > 0) {
uint16_t failsafe_thr = failsafe_param_val;
int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1);
if (pret != OK) {
mavlink_log_critical(&_mavlink_log_pub, "failsafe upload failed, FS: %d us", (int)failsafe_thr);
}
}
}
int32_t safety_param_val;
param_t safety_param = param_find("CBRK_IO_SAFETY");
if (safety_param != PARAM_INVALID) {
param_get(safety_param, &safety_param_val);
if (safety_param_val == PX4IO_FORCE_SAFETY_MAGIC) {
/* disable IO safety if circuit breaker asked for it */
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, safety_param_val);
}
}
/* Check if the flight termination circuit breaker has been updated */
_cb_flighttermination = circuit_breaker_enabled("CBRK_FLIGHTTERM", CBRK_FLIGHTTERM_KEY);
param_get(param_find("RC_RSSI_PWM_CHAN"), &_rssi_pwm_chan);
param_get(param_find("RC_RSSI_PWM_MAX"), &_rssi_pwm_max);
param_get(param_find("RC_RSSI_PWM_MIN"), &_rssi_pwm_min);
param_t thermal_param = param_find("SENS_EN_THERMAL");
if (thermal_param != PARAM_INVALID) {
int32_t thermal_p;
param_get(thermal_param, &thermal_p);
if (thermal_p != _thermal_control || _param_update_force) {
_thermal_control = thermal_p;
/* set power management state for thermal */
uint16_t tctrl;
if (_thermal_control < 0) {
tctrl = PX4IO_THERMAL_IGNORE;
} else {
tctrl = PX4IO_THERMAL_OFF;
}
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_THERMAL, tctrl);
}
}
/*
* Set invert mask for PWM outputs (does not apply to S.Bus)
*/
int16_t pwm_invert_mask = 0;
for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
int32_t ival;
/* fill the channel reverse mask from parameters */
sprintf(pname, "PWM_MAIN_REV%u", i + 1);
param_t param_h = param_find(pname);
if (param_h != PARAM_INVALID) {
param_get(param_h, &ival);
pwm_invert_mask |= ((int16_t)(ival != 0)) << i;
}
}
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE, pwm_invert_mask);
// update trim values
struct pwm_output_values pwm_values;
// memset(&pwm_values, 0, sizeof(pwm_values));
// ret = io_reg_get(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, (uint16_t *)pwm_values.values, _max_actuators);
for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
float pval;
/* fetch the trim values from parameters */
sprintf(pname, "PWM_MAIN_TRIM%u", i + 1);
param_t param_h = param_find(pname);
if (param_h != PARAM_INVALID) {
param_get(param_h, &pval);
pwm_values.values[i] = (int16_t)(10000 * pval);
}
}
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, pwm_values.values, _max_actuators);
float param_val;
param_t parm_handle;
parm_handle = param_find("TRIM_ROLL");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &param_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_ROLL, FLOAT_TO_REG(param_val));
}
parm_handle = param_find("TRIM_PITCH");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &param_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_PITCH, FLOAT_TO_REG(param_val));
}
parm_handle = param_find("TRIM_YAW");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &param_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_YAW, FLOAT_TO_REG(param_val));
}
parm_handle = param_find("FW_MAN_R_SC");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &param_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SCALE_ROLL, FLOAT_TO_REG(param_val));
}
parm_handle = param_find("FW_MAN_P_SC");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &param_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SCALE_PITCH, FLOAT_TO_REG(param_val));
}
parm_handle = param_find("FW_MAN_Y_SC");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &param_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SCALE_YAW, FLOAT_TO_REG(param_val));
}
/* S.BUS output */
int sbus_mode;
parm_handle = param_find("PWM_SBUS_MODE");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &sbus_mode);
if (sbus_mode == 1) {
/* enable S.BUS 1 */
(void)io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS1_OUT);
} else if (sbus_mode == 2) {
/* enable S.BUS 2 */
(void)io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS2_OUT);
} else {
/* disable S.BUS */
(void)io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES,
(PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT), 0);
}
}
/* thrust to pwm modelling factor */
parm_handle = param_find("THR_MDL_FAC");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &param_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_THR_MDL_FAC, FLOAT_TO_REG(param_val));
}
/* maximum motor pwm slew rate */
parm_handle = param_find("MOT_SLEW_MAX");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &param_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_MOTOR_SLEW_MAX, FLOAT_TO_REG(param_val));
}
/* air-mode */
parm_handle = param_find("MC_AIRMODE");
if (parm_handle != PARAM_INVALID) {
int32_t param_val_int;
param_get(parm_handle, &param_val_int);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_AIRMODE, SIGNED_TO_REG(param_val_int));
}
}
}
perf_end(_perf_update);
}
unlock();
out:
PX4_DEBUG("exiting");
/* clean up the alternate device node */
if (_primary_pwm_device) {
unregister_driver(PWM_OUTPUT0_DEVICE_PATH);
}
if (_to_input_rc) {
orb_unadvertise(_to_input_rc);
}
if (_to_outputs) {
orb_unadvertise(_to_outputs);
}
if (_to_servorail) {
orb_unadvertise(_to_servorail);
}
if (_to_safety) {
orb_unadvertise(_to_safety);
}
if (_to_mixer_status) {
orb_unadvertise(_to_mixer_status);
}
/* tell the dtor that we are exiting */
_task = -1;
_exit(0);
}
int
PX4IO::io_set_control_groups()
{
int ret = io_set_control_state(0);
/* send auxiliary control groups */
(void)io_set_control_state(1);
(void)io_set_control_state(2);
(void)io_set_control_state(3);
return ret;
}
int
PX4IO::io_set_control_state(unsigned group)
{
actuator_controls_s controls; ///< actuator outputs
uint16_t regs[_max_actuators];
/* get controls */
bool changed = false;
switch (group) {
case 0: {
orb_check(_t_actuator_controls_0, &changed);
if (changed) {
orb_copy(ORB_ID(actuator_controls_0), _t_actuator_controls_0, &controls);
perf_set_elapsed(_perf_sample_latency, hrt_elapsed_time(&controls.timestamp_sample));
}
}
break;
case 1: {
orb_check(_t_actuator_controls_1, &changed);
if (changed) {
orb_copy(ORB_ID(actuator_controls_1), _t_actuator_controls_1, &controls);
}
}
break;
case 2: {
orb_check(_t_actuator_controls_2, &changed);
if (changed) {
orb_copy(ORB_ID(actuator_controls_2), _t_actuator_controls_2, &controls);
}
}
break;
case 3: {
orb_check(_t_actuator_controls_3, &changed);
if (changed) {
orb_copy(ORB_ID(actuator_controls_3), _t_actuator_controls_3, &controls);
}
}
break;
}
if (!changed && (!_in_esc_calibration_mode || group != 0)) {
return -1;
} else if (_in_esc_calibration_mode && group == 0) {
/* modify controls to get max pwm (full thrust) on every esc */
memset(&controls, 0, sizeof(controls));
/* set maximum thrust */
controls.control[3] = 1.0f;
}
for (unsigned i = 0; i < _max_controls; i++) {
/* ensure FLOAT_TO_REG does not produce an integer overflow */
float ctrl = controls.control[i];
if (ctrl < -1.0f) {
ctrl = -1.0f;
} else if (ctrl > 1.0f) {
ctrl = 1.0f;
}
regs[i] = FLOAT_TO_REG(ctrl);
}
if (!_test_fmu_fail) {
/* copy values to registers in IO */
return io_reg_set(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT, regs, _max_controls);
} else {
return OK;
}
}
int
PX4IO::io_set_arming_state()
{
actuator_armed_s armed; ///< system armed state
vehicle_control_mode_s control_mode; ///< vehicle_control_mode
int have_armed = orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed);
int have_control_mode = orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode);
_in_esc_calibration_mode = armed.in_esc_calibration_mode;
uint16_t set = 0;
uint16_t clear = 0;
if (have_armed == OK) {
_in_esc_calibration_mode = armed.in_esc_calibration_mode;
if (armed.armed || _in_esc_calibration_mode) {
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
} else {
clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
}
_armed = armed.armed;
if ((armed.lockdown || armed.manual_lockdown) && !_lockdown_override) {
set |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
_lockdown_override = true;
} else if (!(armed.lockdown || armed.manual_lockdown) && _lockdown_override) {
clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
_lockdown_override = false;
}
/* Do not set failsafe if circuit breaker is enabled */
if (armed.force_failsafe && !_cb_flighttermination) {
set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
} else {
clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
}
// XXX this is for future support in the commander
// but can be removed if unneeded
// if (armed.termination_failsafe) {
// set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// } else {
// clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
// }
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
}
}
if (have_control_mode == OK) {
if (control_mode.flag_external_manual_override_ok) {
set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
_override_available = true;
} else {
clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
_override_available = false;
}
}
if (_last_written_arming_s != set || _last_written_arming_c != clear) {
_last_written_arming_s = set;
_last_written_arming_c = clear;
return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
}
return 0;
}
int
PX4IO::disable_rc_handling()
{
_rc_handling_disabled = true;
return io_disable_rc_handling();
}
int
PX4IO::io_disable_rc_handling()
{
uint16_t set = PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED;
uint16_t clear = 0;
return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
}
int
PX4IO::io_set_rc_config()
{
unsigned offset = 0;
int input_map[_max_rc_input];
int32_t ichan;
int ret = OK;
/*
* Generate the input channel -> control channel mapping table;
* assign RC_MAP_ROLL/PITCH/YAW/THROTTLE to the canonical
* controls.
