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[intermcu] Cleanup and FBW status (#1608)

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This commit is contained in:
Freek van Tienen
2016-04-20 17:32:47 +02:00
committed by Felix Ruess
parent 7ff19c68e2
commit b7b9edecf9
7 changed files with 149 additions and 94 deletions
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conf/telemetry/rotorcraft_with_logger.xml
+3 -1
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@@ -26,7 +26,9 @@
<message name="AIR_DATA" period="1.3"/>
<message name="SURVEY" period="2.5"/>
<message name="OPTIC_FLOW_EST" period="0.25"/>
<message name="VECTORNAV_INFO" period="0.5"/>
<message name="VECTORNAV_INFO" period="0.5"/>
<message name="TEMP_ADC" period="3.0"/>
<message name="FBW_STATUS" period="2.0"/>
</mode>
<mode name="ppm">
sw/airborne/firmwares/rotorcraft/main_fbw.c
+5 -4
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@@ -105,7 +105,7 @@ STATIC_INLINE void main_init(void)
modules_tid = sys_time_register_timer(1. / MODULES_FREQUENCY, NULL);
radio_control_tid = sys_time_register_timer((1. / 60.), NULL);
electrical_tid = sys_time_register_timer(0.1, NULL);
telemetry_tid = sys_time_register_timer((1. / 20.), NULL);
telemetry_tid = sys_time_register_timer((1. / 10.), NULL);
}
@@ -150,7 +150,7 @@ STATIC_INLINE void main_periodic(void)
intermcu_periodic();
/* Safety logic */
bool ap_lost = (inter_mcu.status == INTERMCU_LOST);
bool ap_lost = (intermcu.status == INTERMCU_LOST);
bool rc_lost = (radio_control.status == RC_REALLY_LOST);
if (rc_lost) {
if (ap_lost) {
@@ -189,13 +189,14 @@ STATIC_INLINE void main_periodic(void)
}
#endif
static uint16_t dv = 0;
// TODO make module out of led blink?
/* set failsafe commands */
if (fbw_mode == FBW_MODE_FAILSAFE) {
autopilot_motors_on = false;
SetCommands(commands_failsafe);
#ifdef FBW_MODE_LED
static uint16_t dv = 0;
if (!(dv++ % (PERIODIC_FREQUENCY / 20))) { LED_TOGGLE(FBW_MODE_LED);}
} else if (fbw_mode == FBW_MODE_MANUAL) {
if (!(dv++ % (PERIODIC_FREQUENCY))) { LED_TOGGLE(FBW_MODE_LED);}
@@ -228,7 +229,7 @@ static void autopilot_on_rc_frame(void)
}
/* Trying to switch to auto when AP is lost */
if ((inter_mcu.status == INTERMCU_LOST) &&
if ((intermcu.status == INTERMCU_LOST) &&
(fbw_mode == FBW_MODE_AUTO)) {
fbw_mode = AP_LOST_FBW_MODE;
}
sw/airborne/modules/px4_flash/px4_flash.c
+1 -1
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@@ -158,7 +158,7 @@ void px4flash_event(void)
//stop all intermcu communication:
disable_inter_comm(true);
intermcu_set_enabled(FALSE);
px4iobl_tid = sys_time_register_timer(5.0, NULL); //10 (fbw pprz bl timeout)-5 (px4 fmu bl timeout)
/*
sw/airborne/subsystems/intermcu.h
+9 -3
View File
@@ -29,6 +29,7 @@
#include "std.h"
#include "subsystems/commands.h"
#include "pprzlink/pprz_transport.h"
#define INTERMCU_AP 0
#define INTERMCU_FBW 1
@@ -51,13 +52,18 @@ enum intermcu_PX4_baud_status {
};
struct intermcu_t {
enum intermcu_status status;
uint8_t time_since_last_frame;
struct link_device *device; ///< Device used for communication
struct pprz_transport transport; ///< Transport over communication line (PPRZ)
enum intermcu_status status; ///< Status of the INTERMCU
uint8_t time_since_last_frame; ///< Time since last frame
bool enabled; ///< If the InterMCU communication is enabled
bool msg_available; ///< If we have an InterMCU message
#ifdef BOARD_PX4IO
enum intermcu_PX4_baud_status stable_px4_baud;
#endif
};
extern struct intermcu_t inter_mcu;
extern struct intermcu_t intermcu;
sw/airborne/subsystems/intermcu/intermcu_ap.c
+58 -43
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@@ -1,5 +1,5 @@
/*
* Copyright (C) 2015 The Paparazzi Team
* Copyright (C) 2015 Freek van Tienen <freek.v.tienen@gmail.com>
*
* This file is part of paparazzi.
