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mkblctrl fmuv2 support added

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marco
2014-02-02 14:26:17 +01:00
parent 243a28ff8b
commit 9defc6cb23
2 changed files with 148 additions and 6 deletions
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src/drivers/mkblctrl/mkblctrl.cpp
+146 -6
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012,2013 PX4 Development Team. All rights reserved.
* Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
* Author: Marco Bauer <marco@wtns.de>
*
* Redistribution and use in source and binary forms, with or without
@@ -93,6 +93,9 @@
#define MOTOR_SPINUP_COUNTER 30
#define ESC_UORB_PUBLISH_DELAY 500000
class MK : public device::I2C
{
public:
@@ -181,6 +184,7 @@ private:
static const unsigned _ngpio;
void gpio_reset(void);
void sensor_reset(int ms);
void gpio_set_function(uint32_t gpios, int function);
void gpio_write(uint32_t gpios, int function);
uint32_t gpio_read(void);
@@ -196,6 +200,7 @@ private:
};
const MK::GPIOConfig MK::_gpio_tab[] = {
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
@@ -204,6 +209,22 @@ const MK::GPIOConfig MK::_gpio_tab[] = {
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1},
{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0},
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0},
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0},
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0},
{0, GPIO_VDD_5V_PERIPH_EN, 0},
{0, GPIO_VDD_3V3_SENSORS_EN, 0},
{GPIO_VDD_BRICK_VALID, 0, 0},
{GPIO_VDD_SERVO_VALID, 0, 0},
{GPIO_VDD_5V_HIPOWER_OC, 0, 0},
{GPIO_VDD_5V_PERIPH_OC, 0, 0},
#endif
};
const unsigned MK::_ngpio = sizeof(MK::_gpio_tab) / sizeof(MK::_gpio_tab[0]);
@@ -623,9 +644,11 @@ MK::task_main()
if(!_overrideSecurityChecks) {
/* don't go under BLCTRL_MIN_VALUE */
if (outputs.output[i] < BLCTRL_MIN_VALUE) {
outputs.output[i] = BLCTRL_MIN_VALUE;
}
}
/* output to BLCtrl's */
@@ -1075,6 +1098,10 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
ret = OK;
break;
case PWM_SERVO_GET_UPDATE_RATE:
*(uint32_t *)arg = 400;
break;
case PWM_SERVO_SET_SELECT_UPDATE_RATE:
ret = OK;
break;
@@ -1198,23 +1225,115 @@ MK::write(file *filp, const char *buffer, size_t len)
return count * 2;
}
void
MK::sensor_reset(int ms)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
if (ms < 1) {
ms = 1;
}
/* disable SPI bus */
stm32_configgpio(GPIO_SPI_CS_GYRO_OFF);
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG_OFF);
stm32_configgpio(GPIO_SPI_CS_BARO_OFF);
stm32_configgpio(GPIO_SPI_CS_MPU_OFF);
stm32_gpiowrite(GPIO_SPI_CS_GYRO_OFF, 0);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG_OFF, 0);
stm32_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
stm32_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
stm32_configgpio(GPIO_SPI1_SCK_OFF);
stm32_configgpio(GPIO_SPI1_MISO_OFF);
stm32_configgpio(GPIO_SPI1_MOSI_OFF);
stm32_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
stm32_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
stm32_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
stm32_configgpio(GPIO_GYRO_DRDY_OFF);
stm32_configgpio(GPIO_MAG_DRDY_OFF);
stm32_configgpio(GPIO_ACCEL_DRDY_OFF);
stm32_configgpio(GPIO_EXTI_MPU_DRDY_OFF);
stm32_gpiowrite(GPIO_GYRO_DRDY_OFF, 0);
stm32_gpiowrite(GPIO_MAG_DRDY_OFF, 0);
stm32_gpiowrite(GPIO_ACCEL_DRDY_OFF, 0);
stm32_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0);
/* set the sensor rail off */
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
warnx("reset done, %d ms", ms);
/* re-enable power */
/* switch the sensor rail back on */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
/* reconfigure the SPI pins */
#ifdef CONFIG_STM32_SPI1
stm32_configgpio(GPIO_SPI_CS_GYRO);
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
stm32_configgpio(GPIO_SPI_CS_BARO);
stm32_configgpio(GPIO_SPI_CS_MPU);
/* De-activate all peripherals,
* required for some peripheral
* state machines
*/
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
// // XXX bring up the EXTI pins again
// stm32_configgpio(GPIO_GYRO_DRDY);
// stm32_configgpio(GPIO_MAG_DRDY);
// stm32_configgpio(GPIO_ACCEL_DRDY);
// stm32_configgpio(GPIO_EXTI_MPU_DRDY);
#endif
#endif
}
void
MK::gpio_reset(void)
{
/*
* Setup default GPIO config - all pins as GPIOs, GPIO driver chip
* to input mode.
* Setup default GPIO config - all pins as GPIOs, input if
* possible otherwise output if possible.
*/
for (unsigned i = 0; i < _ngpio; i++)
stm32_configgpio(_gpio_tab[i].input);
for (unsigned i = 0; i < _ngpio; i++) {
if (_gpio_tab[i].input != 0) {
stm32_configgpio(_gpio_tab[i].input);
} else if (_gpio_tab[i].output != 0) {
stm32_configgpio(_gpio_tab[i].output);
}
}
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
/* if we have a GPIO direction control, set it to zero (input) */
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
stm32_configgpio(GPIO_GPIO_DIR);
#endif
}
void
MK::gpio_set_function(uint32_t gpios, int function)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
/*
* GPIOs 0 and 1 must have the same direction as they are buffered
* by a shared 2-port driver. Any attempt to set either sets both.
@@ -1227,6 +1346,8 @@ MK::gpio_set_function(uint32_t gpios, int function)
stm32_gpiowrite(GPIO_GPIO_DIR, 1);
}
#endif
/* configure selected GPIOs as required */
for (unsigned i = 0; i < _ngpio; i++) {
if (gpios & (1 << i)) {
@@ -1248,9 +1369,13 @@ MK::gpio_set_function(uint32_t gpios, int function)
}
}
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
/* flip buffer to input mode if required */
if ((GPIO_SET_INPUT == function) && (gpios & 3))
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
#endif
}
void
@@ -1418,6 +1543,20 @@ mk_start(unsigned bus, unsigned motors, char *device_path)
return ret;
}
void
sensor_reset(int ms)
{
int fd;
fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
if (fd < 0)
errx(1, "open fail");
if (ioctl(fd, GPIO_SENSOR_RAIL_RESET, ms) < 0)
err(1, "servo arm failed");
}
int
mk_check_for_i2c_esc_bus(char *device_path, int motors)
@@ -1426,6 +1565,7 @@ mk_check_for_i2c_esc_bus(char *device_path, int motors)
if (g_mk == nullptr) {
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
g_mk = new MK(3, device_path);
if (g_mk == nullptr) {
@@ -1441,7 +1581,7 @@ mk_check_for_i2c_esc_bus(char *device_path, int motors)
}
}
#endif
g_mk = new MK(1, device_path);