*/
/* fill the mapping with an error condition triggering value */
for (unsigned i = 0; i < _max_rc_input; i++) {
input_map[i] = UINT8_MAX;
}
/*
* NOTE: The indices for mapped channels are 1-based
* for compatibility reasons with existing
* autopilots / GCS'.
*/
/* ROLL */
param_get(param_find("RC_MAP_ROLL"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 0;
}
/* PITCH */
param_get(param_find("RC_MAP_PITCH"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 1;
}
/* YAW */
param_get(param_find("RC_MAP_YAW"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 2;
}
/* THROTTLE */
param_get(param_find("RC_MAP_THROTTLE"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 3;
}
/* FLAPS */
param_get(param_find("RC_MAP_FLAPS"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 4;
}
/* AUX 1*/
param_get(param_find("RC_MAP_AUX1"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 5;
}
/* AUX 2*/
param_get(param_find("RC_MAP_AUX2"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 6;
}
/* AUX 3*/
param_get(param_find("RC_MAP_AUX3"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 7;
}
/* MAIN MODE SWITCH */
param_get(param_find("RC_MAP_MODE_SW"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
/* use out of normal bounds index to indicate special channel */
input_map[ichan - 1] = PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH;
}
/*
* Iterate all possible RC inputs.
*/
for (unsigned i = 0; i < _max_rc_input; i++) {
uint16_t regs[PX4IO_P_RC_CONFIG_STRIDE];
char pname[16];
float fval;
/*
* RC params are floats, but do only
* contain integer values. Do not scale
* or cast them, let the auto-typeconversion
* do its job here.
* Channels: 500 - 2500
* Inverted flag: -1 (inverted) or 1 (normal)
*/
sprintf(pname, "RC%u_MIN", i + 1);
param_get(param_find(pname), &fval);
regs[PX4IO_P_RC_CONFIG_MIN] = fval;
sprintf(pname, "RC%u_TRIM", i + 1);
param_get(param_find(pname), &fval);
regs[PX4IO_P_RC_CONFIG_CENTER] = fval;
sprintf(pname, "RC%u_MAX", i + 1);
param_get(param_find(pname), &fval);
regs[PX4IO_P_RC_CONFIG_MAX] = fval;
sprintf(pname, "RC%u_DZ", i + 1);
param_get(param_find(pname), &fval);
regs[PX4IO_P_RC_CONFIG_DEADZONE] = fval;
regs[PX4IO_P_RC_CONFIG_ASSIGNMENT] = input_map[i];
regs[PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
sprintf(pname, "RC%u_REV", i + 1);
param_get(param_find(pname), &fval);
/*
* This has been taken for the sake of compatibility
* with APM's setup / mission planner: normal: 1,
* inverted: -1
*/
if (fval < 0) {
regs[PX4IO_P_RC_CONFIG_OPTIONS] |= PX4IO_P_RC_CONFIG_OPTIONS_REVERSE;
}
/* send channel config to IO */
ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE);
if (ret != OK) {
PX4_ERR("rc config upload failed");
break;
}
/* check the IO initialisation flag */
if (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_INIT_OK)) {
mavlink_log_critical(&_mavlink_log_pub, "config for RC%u rejected by IO", i + 1);
break;
}
offset += PX4IO_P_RC_CONFIG_STRIDE;
}
return ret;
}
int
PX4IO::io_handle_status(uint16_t status)
{
int ret = 1;
/**
* WARNING: This section handles in-air resets.