*
@@ -27,10 +27,8 @@
#include "intermcu_ap.h"
#include "pprzlink/intermcu_msg.h"
#include "subsystems/radio_control.h"
#include "pprzlink/pprz_transport.h"
#include "mcu_periph/uart.h"
#include "subsystems/datalink/telemetry.h"
#include "subsystems/electrical.h"
#include "autopilot.h"
@@ -38,75 +36,87 @@
#error "INTERMCU UART CAN ONLY SEND 8 COMMANDS OR THE UART WILL BE OVERFILLED"
#endif
// Used for communication
static struct link_device *intermcu_device = (&((INTERMCU_LINK).device));
static struct pprz_transport intermcu_transport;
struct intermcu_t inter_mcu;
static inline void intermcu_parse_msg(struct transport_rx *trans, void (*rc_frame_handler)(void));
/* Main InterMCU defines */
struct intermcu_t intermcu = {
.device = (&((INTERMCU_LINK).device)),
.enabled = true,
.msg_available = false
};
uint8_t imcu_msg_buf[128] __attribute__((aligned)); ///< The InterMCU message buffer
static struct fbw_status_t fbw_status;
static inline void intermcu_parse_msg(void (*rc_frame_handler)(void));
#if PERIODIC_TELEMETRY
#include "subsystems/datalink/telemetry.h"
/* Send FBW status */
static void send_status(struct transport_tx *trans, struct link_device *dev)
{
pprz_msg_send_FBW_STATUS(trans, dev, AC_ID,
&(radio_control.status), &(radio_control.frame_rate), &(inter_mcu.status), &electrical.vsupply,
&electrical.current); // due to limitation of GCS, send the electrical from ap as if it comes from fbw...
&fbw_status.rc_status, &fbw_status.frame_rate, &fbw_status.mode, &fbw_status.vsupply,
&fbw_status.current);
}
#endif
/* InterMCU initialization */
void intermcu_init(void)
{
pprz_transport_init(&intermcu_transport);
pprz_transport_init(&intermcu.transport);
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_FBW_STATUS, send_status);
#endif
}
/* Check for InterMCU loss */
void intermcu_periodic(void)
{
/* Check for interMCU loss */
if (inter_mcu.time_since_last_frame >= INTERMCU_LOST_CNT) {
inter_mcu.status = INTERMCU_LOST;
if (intermcu.time_since_last_frame >= INTERMCU_LOST_CNT) {
intermcu.status = INTERMCU_LOST;
} else {
inter_mcu.time_since_last_frame++;
intermcu.time_since_last_frame++;
}
}
static bool disable_comm;
void disable_inter_comm(bool value)
/* Enable or disable the communication of the InterMCU */
void intermcu_set_enabled(bool value)
{
disable_comm = value;
intermcu.enabled = value;
}
/* Send the actuators to the FBW */
void intermcu_set_actuators(pprz_t *command_values, uint8_t ap_mode __attribute__((unused)))
{
if (!disable_comm) {
uint8_t autopilot_motors_on_tmp = autopilot_motors_on;
pprz_msg_send_IMCU_COMMANDS(&(intermcu_transport.trans_tx), intermcu_device,
INTERMCU_AP, &autopilot_motors_on_tmp, COMMANDS_NB, command_values); //TODO: Append more status
if (intermcu.enabled) {
pprz_msg_send_IMCU_COMMANDS(&(intermcu.transport.trans_tx), intermcu.device,
INTERMCU_AP, &autopilot_motors_on, COMMANDS_NB, command_values); //TODO: Append more status
}
}
/* Send the spektrum Bind message */
void intermcu_send_spektrum_bind(void)
{
if (!disable_comm) {
pprz_msg_send_IMCU_SPEKTRUM_SOFT_BIND(&(intermcu_transport.trans_tx), intermcu_device, INTERMCU_AP);
if (intermcu.enabled) {
pprz_msg_send_IMCU_SPEKTRUM_SOFT_BIND(&(intermcu.transport.trans_tx), intermcu.device, INTERMCU_AP);
}
}
static inline void intermcu_parse_msg(struct transport_rx *trans, void (*rc_frame_handler)(void))
