static void
comms_handle_frame(void *arg, const void *buffer, size_t length)
{
const uint16_t *type = (const uint16_t *)buffer;
/* make sure it's what we are expecting */
if (length > 2) {
switch (*type) {
case F2I_MAGIC:
comms_handle_command(buffer, length);
break;
case F2I_CONFIG_MAGIC:
comms_handle_config(buffer, length);
break;
case F2I_MIXER_MAGIC:
mixer_handle_text(buffer, length);
break;
default:
break;
}
}
}
int
registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
{
switch (page) {
/* handle bulk controls input */
case PX4IO_PAGE_CONTROLS:
/* copy channel data */
while ((offset < PX4IO_CONTROL_GROUPS * PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
/* XXX range-check value? */
r_page_controls[offset] = *values;
offset++;
num_values--;
values++;
}
system_state.fmu_data_received_time = hrt_absolute_time();
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RAW_PWM;
break;
/* handle raw PWM input */
case PX4IO_PAGE_DIRECT_PWM:
/* copy channel data */
while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
/* XXX range-check value? */
if (*values != PWM_IGNORE_THIS_CHANNEL) {
r_page_servos[offset] = *values;
}
offset++;
num_values--;
values++;
}
system_state.fmu_data_received_time = hrt_absolute_time();
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM;
break;
/* handle setup for servo failsafe values */
case PX4IO_PAGE_FAILSAFE_PWM:
/* copy channel data */
while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) {
if (*values == 0) {
/* ignore 0 */
} else if (*values < PWM_LOWEST_MIN) {
r_page_servo_failsafe[offset] = PWM_LOWEST_MIN;
} else if (*values > PWM_HIGHEST_MAX) {
r_page_servo_failsafe[offset] = PWM_HIGHEST_MAX;
} else {
r_page_servo_failsafe[offset] = *values;
}
/* flag the failsafe values as custom */
r_setup_arming |= PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM;
offset++;
num_values--;
values++;
}
break;
case PX4IO_PAGE_CONTROL_MIN_PWM:
/* copy channel data */
while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) {
if (*values == 0) {
/* ignore 0 */
} else if (*values > PWM_HIGHEST_MIN) {
r_page_servo_control_min[offset] = PWM_HIGHEST_MIN;
} else if (*values < PWM_LOWEST_MIN) {
r_page_servo_control_min[offset] = PWM_LOWEST_MIN;
} else {
r_page_servo_control_min[offset] = *values;
}
offset++;
num_values--;
values++;
}
break;
case PX4IO_PAGE_CONTROL_MAX_PWM:
/* copy channel data */
while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) {
if (*values == 0) {
/* ignore 0 */
} else if (*values > PWM_HIGHEST_MAX) {
r_page_servo_control_max[offset] = PWM_HIGHEST_MAX;
} else if (*values < PWM_LOWEST_MAX) {
r_page_servo_control_max[offset] = PWM_LOWEST_MAX;
} else {
r_page_servo_control_max[offset] = *values;
}
offset++;
num_values--;
values++;
}
break;
case PX4IO_PAGE_DISARMED_PWM:
{
/* flag for all outputs */
bool all_disarmed_off = true;
/* copy channel data */
while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) {
if (*values == 0) {
/* 0 means disabling always PWM */
r_page_servo_disarmed[offset] = 0;
} else if (*values < PWM_LOWEST_MIN) {
r_page_servo_disarmed[offset] = PWM_LOWEST_MIN;
all_disarmed_off = false;
} else if (*values > PWM_HIGHEST_MAX) {
r_page_servo_disarmed[offset] = PWM_HIGHEST_MAX;
all_disarmed_off = false;
} else {
r_page_servo_disarmed[offset] = *values;
all_disarmed_off = false;
}
offset++;
num_values--;
values++;
}
if (all_disarmed_off) {
/* disable PWM output if disarmed */
r_setup_arming &= ~(PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE);
} else {
/* enable PWM output always */
r_setup_arming |= PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE;
}
}
break;
/* handle text going to the mixer parser */
case PX4IO_PAGE_MIXERLOAD:
/* do not change the mixer if FMU is armed and IO's safety is off
* this state defines an active system. This check is done in the
* text handling function.