*/
/* check for IO reset - force it back to armed if necessary */
if (_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF && !(status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
&& !(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
/* set the arming flag */
ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0,
PX4IO_P_STATUS_FLAGS_SAFETY_OFF | PX4IO_P_STATUS_FLAGS_ARM_SYNC);
/* set new status */
_status = status;
_status &= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
} else if (!(_status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
/* set the sync flag */
ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARM_SYNC);
/* set new status */
_status = status;
} else {
ret = 0;
/* set new status */
_status = status;
}
/**
* Get and handle the safety status
*/
struct safety_s safety;
safety.timestamp = hrt_absolute_time();
safety.safety_switch_available = true;
safety.safety_off = (status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? true : false;
safety.override_available = _override_available;
safety.override_enabled = (status & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? true : false;
/* lazily publish the safety status */
if (_to_safety != nullptr) {
orb_publish(ORB_ID(safety), _to_safety, &safety);
} else {
int instance;
_to_safety = orb_advertise_multi(ORB_ID(safety), &safety, &instance, ORB_PRIO_DEFAULT);
}
return ret;
}
void
PX4IO::dsm_bind_ioctl(int dsmMode)
{
if (!(_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) {
mavlink_log_info(&_mavlink_log_pub, "[IO] binding DSM%s RX", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "-X" : "-X8"));
int ret = ioctl(nullptr, DSM_BIND_START,
(dsmMode == 0) ? DSM2_BIND_PULSES : ((dsmMode == 1) ? DSMX_BIND_PULSES : DSMX8_BIND_PULSES));
if (ret) {
mavlink_log_critical(&_mavlink_log_pub, "binding failed.");
}
} else {
mavlink_log_info(&_mavlink_log_pub, "[IO] safety off, bind request rejected");
}
}
int
PX4IO::io_handle_alarms(uint16_t alarms)
{
/* XXX handle alarms */
/* set new alarms state */
_alarms = alarms;
return 0;
}
void
PX4IO::io_handle_vservo(uint16_t vservo, uint16_t vrssi)
{
servorail_status_s servorail_status = {};
servorail_status.timestamp = hrt_absolute_time();
/* voltage is scaled to mV */
servorail_status.voltage_v = vservo * 0.001f;
servorail_status.rssi_v = vrssi * 0.001f;
if (_analog_rc_rssi_volt < 0.0f) {
_analog_rc_rssi_volt = servorail_status.rssi_v;
}
_analog_rc_rssi_volt = _analog_rc_rssi_volt * 0.99f + servorail_status.rssi_v * 0.01f;
if (_analog_rc_rssi_volt > 2.5f) {
_analog_rc_rssi_stable = true;
}
/* lazily publish the servorail voltages */
if (_to_servorail != nullptr) {
orb_publish(ORB_ID(servorail_status), _to_servorail, &servorail_status);
} else {
_to_servorail = orb_advertise(ORB_ID(servorail_status), &servorail_status);
}
}
int
PX4IO::io_get_status()
{
uint16_t regs[6];
int ret;
/* get
* STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT,
* STATUS_VSERVO, STATUS_VRSSI, STATUS_PRSSI
* in that order */
ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &regs[0], sizeof(regs) / sizeof(regs[0]));
if (ret != OK) {
return ret;
}
io_handle_status(regs[0]);
io_handle_alarms(regs[1]);
io_handle_vservo(regs[4], regs[5]);
return ret;
}
int
PX4IO::io_get_raw_rc_input(input_rc_s &input_rc)
{
uint32_t channel_count;
int ret;
/* we don't have the status bits, so input_source has to be set elsewhere */
input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT);
uint16_t regs[input_rc_s::RC_INPUT_MAX_CHANNELS + prolog];
/*
* Read the channel count and the first 9 channels.
*
* This should be the common case (9 channel R/C control being a reasonable upper bound).
*/
ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT, &regs[0], prolog + 9);
if (ret != OK) {
return ret;
}
/*
* Get the channel count any any extra channels. This is no more expensive than reading the
* channel count once.
*/
channel_count = regs[PX4IO_P_RAW_RC_COUNT];
/* limit the channel count */
if (channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
}
_rc_chan_count = channel_count;
input_rc.timestamp = hrt_absolute_time();
input_rc.rc_ppm_frame_length = regs[PX4IO_P_RAW_RC_DATA];
if (!_analog_rc_rssi_stable) {
input_rc.rssi = regs[PX4IO_P_RAW_RC_NRSSI];
} else {
float rssi_analog = ((_analog_rc_rssi_volt - 0.2f) / 3.0f) * 100.0f;
if (rssi_analog > 100.0f) {
rssi_analog = 100.0f;
}
if (rssi_analog < 0.0f) {
rssi_analog = 0.0f;
}
input_rc.rssi = rssi_analog;
}
input_rc.rc_failsafe = (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
input_rc.rc_lost = !(regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_RC_OK);
input_rc.rc_lost_frame_count = regs[PX4IO_P_RAW_LOST_FRAME_COUNT];
input_rc.rc_total_frame_count = regs[PX4IO_P_RAW_FRAME_COUNT];
input_rc.channel_count = channel_count;
/* rc_lost has to be set before the call to this function */
if (!input_rc.rc_lost && !input_rc.rc_failsafe) {
_rc_last_valid = input_rc.timestamp;
}
input_rc.timestamp_last_signal = _rc_last_valid;
/* FIELDS NOT SET HERE */
/* input_rc.input_source is set after this call XXX we might want to mirror the flags in the RC struct */
if (channel_count > 9) {
ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, &regs[prolog + 9], channel_count - 9);
if (ret != OK) {
return ret;
}
}
/* last thing set are the actual channel values as 16 bit values */
for (unsigned i = 0; i < channel_count; i++) {
input_rc.values[i] = regs[prolog + i];
}
/* zero the remaining fields */
for (unsigned i = channel_count; i < (sizeof(input_rc.values) / sizeof(input_rc.values[0])); i++) {
input_rc.values[i] = 0;
}
/* get RSSI from input channel */
if (_rssi_pwm_chan > 0 && _rssi_pwm_chan <= input_rc_s::RC_INPUT_MAX_CHANNELS && _rssi_pwm_max - _rssi_pwm_min != 0) {
int rssi = ((input_rc.values[_rssi_pwm_chan - 1] - _rssi_pwm_min) * 100) /
(_rssi_pwm_max - _rssi_pwm_min);
rssi = rssi > 100 ? 100 : rssi;
rssi = rssi < 0 ? 0 : rssi;
input_rc.rssi = rssi;
}
return ret;
}
int
PX4IO::io_publish_raw_rc()
{
/* fetch values from IO */
input_rc_s rc_val;
/* set the RC status flag ORDER MATTERS! */
rc_val.rc_lost = !(_status & PX4IO_P_STATUS_FLAGS_RC_OK);
int ret = io_get_raw_rc_input(rc_val);
if (ret != OK) {
return ret;
}
/* sort out the source of the values */
if (_status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SBUS;
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_ST24) {
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_ST24;
} else {
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
/* only keep publishing RC input if we ever got a valid input */
if (_rc_last_valid == 0) {
/* we have never seen valid RC signals, abort */
return OK;
}
}
int instance = 0;
orb_publish_auto(ORB_ID(input_rc), &_to_input_rc, &rc_val, &instance, ORB_PRIO_HIGH);
return OK;
}
int
PX4IO::io_publish_pwm_outputs()
{
/* get servo values from IO */
uint16_t ctl[_max_actuators];
int ret = io_reg_get(PX4IO_PAGE_SERVOS, 0, ctl, _max_actuators);
if (ret != OK) {
return ret;
}
actuator_outputs_s outputs = {};
outputs.timestamp = hrt_absolute_time();
outputs.noutputs = _max_actuators;
/* convert from register format to float */
for (unsigned i = 0; i < _max_actuators; i++) {
outputs.output[i] = ctl[i];
}
int instance;
orb_publish_auto(ORB_ID(actuator_outputs), &_to_outputs, &outputs, &instance, ORB_PRIO_DEFAULT);
