mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-25 08:36:08 +08:00
Merged master
This commit is contained in:
Lorenz Meier
@@ -268,7 +268,7 @@ CONFIG_USART2_RXDMA=y
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# CONFIG_USART3_RXDMA is not set
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# CONFIG_UART4_RXDMA is not set
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# CONFIG_UART5_RS485 is not set
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CONFIG_UART5_RXDMA=y
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CONFIG_UART5_RXDMA=n
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# CONFIG_USART6_RS485 is not set
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CONFIG_USART6_RXDMA=y
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# CONFIG_USART7_RXDMA is not set
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+92
-51
@@ -92,21 +92,62 @@ extern device::Device *PX4IO_serial_interface() weak_function;
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#define PX4IO_SET_DEBUG _IOC(0xff00, 0)
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#define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1)
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/**
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* The PX4IO class.
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*
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* Encapsulates PX4FMU to PX4IO communications modeled as file operations.
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*/
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class PX4IO : public device::CDev
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{
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public:
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/**
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* Constructor.
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*
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* Initialize all class variables.
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*/
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PX4IO(device::Device *interface);
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/**
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* Destructor.
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*
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* Wait for worker thread to terminate.
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*/
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virtual ~PX4IO();
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/**
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* Initialize the PX4IO class.
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*
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* Initialize the physical I2C interface to PX4IO. Retrieve relevant initial system parameters. Initialize PX4IO registers.
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*/
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virtual int init();
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/**
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* IO Control handler.
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*
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* Handle all IOCTL calls to the PX4IO file descriptor.
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*
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* @param[in] filp file handle (not used). This function is always called directly through object reference
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* @param[in] cmd the IOCTL command
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* @param[in] the IOCTL command parameter (optional)
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*/
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virtual int ioctl(file *filp, int cmd, unsigned long arg);
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/**
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* write handler.
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*
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* Handle writes to the PX4IO file descriptor.
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*
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* @param[in] filp file handle (not used). This function is always called directly through object reference
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* @param[in] buffer pointer to the data buffer to be written
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* @param[in] len size in bytes to be written
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* @return number of bytes written
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*/
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virtual ssize_t write(file *filp, const char *buffer, size_t len);
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/**
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* Set the update rate for actuator outputs from FMU to IO.
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*
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* @param rate The rate in Hz actuator outpus are sent to IO.
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* @param[in] rate The rate in Hz actuator outpus are sent to IO.
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* Min 10 Hz, max 400 Hz
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*/
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int set_update_rate(int rate);
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@@ -114,29 +155,41 @@ public:
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/**
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* Set the battery current scaling and bias
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*
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* @param amp_per_volt
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* @param amp_bias
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* @param[in] amp_per_volt
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* @param[in] amp_bias
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*/
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void set_battery_current_scaling(float amp_per_volt, float amp_bias);
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/**
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* Push failsafe values to IO.
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*
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* @param vals Failsafe control inputs: in us PPM (900 for zero, 1500 for centered, 2100 for full)
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* @param len Number of channels, could up to 8
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* @param[in] vals Failsafe control inputs: in us PPM (900 for zero, 1500 for centered, 2100 for full)
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* @param[in] len Number of channels, could up to 8
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*/
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int set_failsafe_values(const uint16_t *vals, unsigned len);
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/**
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* Print the current status of IO
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* Print IO status.
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*
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* Print all relevant IO status information
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*/
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void print_status();
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/**
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* Set the DSM VCC is controlled by relay one flag
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*
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* @param[in] enable true=DSM satellite VCC is controlled by relay1, false=DSM satellite VCC not controlled
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*/
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inline void set_dsm_vcc_ctl(bool enable)
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{
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_dsm_vcc_ctl = enable;
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};
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/**
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* Get the DSM VCC is controlled by relay one flag
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*
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* @return true=DSM satellite VCC is controlled by relay1, false=DSM satellite VCC not controlled
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*/
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inline bool get_dsm_vcc_ctl()
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{
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return _dsm_vcc_ctl;
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@@ -146,59 +199,49 @@ private:
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device::Device *_interface;
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// XXX
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unsigned _hardware;
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unsigned _max_actuators;
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unsigned _max_controls;
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unsigned _max_rc_input;
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unsigned _max_relays;
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unsigned _max_transfer;
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unsigned _hardware; ///< Hardware revision
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unsigned _max_actuators; ///<Maximum # of actuators supported by PX4IO