/* Parse incomming InterMCU messages */
#pragma GCC diagnostic ignored "-Wcast-align"
static inline void intermcu_parse_msg(void (*rc_frame_handler)(void))
{
/* Parse the Inter MCU message */
uint8_t msg_id = trans->payload[1];
uint8_t msg_id = imcu_msg_buf[1];
switch (msg_id) {
case DL_IMCU_RADIO_COMMANDS: {
uint8_t i;
uint8_t size = DL_IMCU_RADIO_COMMANDS_values_length(trans->payload);
inter_mcu.status = DL_IMCU_RADIO_COMMANDS_status(trans->payload);
int16_t *rc_values = DL_IMCU_RADIO_COMMANDS_values(trans->payload);
uint8_t size = DL_IMCU_RADIO_COMMANDS_values_length(imcu_msg_buf);
intermcu.status = DL_IMCU_RADIO_COMMANDS_status(imcu_msg_buf);
for (i = 0; i < size; i++) {
radio_control.values[i] = rc_values[i];
radio_control.values[i] = DL_IMCU_RADIO_COMMANDS_values(imcu_msg_buf)[i];
}
radio_control.frame_cpt++;
@@ -116,26 +126,31 @@ static inline void intermcu_parse_msg(struct transport_rx *trans, void (*rc_fram
break;
}
case DL_IMCU_FBW_STATUS: {
fbw_status.rc_status = DL_IMCU_FBW_STATUS_rc_status(imcu_msg_buf);
fbw_status.frame_rate = DL_IMCU_FBW_STATUS_frame_rate(imcu_msg_buf);
fbw_status.mode = DL_IMCU_FBW_STATUS_mode(imcu_msg_buf);
fbw_status.vsupply = DL_IMCU_FBW_STATUS_vsupply(imcu_msg_buf);
fbw_status.current = DL_IMCU_FBW_STATUS_current(imcu_msg_buf);
break;
}
default:
break;
}
// Set to receive another message
trans->msg_received = false;
}
#pragma GCC diagnostic pop
/* Radio control event misused as InterMCU event for frame_handler */
void RadioControlEvent(void (*frame_handler)(void))
{
if (!disable_comm) {
/* Parse incoming bytes */
if (intermcu_device->char_available(intermcu_device->periph)) {
while (intermcu_device->char_available(intermcu_device->periph) && !intermcu_transport.trans_rx.msg_received) {
parse_pprz(&intermcu_transport, intermcu_device->get_byte(intermcu_device->periph));
}
/* Parse incoming bytes */
if (intermcu.enabled) {
pprz_check_and_parse(intermcu.device, &intermcu.transport, imcu_msg_buf, &intermcu.msg_available);
if (intermcu_transport.trans_rx.msg_received) {
intermcu_parse_msg(&(intermcu_transport.trans_rx), frame_handler);
}
if (intermcu.msg_available) {
intermcu_parse_msg(frame_handler);
intermcu.msg_available = false;
}
}
}
sw/airborne/subsystems/intermcu/intermcu_ap.h
+10 -2
View File
@@ -1,5 +1,5 @@
/*
* Copyright (C) 2015 The Paparazzi Team
* Copyright (C) 2015 Freek van Tienen <freek.v.tienen@gmail.com>
*
* This file is part of paparazzi.
*
@@ -33,7 +33,7 @@
void intermcu_set_actuators(pprz_t *command_values, uint8_t ap_mode);
void RadioControlEvent(void (*frame_handler)(void));
void intermcu_send_spektrum_bind(void);
void disable_inter_comm(bool value);
void intermcu_set_enabled(bool value);
/* We need radio defines for the Autopilot */
#define RADIO_THROTTLE 0
@@ -47,5 +47,13 @@ void disable_inter_comm(bool value);
#define RADIO_AUX3 7
#define RADIO_CONTROL_NB_CHANNEL 8
/* Structure for FBW status */
struct fbw_status_t {
uint8_t rc_status;
uint8_t frame_rate;
uint8_t mode;
uint16_t vsupply;
int32_t current;
};
#endif /* INTERMCU_AP_ROTORCRAFT_H */
sw/airborne/subsystems/intermcu/intermcu_fbw.c
+63 -40
View File
@@ -1,5 +1,5 @@
/*
* Copyright (C) 2015 The Paparazzi Team
* Copyright (C) 2015 Freek van Tienen <freek.v.tienen@gmail.com>
*
* This file is part of paparazzi.
