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Linux: added hil support

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The HIL driver now runs in the Linux build

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-15 09:13:04 -07:00
parent ac1679dbc3
commit facc2faf04
6 changed files with 909 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files
makefiles/linux/config_linux_default.mk
+2
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@@ -12,6 +12,7 @@
#
MODULES += drivers/device
MODULES += drivers/blinkm
MODULES += drivers/hil
MODULES += modules/sensors
#MODULES += drivers/ms5611
@@ -44,6 +45,7 @@ MODULES += modules/systemlib/mixer
MODULES += modules/uORB
MODULES += modules/dataman
MODULES += modules/sdlog2
MODULES += modules/simulator
#
# Libraries
src/drivers/drv_gpio.h
+6 -1
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@@ -114,9 +114,14 @@
/* no GPIO driver on the PX4_STM32F4DISCOVERY board */
#endif
#ifdef CONFIG_ARCH_BOARD_LINUXTEST
/* no GPIO driver on the LINUXTEST board */
#endif
#if !defined(CONFIG_ARCH_BOARD_PX4IO_V1) && !defined(CONFIG_ARCH_BOARD_PX4IO_V2) && \
!defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && !defined(CONFIG_ARCH_BOARD_PX4FMU_V2) && \
!defined(CONFIG_ARCH_BOARD_AEROCORE) && !defined(CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY)
!defined(CONFIG_ARCH_BOARD_AEROCORE) && !defined(CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY) \
!defined(CONFIG_ARCH_BOARD_LINUXTEST)
# error No CONFIG_ARCH_BOARD_xxxx set
#endif
/*
src/drivers/drv_mixer.h
+2 -1
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@@ -53,6 +53,7 @@
#ifndef _DRV_MIXER_H
#define _DRV_MIXER_H
#include <px4_defines.h>
#include <stdint.h>
#include <sys/ioctl.h>
@@ -62,7 +63,7 @@
* ioctl() definitions
*/
#define _MIXERIOCBASE (0x2500)
#define _MIXERIOC(_n) (_IOC(_MIXERIOCBASE, _n))
#define _MIXERIOC(_n) (_PX4_IOC(_MIXERIOCBASE, _n))
/** get the number of mixable outputs */
#define MIXERIOCGETOUTPUTCOUNT _MIXERIOC(0)
src/drivers/drv_pwm_output.h
+34 -33
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@@ -43,6 +43,7 @@
#pragma once
#include <px4_defines.h>
#include <stdint.h>
#include <sys/ioctl.h>
@@ -149,102 +150,102 @@ ORB_DECLARE(output_pwm);
#define _PWM_SERVO_BASE 0x2a00
/** arm all servo outputs handle by this driver */
#define PWM_SERVO_ARM _IOC(_PWM_SERVO_BASE, 0)
#define PWM_SERVO_ARM _PX4_IOC(_PWM_SERVO_BASE, 0)
/** disarm all servo outputs (stop generating pulses) */
#define PWM_SERVO_DISARM _IOC(_PWM_SERVO_BASE, 1)
#define PWM_SERVO_DISARM _PX4_IOC(_PWM_SERVO_BASE, 1)
/** get default servo update rate */
#define PWM_SERVO_GET_DEFAULT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2)
/** set alternate servo update rate */
#define PWM_SERVO_SET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 3)
#define PWM_SERVO_SET_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 3)
/** get alternate servo update rate */
#define PWM_SERVO_GET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 4)
#define PWM_SERVO_GET_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 4)