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unsigned _max_controls; ///<Maximum # of controls supported by PX4IO
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unsigned _max_rc_input; ///<Maximum receiver channels supported by PX4IO
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unsigned _max_relays; ///<Maximum relays supported by PX4IO
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unsigned _max_transfer; ///<Maximum number of I2C transfers supported by PX4IO
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unsigned _update_interval; ///< subscription interval limiting send rate
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unsigned _update_interval; ///<Subscription interval limiting send rate
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volatile int _task; ///< worker task
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volatile bool _task_should_exit;
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volatile int _task; ///<worker task id
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volatile bool _task_should_exit; ///<worker terminate flag
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int _mavlink_fd;
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int _mavlink_fd; ///<mavlink file descriptor
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perf_counter_t _perf_update;
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perf_counter_t _perf_update; ///<local performance counter
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/* cached IO state */
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uint16_t _status;
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uint16_t _alarms;
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uint16_t _status; ///<Various IO status flags
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uint16_t _alarms; ///<Various IO alarms
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/* subscribed topics */
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int _t_actuators; ///< actuator controls topic
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int _t_armed; ///< system armed control topic
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int _t_vstatus; ///< system / vehicle status
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int _t_param; ///< parameter update topic
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int _t_actuators; ///<actuator controls topic
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int _t_armed; ///<system armed control topic
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int _t_vstatus; ///<system / vehicle status
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int _t_param; ///<parameter update topic
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/* advertised topics */
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orb_advert_t _to_input_rc; ///< rc inputs from io
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orb_advert_t _to_actuators_effective; ///< effective actuator controls topic
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orb_advert_t _to_outputs; ///< mixed servo outputs topic
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orb_advert_t _to_battery; ///< battery status / voltage
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orb_advert_t _to_input_rc; ///<rc inputs from IO topic
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orb_advert_t _to_actuators_effective; ///<effective actuator controls topic
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orb_advert_t _to_outputs; ///<mixed servo outputs topic
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orb_advert_t _to_battery; ///<battery status / voltage topic
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actuator_outputs_s _outputs; ///< mixed outputs
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actuator_controls_effective_s _controls_effective; ///< effective controls
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actuator_outputs_s _outputs; ///<mixed outputs
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actuator_controls_effective_s _controls_effective; ///<effective controls
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bool _primary_pwm_device; ///< true if we are the default PWM output
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bool _primary_pwm_device; ///<true if we are the default PWM output
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float _battery_amp_per_volt;
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float _battery_amp_bias;
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float _battery_mamphour_total;
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uint64_t _battery_last_timestamp;
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float _battery_amp_per_volt; ///<current sensor amps/volt
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float _battery_amp_bias; ///<current sensor bias
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float _battery_mamphour_total;///<amp hours consumed so far
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uint64_t _battery_last_timestamp;///<last amp hour calculation timestamp
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/**
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* Relay1 is dedicated to controlling DSM receiver power
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*/
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bool _dsm_vcc_ctl;
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/**
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* System armed
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*/
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bool _system_armed;
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bool _dsm_vcc_ctl; ///<true if relay 1 controls DSM satellite RX power
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/**
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* Trampoline to the worker task
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@@ -369,8 +412,7 @@ PX4IO::PX4IO(device::Device *interface) :
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_battery_amp_bias(0),
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_battery_mamphour_total(0),
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_battery_last_timestamp(0),
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_dsm_vcc_ctl(false),
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_system_armed(false)
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_dsm_vcc_ctl(false)
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{
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/* we need this potentially before it could be set in task_main */
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g_dev = this;
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@@ -705,7 +747,7 @@ PX4IO::task_main()
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// See if bind parameter has been set, and reset it to 0
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param_get(dsm_bind_param = param_find("RC_DSM_BIND"), &dsm_bind_val);
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if (dsm_bind_val) {
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if (!_system_armed) {
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if (!(_status & PX4IO_P_STATUS_FLAGS_ARMED)) {
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if ((dsm_bind_val == 1) || (dsm_bind_val == 2)) {
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mavlink_log_info(mavlink_fd, "[IO] binding dsm%c rx", dsm_bind_val == 1 ? '2' : 'x');
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ioctl(nullptr, DSM_BIND_START, dsm_bind_val == 1 ? 3 : 7);
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@@ -784,8 +826,6 @@ PX4IO::io_set_arming_state()
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uint16_t set = 0;
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uint16_t clear = 0;
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_system_armed = vstatus.flag_system_armed;
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if (armed.armed && !armed.lockdown) {
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set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
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} else {
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@@ -1635,7 +1675,8 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
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}
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ssize_t
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PX4IO::write(file *filp, const char *buffer, size_t len)
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PX4IO::write(file * /*filp*/, const char *buffer, size_t len)
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/* Make it obvious that file * isn't used here */
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{
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unsigned count = len / 2;
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+236
-172
File diff suppressed because it is too large
Load Diff
@@ -195,7 +195,7 @@ extern void controls_init(void);
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extern void controls_tick(void);
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extern int dsm_init(const char *device);
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extern bool dsm_input(uint16_t *values, uint16_t *num_values);
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extern void dsm_bind(uint16_t cmd, int pulses);
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extern void dsm_bind(uint16_t cmd, int pulses);
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extern int sbus_init(const char *device);
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extern bool sbus_input(uint16_t *values, uint16_t *num_values);
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