*
@@ -27,8 +27,9 @@
#include "intermcu_fbw.h"
#include "pprzlink/intermcu_msg.h"
#include "subsystems/radio_control.h"
#include "subsystems/electrical.h"
#include "mcu_periph/uart.h"
#include "pprzlink/pprz_transport.h"
#include "modules/spektrum_soft_bind/spektrum_soft_bind_fbw.h"
#include BOARD_CONFIG
@@ -40,48 +41,51 @@ static uint8_t px4RebootSequence[] = {0x41, 0xd7, 0x32, 0x0a, 0x46, 0x39};
static uint8_t px4RebootSequenceCount = 0;
tid_t px4bl_tid; ///< id for time out of the px4 bootloader reset
#endif
bool autopilot_motors_on = false;
#if RADIO_CONTROL_NB_CHANNEL > 8
#undef RADIO_CONTROL_NB_CHANNEL
#define RADIO_CONTROL_NB_CHANNEL 8
#warning "INTERMCU UART WILL ONLY SEND 8 RADIO CHANNELS"
INFO("InterMCU UART will only send 8 radio channels!")
#endif
// Used for communication
static struct link_device *intermcu_device = (&((INTERMCU_LINK).device));
static struct pprz_transport intermcu_transport;
/* Main InterMCU structure */
struct intermcu_t intermcu = {
.device = (&((INTERMCU_LINK).device)),
.enabled = true,
.msg_available = false
};
uint8_t imcu_msg_buf[128] __attribute__((aligned)); ///< The InterMCU message buffer
struct intermcu_t inter_mcu;
pprz_t intermcu_commands[COMMANDS_NB];
static void intermcu_parse_msg(struct transport_rx *trans, void (*commands_frame_handler)(void));
bool autopilot_motors_on = false;
static void intermcu_parse_msg(void (*commands_frame_handler)(void));
#ifdef BOARD_PX4IO
static void checkPx4RebootCommand(unsigned char b);
#endif
void intermcu_init(void)
{
pprz_transport_init(&intermcu_transport);
pprz_transport_init(&intermcu.transport);
#ifdef BOARD_PX4IO
px4bl_tid = sys_time_register_timer(10.0, NULL);
#endif
}
void intermcu_periodic(void)
{
/* Check for interMCU loss */
if (inter_mcu.time_since_last_frame >= INTERMCU_LOST_CNT) {
inter_mcu.status = INTERMCU_LOST;
if (intermcu.time_since_last_frame >= INTERMCU_LOST_CNT) {
intermcu.status = INTERMCU_LOST;
} else {
inter_mcu.time_since_last_frame++;
intermcu.time_since_last_frame++;
}
}
void intermcu_on_rc_frame(uint8_t fbw_mode)
{
pprz_t values[8];
pprz_t values[9];
values[INTERMCU_RADIO_THROTTLE] = radio_control.values[RADIO_THROTTLE];
values[INTERMCU_RADIO_ROLL] = radio_control.values[RADIO_ROLL];
@@ -105,21 +109,21 @@ void intermcu_on_rc_frame(uint8_t fbw_mode)
values[INTERMCU_RADIO_AUX2] = radio_control.values[RADIO_AUX2];
#endif
#ifdef RADIO_AUX3
values[INTERMCU_RADIO_AUX2] = radio_control.values[RADIO_AUX2];
values[INTERMCU_RADIO_AUX3] = radio_control.values[RADIO_AUX3];
#endif
pprz_msg_send_IMCU_RADIO_COMMANDS(&(intermcu_transport.trans_tx), intermcu_device,
pprz_msg_send_IMCU_RADIO_COMMANDS(&(intermcu.transport.trans_tx), intermcu.device,
INTERMCU_FBW, &fbw_mode, RADIO_CONTROL_NB_CHANNEL, values);
}
void intermcu_send_status(uint8_t mode)
{
// Send Status
(void)mode;
//FIXME
pprz_msg_send_IMCU_FBW_STATUS(&(intermcu.transport.trans_tx), intermcu.device, INTERMCU_FBW,
&mode, &(radio_control.status), &(radio_control.frame_rate), &electrical.vsupply,
&electrical.current);
}
void intermcu_blink_fbw_led(uint16_t dv)
{
#ifdef FBW_MODE_LED
@@ -131,26 +135,29 @@ void intermcu_blink_fbw_led(uint16_t dv)
} else {
LED_TOGGLE(FBW_MODE_LED); // toggle makes random blinks if intermcu comm problem!