/** get the number of servos in *(unsigned *)arg */
#define PWM_SERVO_GET_COUNT _IOC(_PWM_SERVO_BASE, 5)
#define PWM_SERVO_GET_COUNT _PX4_IOC(_PWM_SERVO_BASE, 5)
/** selects servo update rates, one bit per servo. 0 = default (50Hz), 1 = alternate */
#define PWM_SERVO_SET_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 6)
#define PWM_SERVO_SET_SELECT_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 6)
/** check the selected update rates */
#define PWM_SERVO_GET_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 7)
#define PWM_SERVO_GET_SELECT_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 7)
/** set the 'ARM ok' bit, which activates the safety switch */
#define PWM_SERVO_SET_ARM_OK _IOC(_PWM_SERVO_BASE, 8)
#define PWM_SERVO_SET_ARM_OK _PX4_IOC(_PWM_SERVO_BASE, 8)
/** clear the 'ARM ok' bit, which deactivates the safety switch */
#define PWM_SERVO_CLEAR_ARM_OK _IOC(_PWM_SERVO_BASE, 9)
#define PWM_SERVO_CLEAR_ARM_OK _PX4_IOC(_PWM_SERVO_BASE, 9)
/** start DSM bind */
#define DSM_BIND_START _IOC(_PWM_SERVO_BASE, 10)
#define DSM_BIND_START _PX4_IOC(_PWM_SERVO_BASE, 10)
#define DSM2_BIND_PULSES 3 /* DSM_BIND_START ioctl parameter, pulses required to start dsm2 pairing */
#define DSMX_BIND_PULSES 7 /* DSM_BIND_START ioctl parameter, pulses required to start dsmx pairing */
#define DSMX8_BIND_PULSES 9 /* DSM_BIND_START ioctl parameter, pulses required to start 8 or more channel dsmx pairing */
/** power up DSM receiver */
#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 11)
#define DSM_BIND_POWER_UP _PX4_IOC(_PWM_SERVO_BASE, 11)
/** set the PWM value for failsafe */
#define PWM_SERVO_SET_FAILSAFE_PWM _IOC(_PWM_SERVO_BASE, 12)
#define PWM_SERVO_SET_FAILSAFE_PWM _PX4_IOC(_PWM_SERVO_BASE, 12)
/** get the PWM value for failsafe */
#define PWM_SERVO_GET_FAILSAFE_PWM _IOC(_PWM_SERVO_BASE, 13)
#define PWM_SERVO_GET_FAILSAFE_PWM _PX4_IOC(_PWM_SERVO_BASE, 13)
/** set the PWM value when disarmed - should be no PWM (zero) by default */
#define PWM_SERVO_SET_DISARMED_PWM _IOC(_PWM_SERVO_BASE, 14)
#define PWM_SERVO_SET_DISARMED_PWM _PX4_IOC(_PWM_SERVO_BASE, 14)
/** get the PWM value when disarmed */
#define PWM_SERVO_GET_DISARMED_PWM _IOC(_PWM_SERVO_BASE, 15)
#define PWM_SERVO_GET_DISARMED_PWM _PX4_IOC(_PWM_SERVO_BASE, 15)
/** set the minimum PWM value the output will send */
#define PWM_SERVO_SET_MIN_PWM _IOC(_PWM_SERVO_BASE, 16)
#define PWM_SERVO_SET_MIN_PWM _PX4_IOC(_PWM_SERVO_BASE, 16)
/** get the minimum PWM value the output will send */
#define PWM_SERVO_GET_MIN_PWM _IOC(_PWM_SERVO_BASE, 17)
#define PWM_SERVO_GET_MIN_PWM _PX4_IOC(_PWM_SERVO_BASE, 17)
/** set the maximum PWM value the output will send */
#define PWM_SERVO_SET_MAX_PWM _IOC(_PWM_SERVO_BASE, 18)
#define PWM_SERVO_SET_MAX_PWM _PX4_IOC(_PWM_SERVO_BASE, 18)
/** get the maximum PWM value the output will send */
#define PWM_SERVO_GET_MAX_PWM _IOC(_PWM_SERVO_BASE, 19)
#define PWM_SERVO_GET_MAX_PWM _PX4_IOC(_PWM_SERVO_BASE, 19)
/** set the number of servos in (unsigned)arg - allows change of
* split between servos and GPIO */
#define PWM_SERVO_SET_COUNT _IOC(_PWM_SERVO_BASE, 20)