/* get mixer status flags from IO */
MultirotorMixer::saturation_status saturation_status;
ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_MIXER, &saturation_status.value, 1);
if (ret != OK) {
return ret;
}
/* publish mixer status */
if (saturation_status.flags.valid) {
multirotor_motor_limits_s motor_limits;
motor_limits.timestamp = hrt_absolute_time();
motor_limits.saturation_status = saturation_status.value;
orb_publish_auto(ORB_ID(multirotor_motor_limits), &_to_mixer_status, &motor_limits, &instance, ORB_PRIO_DEFAULT);
}
return OK;
}
int
PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
{
/* range check the transfer */
if (num_values > ((_max_transfer) / sizeof(*values))) {
PX4_DEBUG("io_reg_set: too many registers (%u, max %u)", num_values, _max_transfer / 2);
return -EINVAL;
}
int ret = _interface->write((page << 8) | offset, (void *)values, num_values);
if (ret != (int)num_values) {
PX4_DEBUG("io_reg_set(%hhu,%hhu,%u): error %d", page, offset, num_values, ret);
return -1;
}
return OK;
}
int
PX4IO::io_reg_set(uint8_t page, uint8_t offset, uint16_t value)
{
return io_reg_set(page, offset, &value, 1);
}
int
PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values)
{
/* range check the transfer */
if (num_values > ((_max_transfer) / sizeof(*values))) {
PX4_DEBUG("io_reg_get: too many registers (%u, max %u)", num_values, _max_transfer / 2);
return -EINVAL;
}
int ret = _interface->read((page << 8) | offset, reinterpret_cast<void *>(values), num_values);
if (ret != (int)num_values) {
PX4_DEBUG("io_reg_get(%hhu,%hhu,%u): data error %d", page, offset, num_values, ret);
return -1;
}
return OK;
}
uint32_t
PX4IO::io_reg_get(uint8_t page, uint8_t offset)
{
uint16_t value;
if (io_reg_get(page, offset, &value, 1) != OK) {
return _io_reg_get_error;
}
return value;
}
int
PX4IO::io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits)
{
int ret;
uint16_t value;
ret = io_reg_get(page, offset, &value, 1);
if (ret != OK) {
return ret;
}
value &= ~clearbits;
value |= setbits;
return io_reg_set(page, offset, value);
}
int
PX4IO::print_debug()
{
#ifdef CONFIG_ARCH_BOARD_PX4_FMU_V2
int io_fd = -1;
if (io_fd <= 0) {
io_fd = ::open("/dev/ttyS0", O_RDONLY | O_NONBLOCK | O_NOCTTY);
}
/* read IO's output */
if (io_fd >= 0) {
pollfd fds[1];
fds[0].fd = io_fd;
fds[0].events = POLLIN;
px4_usleep(500);
int pret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), 0);
if (pret > 0) {
int count;
char buf[65];
do {
count = ::read(io_fd, buf, sizeof(buf) - 1);
if (count > 0) {
/* enforce null termination */
buf[count] = '\0';
warnx("IO CONSOLE: %s", buf);
}
} while (count > 0);
}
::close(io_fd);
return 0;
}
#endif
return 1;
}
int
PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
{
/* get debug level */
int debuglevel = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG);
uint8_t frame[_max_transfer];
do {
px4io_mixdata *msg = (px4io_mixdata *)&frame[0];
unsigned max_len = _max_transfer - sizeof(px4io_mixdata);
msg->f2i_mixer_magic = F2I_MIXER_MAGIC;
msg->action = F2I_MIXER_ACTION_RESET;
do {
unsigned count = buflen;
if (count > max_len) {
count = max_len;
}
if (count > 0) {
memcpy(&msg->text[0], buf, count);
buf += count;
buflen -= count;
} else {
continue;
}
/*
* We have to send an even number of bytes. This
* will only happen on the very last transfer of a
* mixer, and we are guaranteed that there will be
* space left to round up as _max_transfer will be
* even.
*/
unsigned total_len = sizeof(px4io_mixdata) + count;
if (total_len % 2) {
msg->text[count] = '\0';
total_len++;
}
int ret;
for (int i = 0; i < 30; i++) {
/* failed, but give it a 2nd shot */
ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, total_len / 2);
if (ret) {
px4_usleep(333);
} else {
break;
}
}
/* print mixer chunk */
if (debuglevel > 5 || ret) {
warnx("fmu sent: \"%s\"", msg->text);
/* read IO's output */
print_debug();
}
if (ret) {
PX4_ERR("mixer send error %d", ret);
return ret;
}
msg->action = F2I_MIXER_ACTION_APPEND;
} while (buflen > 0);
int ret;
/* send the closing newline */
msg->text[0] = '\n';
msg->text[1] = '\0';
for (int i = 0; i < 30; i++) {
/* failed, but give it a 2nd shot */
ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2);
if (ret) {
px4_usleep(333);
} else {
break;
}
}
if (ret == 0) {
/* success, exit */
break;
}
retries--;
} while (retries > 0);
if (retries == 0) {
mavlink_and_console_log_info(&_mavlink_log_pub, "[IO] mixer upload fail");
/* load must have failed for some reason */
return -EINVAL;
} else {
/* all went well, set the mixer ok flag */
return io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_MIXER_OK);
}
}
void
PX4IO::print_status(bool extended_status)
{
/* basic configuration */
printf("protocol %u hardware %u bootloader %u buffer %uB crc 0x%04x%04x\n",
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION),
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_HARDWARE_VERSION),
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_BOOTLOADER_VERSION),
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC + 1));
printf("%u controls %u actuators %u R/C inputs %u analog inputs %u relays\n",
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT),
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT),
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT),
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ADC_INPUT_COUNT),
io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT));
/* status */
printf("%u bytes free\n",
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM));
uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS);
uint16_t io_status_flags = flags;
printf("status 0x%04hx%s%s%s%s%s%s%s%s%s%s%s%s%s%s\n",
flags,
((flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED) ? " OUTPUTS_ARMED" : ""),
((flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? " SAFETY_OFF" : " SAFETY_SAFE"),
((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""),
((flags & PX4IO_P_STATUS_FLAGS_RC_OK) ? " RC_OK" : " RC_FAIL"),
((flags & PX4IO_P_STATUS_FLAGS_RC_PPM) ? " PPM" : ""),
((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) ? " DSM" : ""),
((flags & PX4IO_P_STATUS_FLAGS_RC_ST24) ? " ST24" : ""),
((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? " SBUS" : ""),
((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"),
((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PWM_PASSTHROUGH" : ""),
((flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ? " MIXER_OK" : " MIXER_FAIL"),
((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"),
((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL"),
((flags & PX4IO_P_STATUS_FLAGS_FAILSAFE) ? " FAILSAFE" : ""));
uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS);
printf("alarms 0x%04hx%s%s%s%s%s%s%s%s\n",
alarms,
((alarms & PX4IO_P_STATUS_ALARMS_VBATT_LOW) ? " VBATT_LOW" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_TEMPERATURE) ? " TEMPERATURE" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_SERVO_CURRENT) ? " SERVO_CURRENT" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_ACC_CURRENT) ? " ACC_CURRENT" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST) ? " FMU_LOST" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) ? " PWM_ERROR" : ""),