}
#else
(void)dv;
#endif
}
static void intermcu_parse_msg(struct transport_rx *trans, void (*commands_frame_handler)(void))
#pragma GCC diagnostic ignored "-Wcast-align"
static void intermcu_parse_msg(void (*commands_frame_handler)(void))
{
/* Parse the Inter MCU message */
uint8_t msg_id = trans->payload[1];
uint8_t msg_id = imcu_msg_buf[1];
switch (msg_id) {
case DL_IMCU_COMMANDS: {
uint8_t i;
uint8_t size = DL_IMCU_COMMANDS_values_length(trans->payload);
int16_t *new_commands = DL_IMCU_COMMANDS_values(trans->payload);
uint8_t status = DL_IMCU_COMMANDS_status(trans->payload);
uint8_t size = DL_IMCU_COMMANDS_values_length(imcu_msg_buf);
int16_t *new_commands = DL_IMCU_COMMANDS_values(imcu_msg_buf);
uint8_t status = DL_IMCU_COMMANDS_status(imcu_msg_buf);
autopilot_motors_on = status & 0x1;
for (i = 0; i < size; i++) {
intermcu_commands[i] = new_commands[i];
}
inter_mcu.status = INTERMCU_OK;
inter_mcu.time_since_last_frame = 0;
intermcu.status = INTERMCU_OK;
intermcu.time_since_last_frame = 0;
commands_frame_handler();
break;
}
@@ -160,34 +167,50 @@ static void intermcu_parse_msg(struct transport_rx *trans, void (*commands_frame
received_spektrum_soft_bind();
break;
#endif
default:
break;
}
// Set to receive another message
trans->msg_received = false;
}
#pragma GCC diagnostic pop
void InterMcuEvent(void (*frame_handler)(void))
{
uint8_t i, c;
// Check if there are messages in the device
if (intermcu.device->char_available(intermcu.device->periph)) {
while (intermcu.device->char_available(intermcu.device->periph) && !intermcu.transport.trans_rx.msg_received) {
c = intermcu.device->get_byte(intermcu.device->periph);
parse_pprz(&intermcu.transport, c);
/* Parse incoming bytes */
if (intermcu_device->char_available(intermcu_device->periph)) {
while (intermcu_device->char_available(intermcu_device->periph) && !intermcu_transport.trans_rx.msg_received) {
unsigned char b = intermcu_device->get_byte(intermcu_device->periph);
#ifdef BOARD_PX4IO
checkPx4RebootCommand(b);
// TODO: create a hook
checkPx4RebootCommand(c);
#endif
parse_pprz(&intermcu_transport, b);
}
if (intermcu_transport.trans_rx.msg_received) {
intermcu_parse_msg(&(intermcu_transport.trans_rx), frame_handler);
// If we have a message copy it
if (intermcu.transport.trans_rx.msg_received) {
for (i = 0; i < intermcu.transport.trans_rx.payload_len; i++) {
imcu_msg_buf[i] = intermcu.transport.trans_rx.payload[i];
}
intermcu.msg_available = true;
intermcu.transport.trans_rx.msg_received = false;
}
}
if (intermcu.msg_available) {
intermcu_parse_msg(frame_handler);
intermcu.msg_available = false;
}
}
/* SOME STUFF FOR PX4IO BOOTLOADER (TODO: move this code) */
#ifdef BOARD_PX4IO
static void checkPx4RebootCommand(unsigned char b)
static void checkPx4RebootCommand(uint8_t b)
{
if (inter_mcu.stable_px4_baud == CHANGING_BAUD && sys_time_check_and_ack_timer(px4bl_tid)) {
//to prevent a short intermcu comm loss, give some time to changing the baud