#define PWM_SERVO_SET_COUNT _PX4_IOC(_PWM_SERVO_BASE, 20)
/** set the lockdown override flag to enable outputs in HIL */
#define PWM_SERVO_SET_DISABLE_LOCKDOWN _IOC(_PWM_SERVO_BASE, 21)
#define PWM_SERVO_SET_DISABLE_LOCKDOWN _PX4_IOC(_PWM_SERVO_BASE, 21)
/** get the lockdown override flag to enable outputs in HIL */
#define PWM_SERVO_GET_DISABLE_LOCKDOWN _IOC(_PWM_SERVO_BASE, 22)
#define PWM_SERVO_GET_DISABLE_LOCKDOWN _PX4_IOC(_PWM_SERVO_BASE, 22)
/** force safety switch off (to disable use of safety switch) */
#define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23)
#define PWM_SERVO_SET_FORCE_SAFETY_OFF _PX4_IOC(_PWM_SERVO_BASE, 23)
/** force failsafe mode (failsafe values are set immediately even if failsafe condition not met) */
#define PWM_SERVO_SET_FORCE_FAILSAFE _IOC(_PWM_SERVO_BASE, 24)
#define PWM_SERVO_SET_FORCE_FAILSAFE _PX4_IOC(_PWM_SERVO_BASE, 24)
/** make failsafe non-recoverable (termination) if it occurs */
#define PWM_SERVO_SET_TERMINATION_FAILSAFE _IOC(_PWM_SERVO_BASE, 25)
#define PWM_SERVO_SET_TERMINATION_FAILSAFE _PX4_IOC(_PWM_SERVO_BASE, 25)
/** force safety switch on (to enable use of safety switch) */
#define PWM_SERVO_SET_FORCE_SAFETY_ON _IOC(_PWM_SERVO_BASE, 26)
#define PWM_SERVO_SET_FORCE_SAFETY_ON _PX4_IOC(_PWM_SERVO_BASE, 26)
/** set RC config for a channel. This takes a pointer to pwm_output_rc_config */
#define PWM_SERVO_SET_RC_CONFIG _IOC(_PWM_SERVO_BASE, 27)
#define PWM_SERVO_SET_RC_CONFIG _PX4_IOC(_PWM_SERVO_BASE, 27)
/** set the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */
#define PWM_SERVO_SET_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 28)
#define PWM_SERVO_SET_OVERRIDE_OK _PX4_IOC(_PWM_SERVO_BASE, 28)
/** clear the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */
#define PWM_SERVO_CLEAR_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 29)
#define PWM_SERVO_CLEAR_OVERRIDE_OK _PX4_IOC(_PWM_SERVO_BASE, 29)
/** setup OVERRIDE_IMMEDIATE behaviour on FMU fail */
#define PWM_SERVO_SET_OVERRIDE_IMMEDIATE _IOC(_PWM_SERVO_BASE, 30)
#define PWM_SERVO_SET_OVERRIDE_IMMEDIATE _PX4_IOC(_PWM_SERVO_BASE, 30)
/*
*
@@ -255,15 +256,15 @@ ORB_DECLARE(output_pwm);
*/
/** set a single servo to a specific value */
#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo)
#define PWM_SERVO_SET(_servo) _PX4_IOC(_PWM_SERVO_BASE, 0x20 + _servo)
/** get a single specific servo value */
#define PWM_SERVO_GET(_servo) _IOC(_PWM_SERVO_BASE, 0x40 + _servo)
#define PWM_SERVO_GET(_servo) _PX4_IOC(_PWM_SERVO_BASE, 0x40 + _servo)
/** get the _n'th rate group's channels; *(uint32_t *)arg returns a bitmap of channels
* whose update rates must be the same.
*/
#define PWM_SERVO_GET_RATEGROUP(_n) _IOC(_PWM_SERVO_BASE, 0x60 + _n)
#define PWM_SERVO_GET_RATEGROUP(_n) _PX4_IOC(_PWM_SERVO_BASE, 0x60 + _n)
/*
* Low-level PWM output interface.
src/drivers/hil/hil_linux.cpp
+860
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src/drivers/hil/module.mk
+5 -1
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@@ -37,6 +37,10 @@
MODULE_COMMAND = hil
ifdef ($(PX4_TARGET_OS),nuttx)
SRCS = hil.cpp
MAXOPTIMIZATION = -Os
else
SRCS = hil_linux.cpp
endif