((alarms & PX4IO_P_STATUS_ALARMS_VSERVO_FAULT) ? " VSERVO_FAULT" : ""));
/* now clear alarms */
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, 0xFFFF);
if (_hardware == 2) {
printf("vservo %u mV vservo scale %u\n",
io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VSERVO),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VSERVO_SCALE));
printf("vrssi %u\n", io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VRSSI));
}
printf("actuators");
for (unsigned i = 0; i < _max_actuators; i++) {
printf(" %hi", int16_t(io_reg_get(PX4IO_PAGE_ACTUATORS, i)));
}
printf("\n");
printf("servos");
for (unsigned i = 0; i < _max_actuators; i++) {
printf(" %u", io_reg_get(PX4IO_PAGE_SERVOS, i));
}
uint16_t pwm_invert_mask = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE);
printf("\n");
printf("reversed outputs: [");
for (unsigned i = 0; i < _max_actuators; i++) {
printf("%s", (pwm_invert_mask & (1 << i)) ? "x" : "_");
}
printf("]");
float trim_roll = REG_TO_FLOAT(io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_ROLL));
float trim_pitch = REG_TO_FLOAT(io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_PITCH));
float trim_yaw = REG_TO_FLOAT(io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_YAW));
printf(" trims: r: %8.4f p: %8.4f y: %8.4f\n",
(double)trim_roll, (double)trim_pitch, (double)trim_yaw);
uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT);
printf("%hu raw R/C inputs", raw_inputs);
for (unsigned i = 0; i < raw_inputs; i++) {
printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i));
}
printf("\n");
flags = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_FLAGS);
printf("R/C flags: 0x%04hx%s%s%s%s%s\n", flags,
(((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (!(flags & PX4IO_P_RAW_RC_FLAGS_RC_DSM11))) ? " DSM10" : ""),
(((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (flags & PX4IO_P_RAW_RC_FLAGS_RC_DSM11)) ? " DSM11" : ""),
((flags & PX4IO_P_RAW_RC_FLAGS_FRAME_DROP) ? " FRAME_DROP" : ""),
((flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) ? " FAILSAFE" : ""),
((flags & PX4IO_P_RAW_RC_FLAGS_MAPPING_OK) ? " MAPPING_OK" : "")
);
if ((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_PPM)) {
int frame_len = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_DATA);
printf("RC data (PPM frame len) %d us\n", frame_len);
if ((frame_len - raw_inputs * 2000 - 3000) < 0) {
printf("WARNING WARNING WARNING! This RC receiver does not allow safe frame detection.\n");
}
}
uint16_t mapped_inputs = io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_VALID);
printf("mapped R/C inputs 0x%04hx", mapped_inputs);
for (unsigned i = 0; i < _max_rc_input; i++) {
if (mapped_inputs & (1 << i)) {
printf(" %u:%hd", i, REG_TO_SIGNED(io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_BASE + i)));
}
}
printf("\n");
uint16_t adc_inputs = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ADC_INPUT_COUNT);
printf("ADC inputs");
for (unsigned i = 0; i < adc_inputs; i++) {
printf(" %u", io_reg_get(PX4IO_PAGE_RAW_ADC_INPUT, i));
}
printf("\n");
/* setup and state */
uint16_t features = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES);
printf("features 0x%04hx%s%s%s%s\n", features,
((features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) ? " S.BUS1_OUT" : ""),
((features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) ? " S.BUS2_OUT" : ""),
((features & PX4IO_P_SETUP_FEATURES_PWM_RSSI) ? " RSSI_PWM" : ""),
((features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) ? " RSSI_ADC" : "")
);
uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
printf("arming 0x%04hx%s%s%s%s%s%s%s%s%s%s\n",
arming,
((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : " FMU_DISARMED"),
((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : " IO_ARM_DENIED"),
((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""),
((arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ? " FAILSAFE_CUSTOM" : ""),
((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""),
((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : ""),
((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) ? " LOCKDOWN" : ""),
((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : ""),
((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : ""),
((arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) ? " OVERRIDE_IMMEDIATE" : "")
);
printf("rates 0x%04x default %u alt %u sbus %u\n",
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SBUS_RATE));
printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG));
for (unsigned group = 0; group < 4; group++) {
printf("controls %u:", group);
for (unsigned i = 0; i < _max_controls; i++) {
printf(" %hd", (int16_t) io_reg_get(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT + i));
}
printf("\n");
}
if (extended_status) {
for (unsigned i = 0; i < _max_rc_input; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
uint16_t options = io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_OPTIONS);
printf("input %u min %u center %u max %u deadzone %u assigned %u options 0x%04hx%s%s\n",
i,
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MAX),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_DEADZONE),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_ASSIGNMENT),
options,
((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""),
((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : ""));
}
}
printf("failsafe");
for (unsigned i = 0; i < _max_actuators; i++) {
printf(" %u", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i));
}
printf("\ndisarmed values");
for (unsigned i = 0; i < _max_actuators; i++) {
printf(" %u", io_reg_get(PX4IO_PAGE_DISARMED_PWM, i));
}
/* IMU heater (Pixhawk 2.1) */
uint16_t heater_level = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_THERMAL);
if (heater_level != UINT16_MAX) {
if (heater_level == PX4IO_THERMAL_OFF) {
printf("\nIMU heater off");
} else {
printf("\nIMU heater level %d", heater_level);
}
}
printf("\n");
}
int
PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
{
int ret = OK;
/* regular ioctl? */
switch (cmd) {
case PWM_SERVO_ARM:
/* set the 'armed' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FMU_ARMED);
break;
case PWM_SERVO_SET_ARM_OK:
/* set the 'OK to arm' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_IO_ARM_OK);
break;
case PWM_SERVO_CLEAR_ARM_OK:
/* clear the 'OK to arm' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_IO_ARM_OK, 0);
break;
case PWM_SERVO_DISARM:
/* clear the 'armed' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FMU_ARMED, 0);
break;
case PWM_SERVO_GET_DEFAULT_UPDATE_RATE:
/* get the default update rate */
*(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE);
break;
case PWM_SERVO_SET_UPDATE_RATE:
/* set the requested alternate rate */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg);
break;
case PWM_SERVO_GET_UPDATE_RATE:
/* get the alternative update rate */
*(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE);
break;
case PWM_SERVO_SET_SELECT_UPDATE_RATE: {
/* blindly clear the PWM update alarm - might be set for some other reason */
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR);
/* attempt to set the rate map */
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES, arg);
/* check that the changes took */
uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS);
if (alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) {
ret = -EINVAL;
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR);
}
break;
}
case PWM_SERVO_GET_SELECT_UPDATE_RATE:
*(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES);
break;
case PWM_SERVO_SET_FAILSAFE_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
{
return -E2BIG;
}
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm->values, pwm->channel_count);
break;
}
case PWM_SERVO_GET_FAILSAFE_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
ret = io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm->values, _max_actuators);
if (ret != OK) {
ret = -EIO;
}
break;
}
case PWM_SERVO_SET_DISARMED_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
{
return -E2BIG;
}
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_DISARMED_PWM, 0, pwm->values, pwm->channel_count);
break;
}
case PWM_SERVO_GET_DISARMED_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
ret = io_reg_get(PX4IO_PAGE_DISARMED_PWM, 0, pwm->values, _max_actuators);
if (ret != OK) {
ret = -EIO;
}
break;
}
case PWM_SERVO_SET_MIN_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
{
return -E2BIG;
}
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_CONTROL_MIN_PWM, 0, pwm->values, pwm->channel_count);
break;
}
case PWM_SERVO_GET_MIN_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
ret = io_reg_get(PX4IO_PAGE_CONTROL_MIN_PWM, 0, pwm->values, _max_actuators);
if (ret != OK) {
ret = -EIO;
}
break;
}
case PWM_SERVO_SET_MAX_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
{
return -E2BIG;
}
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, pwm->values, pwm->channel_count);
break;
}
case PWM_SERVO_GET_MAX_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
ret = io_reg_get(PX4IO_PAGE_CONTROL_MAX_PWM, 0, pwm->values, _max_actuators);
if (ret != OK) {
ret = -EIO;
}
}
break;
case PWM_SERVO_SET_TRIM_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
{
return -E2BIG;
}
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, pwm->values, pwm->channel_count);
break;
}
case PWM_SERVO_GET_TRIM_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
pwm->channel_count = _max_actuators;
ret = io_reg_get(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, pwm->values, _max_actuators);
if (ret != OK) {
ret = -EIO;
}
}
break;
case PWM_SERVO_GET_COUNT:
*(unsigned *)arg = _max_actuators;
break;
case PWM_SERVO_SET_DISABLE_LOCKDOWN:
_lockdown_override = arg;
break;
case PWM_SERVO_GET_DISABLE_LOCKDOWN:
*(unsigned *)arg = _lockdown_override;
break;
case PWM_SERVO_SET_FORCE_SAFETY_OFF:
/* force safety swith off */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
break;
case PWM_SERVO_SET_FORCE_SAFETY_ON:
/* force safety switch on */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
break;
case PWM_SERVO_SET_FORCE_FAILSAFE:
/* force failsafe mode instantly */
if (arg == 0) {
/* clear force failsafe flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE, 0);
} else {
/* set force failsafe flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE);
}
break;
case PWM_SERVO_SET_TERMINATION_FAILSAFE:
/* if failsafe occurs, do not allow the system to recover */
if (arg == 0) {
/* clear termination failsafe flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE, 0);
} else {
/* set termination failsafe flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE);
}
break;
case PWM_SERVO_SET_OVERRIDE_IMMEDIATE:
/* control whether override on FMU failure is
immediate or waits for override threshold on mode
switch */
if (arg == 0) {
/* clear override immediate flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE, 0);
} else {
/* set override immediate flag */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE);
}
break;
case PWM_SERVO_SET_SBUS_RATE:
/* set the requested SBUS frame rate */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SBUS_RATE, arg);
break;
case DSM_BIND_START:
/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */
if (arg == DSM2_BIND_PULSES ||
arg == DSMX_BIND_PULSES ||
arg == DSMX8_BIND_PULSES) {
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
px4_usleep(500000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
px4_usleep(72000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
px4_usleep(50000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
ret = OK;
} else {
ret = -EINVAL;
}
break;
case DSM_BIND_POWER_UP:
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
break;
case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS - 1): {
/* TODO: we could go lower for e.g. TurboPWM */
unsigned channel = cmd - PWM_SERVO_SET(0);
/* PWM needs to be either 0 or in the valid range. */
if ((arg != 0) && ((channel >= _max_actuators) ||
(arg < PWM_LOWEST_MIN) ||
(arg > PWM_HIGHEST_MAX))) {
ret = -EINVAL;
} else {
if (!_test_fmu_fail) {
/* send a direct PWM value */
ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, channel, arg);
} else {
/* Just silently accept the ioctl without doing anything
* in test mode. */
ret = OK;
}
}
break;
}
case PWM_SERVO_GET(0) ... PWM_SERVO_GET(PWM_OUTPUT_MAX_CHANNELS - 1): {
unsigned channel = cmd - PWM_SERVO_GET(0);
if (channel >= _max_actuators) {
ret = -EINVAL;
} else {
/* fetch a current PWM value */
uint32_t value = io_reg_get(PX4IO_PAGE_SERVOS, channel);
if (value == _io_reg_get_error) {
ret = -EIO;
} else {
*(servo_position_t *)arg = value;
}
}
break;
}
case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): {
unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0);
*(uint32_t *)arg = io_reg_get(PX4IO_PAGE_PWM_INFO, PX4IO_RATE_MAP_BASE + channel);
if (*(uint32_t *)arg == _io_reg_get_error) {
ret = -EIO;
}
break;
}
case PWM_SERVO_SET_MODE:
ret = (arg == PWM_SERVO_ENTER_TEST_MODE || PWM_SERVO_EXIT_TEST_MODE) ? 0 : -EINVAL;
break;
case MIXERIOCGETOUTPUTCOUNT:
*(unsigned *)arg = _max_actuators;
break;
case MIXERIOCRESET:
ret = 0; /* load always resets */
break;
case MIXERIOCLOADBUF: {
const char *buf = (const char *)arg;
ret = mixer_send(buf, strnlen(buf, 2048));
break;
}
case PX4IO_SET_DEBUG:
/* set the debug level */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG, arg);
break;
case PX4IO_REBOOT_BOOTLOADER:
if (system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
return -EINVAL;
}
/* reboot into bootloader - arg must be PX4IO_REBOOT_BL_MAGIC */
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_REBOOT_BL, arg);
// we don't expect a reply from this operation
ret = OK;
break;
case PX4IO_CHECK_CRC: {
/* check IO firmware CRC against passed value */
uint32_t io_crc = 0;
ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC, (uint16_t *)&io_crc, 2);
if (ret != OK) {
return ret;
}
if (io_crc != arg) {
PX4_DEBUG("crc mismatch 0x%08x 0x%08lx", io_crc, arg);
return -EINVAL;
}
break;
}
case PX4IO_INAIR_RESTART_ENABLE:
/* set/clear the 'in-air restart' bit */
if (arg) {
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK);
} else {
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK, 0);
}
break;
case RC_INPUT_ENABLE_RSSI_ANALOG:
if (arg) {
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_ADC_RSSI);
} else {
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, PX4IO_P_SETUP_FEATURES_ADC_RSSI, 0);
}
break;
case RC_INPUT_ENABLE_RSSI_PWM:
if (arg) {
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_PWM_RSSI);
} else {
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, PX4IO_P_SETUP_FEATURES_PWM_RSSI, 0);
}
break;
case SBUS_SET_PROTO_VERSION:
if (arg == 1) {
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS1_OUT);
} else if (arg == 2) {
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS2_OUT);
} else {
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES,
(PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT), 0);
}
break;
default:
/* see if the parent class can make any use of it */
ret = CDev::ioctl(filep, cmd, arg);
break;
}
return ret;
}
ssize_t
PX4IO::write(file * /*filp*/, const char *buffer, size_t len)
/* Make it obvious that file * isn't used here */
{
unsigned count = len / 2;
if (count > _max_actuators) {
count = _max_actuators;
}
if (count > 0) {
perf_begin(_perf_write);
int ret = OK;
/* The write() is silently ignored in test mode. */
if (!_test_fmu_fail) {
ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, (uint16_t *)buffer, count);
}
perf_end(_perf_write);
if (ret != OK) {
return ret;
}
}
return count * 2;
}
int
PX4IO::set_update_rate(int rate)
{
int interval_ms = 1000 / rate;
if (interval_ms < UPDATE_INTERVAL_MIN) {
interval_ms = UPDATE_INTERVAL_MIN;
warnx("update rate too high, limiting interval to %d ms (%d Hz).", interval_ms, 1000 / interval_ms);
}
if (interval_ms > 100) {
interval_ms = 100;
warnx("update rate too low, limiting to %d ms (%d Hz).", interval_ms, 1000 / interval_ms);
}
_update_interval = interval_ms;
return 0;
}
extern "C" __EXPORT int px4io_main(int argc, char *argv[]);
namespace
{
device::Device *
get_interface()
{
device::Device *interface = nullptr;
#ifdef PX4IO_SERIAL_BASE
interface = PX4IO_serial_interface();
#endif
if (interface != nullptr) {
goto got;
}
errx(1, "cannot alloc interface");
got:
if (interface->init() != OK) {
delete interface;
errx(1, "interface init failed");
}
return interface;
}
void
start(int argc, char *argv[])
{
if (g_dev != nullptr) {
errx(0, "already loaded");
}
/* allocate the interface */
device::Device *interface = get_interface();
/* create the driver - it will set g_dev */
(void)new PX4IO(interface);
if (g_dev == nullptr) {
delete interface;
errx(1, "driver allocation failed");
}
bool rc_handling_disabled = false;
/* disable RC handling on request */
if (argc > 1) {
if (!strcmp(argv[1], "norc")) {
rc_handling_disabled = true;
} else {
warnx("unknown argument: %s", argv[1]);
}
}
if (OK != g_dev->init(rc_handling_disabled)) {
delete g_dev;
g_dev = nullptr;
errx(1, "driver init failed");
}
exit(0);
}
void
detect(int argc, char *argv[])
{
if (g_dev != nullptr) {
errx(0, "already loaded");
}
/* allocate the interface */
device::Device *interface = get_interface();
/* create the driver - it will set g_dev */
(void)new PX4IO(interface);
if (g_dev == nullptr) {
errx(1, "driver allocation failed");
}
int ret = g_dev->detect();
delete g_dev;
g_dev = nullptr;
if (ret) {
/* nonzero, error */
exit(1);
} else {
exit(0);
}
}
void
checkcrc(int argc, char *argv[])
{
bool keep_running = false;
if (g_dev == nullptr) {
/* allocate the interface */
device::Device *interface = get_interface();
/* create the driver - it will set g_dev */
(void)new PX4IO(interface);
if (g_dev == nullptr) {
errx(1, "driver allocation failed");
}
} else {
/* its already running, don't kill the driver */
keep_running = true;
}
/*
check IO CRC against CRC of a file
*/
if (argc < 2) {
warnx("usage: px4io checkcrc filename");
exit(1);
}
int fd = open(argv[1], O_RDONLY);
if (fd == -1) {
warnx("open of %s failed: %d", argv[1], errno);
exit(1);
}
const uint32_t app_size_max = 0xf000;
uint32_t fw_crc = 0;
uint32_t nbytes = 0;
while (true) {
uint8_t buf[16];
int n = read(fd, buf, sizeof(buf));
if (n <= 0) { break; }
fw_crc = crc32part(buf, n, fw_crc);
nbytes += n;
}
close(fd);
while (nbytes < app_size_max) {
uint8_t b = 0xff;
fw_crc = crc32part(&b, 1, fw_crc);
nbytes++;
}
int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc);
if (!keep_running) {
delete g_dev;
g_dev = nullptr;
}
if (ret != OK) {
warn("check CRC failed: %d", ret);
exit(1);
}
exit(0);
}
void
bind(int argc, char *argv[])
{
int pulses;
if (g_dev == nullptr) {
errx(1, "px4io must be started first");
}
if (argc < 3) {
errx(0, "needs argument, use dsm2, dsmx or dsmx8");
}
if (!strcmp(argv[2], "dsm2")) {
pulses = DSM2_BIND_PULSES;
} else if (!strcmp(argv[2], "dsmx")) {
pulses = DSMX_BIND_PULSES;
} else if (!strcmp(argv[2], "dsmx8")) {
pulses = DSMX8_BIND_PULSES;
} else {
errx(1, "unknown parameter %s, use dsm2, dsmx or dsmx8", argv[2]);
}
// Test for custom pulse parameter
if (argc > 3) {
pulses = atoi(argv[3]);
}
if (g_dev->system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
errx(1, "system must not be armed");
}
g_dev->ioctl(nullptr, DSM_BIND_START, pulses);
exit(0);
}
void
test(void)
{
int fd;
unsigned servo_count = 0;
unsigned pwm_value = 1000;
int direction = 1;
int ret;
fd = open(PX4IO_DEVICE_PATH, O_WRONLY);
if (fd < 0) {
err(1, "failed to open device");
}
if (ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count)) {
err(1, "failed to get servo count");
}
/* tell IO that its ok to disable its safety with the switch */
ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
if (ret != OK) {
err(1, "PWM_SERVO_SET_ARM_OK");
}
if (ioctl(fd, PWM_SERVO_ARM, 0)) {
err(1, "failed to arm servos");
}
struct pollfd fds;
fds.fd = 0; /* stdin */
fds.events = POLLIN;
warnx("Press CTRL-C or 'c' to abort.");
for (;;) {
/* sweep all servos between 1000..2000 */
servo_position_t servos[servo_count];
for (unsigned i = 0; i < servo_count; i++) {
servos[i] = pwm_value;
}
ret = write(fd, servos, sizeof(servos));
if (ret != (int)sizeof(servos)) {
err(1, "error writing PWM servo data, wrote %zu got %d", sizeof(servos), ret);
}
if (direction > 0) {
if (pwm_value < 2000) {
pwm_value++;
} else {
direction = -1;
}
} else {
if (pwm_value > 1000) {
pwm_value--;
} else {
direction = 1;
}
}
px4_usleep(250);
/* readback servo values */
for (unsigned i = 0; i < servo_count; i++) {
servo_position_t value;
if (ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&value)) {
err(1, "error reading PWM servo %u", i);
}
if (value != servos[i]) {
warnx("servo %u readback error, got %hu expected %hu", i, value, servos[i]);
}
}
/* Check if user wants to quit */
char c;
ret = poll(&fds, 1, 0);
if (ret > 0) {
read(0, &c, 1);
if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("User abort\n");
exit(0);
}
}
}
}
void
monitor(void)
{
/* clear screen */
printf("\033[2J");
unsigned cancels = 2;
for (;;) {
pollfd fds[1];
fds[0].fd = 0;
fds[0].events = POLLIN;
if (poll(fds, 1, 2000) < 0) {
errx(1, "poll fail");
}
if (fds[0].revents == POLLIN) {
/* control logic is to cancel with any key */
char c;
(void)read(0, &c, 1);
if (cancels-- == 0) {
printf("\033[2J\033[H"); /* move cursor home and clear screen */
exit(0);
}
}
if (g_dev != nullptr) {
printf("\033[2J\033[H"); /* move cursor home and clear screen */
(void)g_dev->print_status(false);
(void)g_dev->print_debug();
printf("\n\n\n[ Use 'px4io debug <N>' for more output. Hit <enter> three times to exit monitor mode ]\n");
} else {
errx(1, "driver not loaded, exiting");
}
}
}
void
if_test(unsigned mode)
{
device::Device *interface = get_interface();
int result;
if (interface) {
result = interface->ioctl(1, mode); /* XXX magic numbers */
delete interface;
} else {
errx(1, "interface not loaded, exiting");
}
errx(0, "test returned %d", result);
}
void
lockdown(int argc, char *argv[])
{
if (g_dev != nullptr) {
if (argc > 2 && !strcmp(argv[2], "disable")) {
warnx("WARNING: ACTUATORS WILL BE LIVE IN HIL! PROCEED?");
warnx("Press 'y' to enable, any other key to abort.");
/* check if user wants to abort */
char c;
struct pollfd fds;
int ret;
hrt_abstime start = hrt_absolute_time();
const unsigned long timeout = 5000000;
while (hrt_elapsed_time(&start) < timeout) {
fds.fd = 0; /* stdin */
fds.events = POLLIN;
ret = poll(&fds, 1, 0);
if (ret > 0) {
if (read(0, &c, 1) > 0) {
if (c != 'y') {
exit(0);
} else if (c == 'y') {
break;
}
}
}
px4_usleep(10000);
}
if (hrt_elapsed_time(&start) > timeout) {
errx(1, "TIMEOUT! ABORTED WITHOUT CHANGES.");
}
(void)g_dev->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 1);
warnx("WARNING: ACTUATORS ARE NOW LIVE IN HIL!");
} else {
(void)g_dev->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 0);
warnx("ACTUATORS ARE NOW SAFE IN HIL.");
}
} else {
errx(1, "driver not loaded, exiting");
}
exit(0);
}
} /* namespace */
int
px4io_main(int argc, char *argv[])
{
/* check for sufficient number of arguments */
if (argc < 2) {
goto out;
}
if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_PX4IO)) {
errx(1, "PX4IO Not Supported");
}
if (!strcmp(argv[1], "start")) {
start(argc - 1, argv + 1);
}
if (!strcmp(argv[1], "detect")) {
detect(argc - 1, argv + 1);
}
if (!strcmp(argv[1], "checkcrc")) {
checkcrc(argc - 1, argv + 1);
}
if (!strcmp(argv[1], "update")) {
if (g_dev != nullptr) {
warnx("loaded, detaching first");
/* stop the driver */
delete g_dev;
g_dev = nullptr;
}
PX4IO_Uploader *up;
/* Assume we are using default paths */
const char *fn[4] = PX4IO_FW_SEARCH_PATHS;
/* Override defaults if a path is passed on command line */
if (argc > 2) {
fn[0] = argv[2];
fn[1] = nullptr;
}
up = new PX4IO_Uploader;
int ret = up->upload(&fn[0]);
delete up;
switch (ret) {
case OK:
break;
case -ENOENT:
errx(1, "PX4IO firmware file not found");
case -EEXIST:
case -EIO:
errx(1, "error updating PX4IO - check that bootloader mode is enabled");
case -EINVAL:
errx(1, "verify failed - retry the update");
case -ETIMEDOUT:
errx(1, "timed out waiting for bootloader - power-cycle and try again");
default:
errx(1, "unexpected error %d", ret);
}
return ret;
}
if (!strcmp(argv[1], "iftest")) {
if (g_dev != nullptr) {
errx(1, "can't iftest when started");
}
if_test((argc > 2) ? strtol(argv[2], NULL, 0) : 0);
}
if (!strcmp(argv[1], "forceupdate")) {
/*
force update of the IO firmware without requiring
the user to hold the safety switch down
*/
if (argc <= 3) {
warnx("usage: px4io forceupdate MAGIC filename");
exit(1);
}
if (g_dev == nullptr) {
warnx("px4io is not started, still attempting upgrade");
/* allocate the interface */
device::Device *interface = get_interface();
/* create the driver - it will set g_dev */
(void)new PX4IO(interface);
if (g_dev == nullptr) {
delete interface;
errx(1, "driver allocation failed");
}
}
uint16_t arg = atol(argv[2]);
int ret = g_dev->ioctl(nullptr, PX4IO_REBOOT_BOOTLOADER, arg);
if (ret != OK) {
warnx("reboot failed - %d", ret);
exit(1);
}
// tear down the px4io instance
delete g_dev;
g_dev = nullptr;
// upload the specified firmware
const char *fn[2];
fn[0] = argv[3];
fn[1] = nullptr;
PX4IO_Uploader *up = new PX4IO_Uploader;
up->upload(&fn[0]);
delete up;
exit(0);
}
/* commands below here require a started driver */
if (g_dev == nullptr) {
errx(1, "not started");
}
if (!strcmp(argv[1], "limit")) {
if ((argc > 2)) {
int limitrate = atoi(argv[2]);
if (limitrate > 0) {
g_dev->set_update_rate(limitrate);
} else {
errx(1, "invalid rate: %d", limitrate);
}
} else {
errx(1, "missing argument (50 - 500 Hz)");
return 1;
}
exit(0);
}
if (!strcmp(argv[1], "safety_off")) {
int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);
if (ret != OK) {
warnx("failed to disable safety");
exit(1);
}
exit(0);
}
if (!strcmp(argv[1], "safety_on")) {
int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_ON, 0);
if (ret != OK) {
warnx("failed to enable safety");
exit(1);
}
exit(0);
}
if (!strcmp(argv[1], "recovery")) {
/*
* Enable in-air restart support.
* We can cheat and call the driver directly, as it
* doesn't reference filp in ioctl()
*/
g_dev->ioctl(NULL, PX4IO_INAIR_RESTART_ENABLE, 1);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
/* stop the driver */
delete g_dev;
g_dev = nullptr;
exit(0);
}
if (!strcmp(argv[1], "status")) {
warnx("loaded");
g_dev->print_status(true);
exit(0);
}
if (!strcmp(argv[1], "debug")) {
if (argc <= 2) {
warnx("usage: px4io debug LEVEL");
exit(1);
}
if (g_dev == nullptr) {
warnx("not started");
exit(1);
}
uint8_t level = atoi(argv[2]);
/* we can cheat and call the driver directly, as it
* doesn't reference filp in ioctl()
*/
int ret = g_dev->ioctl(nullptr, PX4IO_SET_DEBUG, level);
if (ret != 0) {
warnx("SET_DEBUG failed: %d", ret);
exit(1);
}
warnx("SET_DEBUG %hhu OK", level);
exit(0);
}
if (!strcmp(argv[1], "rx_dsm") ||
!strcmp(argv[1], "rx_dsm_10bit") ||
!strcmp(argv[1], "rx_dsm_11bit") ||
!strcmp(argv[1], "rx_sbus") ||
!strcmp(argv[1], "rx_ppm")) {
errx(0, "receiver type is automatically detected, option '%s' is deprecated", argv[1]);
}
if (!strcmp(argv[1], "test")) {
test();
}
if (!strcmp(argv[1], "monitor")) {
monitor();
}
if (!strcmp(argv[1], "bind")) {
bind(argc, argv);
}
if (!strcmp(argv[1], "lockdown")) {
lockdown(argc, argv);
}
if (!strcmp(argv[1], "sbus1_out")) {
/* we can cheat and call the driver directly, as it
* doesn't reference filp in ioctl()
*/
int ret = g_dev->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 1);
if (ret != 0) {
errx(ret, "S.BUS v1 failed");
}
exit(0);
}
if (!strcmp(argv[1], "sbus2_out")) {
/* we can cheat and call the driver directly, as it
* doesn't reference filp in ioctl()
*/
int ret = g_dev->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 2);
if (ret != 0) {
errx(ret, "S.BUS v2 failed");
}
exit(0);
}
if (!strcmp(argv[1], "rssi_analog")) {
/* we can cheat and call the driver directly, as it
* doesn't reference filp in ioctl()
*/
int ret = g_dev->ioctl(nullptr, RC_INPUT_ENABLE_RSSI_ANALOG, 1);
if (ret != 0) {
errx(ret, "RSSI analog failed");
}
exit(0);
}
if (!strcmp(argv[1], "rssi_pwm")) {
/* we can cheat and call the driver directly, as it
* doesn't reference filp in ioctl()
*/
int ret = g_dev->ioctl(nullptr, RC_INPUT_ENABLE_RSSI_PWM, 1);
if (ret != 0) {
errx(ret, "RSSI PWM failed");
}
exit(0);
}
if (!strcmp(argv[1], "test_fmu_fail")) {
if (g_dev != nullptr) {
g_dev->test_fmu_fail(true);
exit(0);
} else {
errx(1, "px4io must be started first");
}
}
if (!strcmp(argv[1], "test_fmu_ok")) {
if (g_dev != nullptr) {
g_dev->test_fmu_fail(false);
exit(0);
} else {
errx(1, "px4io must be started first");
}
}
out:
errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug <level>',\n"
"'recovery', 'limit <rate>', 'bind', 'checkcrc', 'safety_on', 'safety_off',\n"
"'forceupdate', 'update', 'sbus1_out', 'sbus2_out', 'rssi_analog' or 'rssi_pwm',\n"
"'test_fmu_fail', 'test_fmu_ok'");
}
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