*/
return mixer_handle_text(values, num_values * sizeof(*values));
default:
/* avoid offset wrap */
if ((offset + num_values) > 255)
num_values = 255 - offset;
/* iterate individual registers, set each in turn */
while (num_values--) {
if (registers_set_one(page, offset, *values))
return -1;
offset++;
values++;
}
break;
}
return 0;
}
void
registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
{
switch (page) {
/* handle bulk controls input */
case PX4IO_PAGE_CONTROLS:
/* copy channel data */
while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
/* XXX range-check value? */
r_page_controls[offset] = *values;
offset++;
num_values--;
values++;
}
system_state.fmu_data_received_time = hrt_absolute_time();
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RAW_PWM;
// wake up daemon to trigger mixer
daemon_wakeup();
break;
/* handle raw PWM input */
case PX4IO_PAGE_DIRECT_PWM:
/* copy channel data */
while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
/* XXX range-check value? */
r_page_servos[offset] = *values;
offset++;
num_values--;
values++;
}
system_state.fmu_data_received_time = hrt_absolute_time();
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM;
// wake up the main thread to trigger mixer
daemon_wakeup();
break;
/* handle setup for servo failsafe values */
case PX4IO_PAGE_FAILSAFE_PWM:
/* copy channel data */
while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
/* XXX range-check value? */
r_page_servo_failsafe[offset] = *values;
offset++;
num_values--;
values++;
}
break;
/* handle text going to the mixer parser */
case PX4IO_PAGE_MIXERLOAD:
mixer_handle_text(values, num_values * sizeof(*values));
break;
default:
/* avoid offset wrap */
if ((offset + num_values) > 255)
num_values = 255 - offset;
/* iterate individual registers, set each in turn */
while (num_values--) {
if (registers_set_one(page, offset, *values))
break;
offset++;
values++;
}
}
}
int
registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
{
switch (page) {
/* handle bulk controls input */
case PX4IO_PAGE_CONTROLS:
/* copy channel data */
while ((offset < PX4IO_CONTROL_GROUPS * PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
/* XXX range-check value? */
r_page_controls[offset] = *values;
offset++;
num_values--;
values++;
}
system_state.fmu_data_received_time = hrt_absolute_time();
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RAW_PWM;
break;
/* handle raw PWM input */
case PX4IO_PAGE_DIRECT_PWM: {
/* copy channel data */
uint16_t widest_pulse = 0;
while ((offset < PX4IO_ACTUATOR_COUNT) && (num_values > 0)) {
/* XXX range-check value? */
if (*values != PWM_IGNORE_THIS_CHANNEL) {
r_page_direct_pwm[offset] = *values;
if (*values > widest_pulse) {
widest_pulse = *values;
}
}
offset++;
num_values--;
values++;
}
if (widest_pulse > 2300) {
// don't allow extreme pulses to cause issues with oneshot delays
widest_pulse = 2300;
}
system_state.fmu_data_received_time = hrt_absolute_time();
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM;
if (r_setup_features & PX4IO_P_SETUP_FEATURES_ONESHOT) {
/*
in oneshot we run the mixer as soon as we
get new data from the FMU
*/
mixer_tick();
/*
we now need to trigger the output pulses,
ensuring that the new pulses don't interrupt
the previous pulses. We add a 50 usec safety
margin to ensure the ESC has registered the
end of the previous pulses.
*/
static hrt_abstime oneshot_delay_till;
hrt_abstime now = hrt_absolute_time();
if (now < oneshot_delay_till) {
up_udelay(oneshot_delay_till - now);
}
up_pwm_servo_trigger(r_setup_pwm_rates);
oneshot_delay_till = hrt_absolute_time() + widest_pulse + 50;
}
break;
}
/* handle setup for servo failsafe values */
case PX4IO_PAGE_FAILSAFE_PWM:
/* copy channel data */
while ((offset < PX4IO_ACTUATOR_COUNT) && (num_values > 0)) {
if (*values == 0) {
/* ignore 0 */
} else if (*values < PWM_LOWEST_MIN) {
r_page_servo_failsafe[offset] = PWM_LOWEST_MIN;
} else if (*values > PWM_HIGHEST_MAX) {
r_page_servo_failsafe[offset] = PWM_HIGHEST_MAX;
} else {
r_page_servo_failsafe[offset] = *values;
}
/* flag the failsafe values as custom */
r_setup_arming |= PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM;
offset++;
num_values--;
values++;
}
break;
case PX4IO_PAGE_CONTROL_MIN_PWM:
/* copy channel data */
while ((offset < PX4IO_ACTUATOR_COUNT) && (num_values > 0)) {
if (*values == 0) {
/* ignore 0 */
} else if (*values > PWM_HIGHEST_MIN) {
r_page_servo_control_min[offset] = PWM_HIGHEST_MIN;
} else if (*values < PWM_LOWEST_MIN) {
r_page_servo_control_min[offset] = PWM_LOWEST_MIN;
} else {
r_page_servo_control_min[offset] = *values;
}
offset++;
num_values--;
values++;
}
break;
case PX4IO_PAGE_CONTROL_MAX_PWM:
/* copy channel data */
while ((offset < PX4IO_ACTUATOR_COUNT) && (num_values > 0)) {
if (*values == 0) {
/* ignore 0 */
} else if (*values > PWM_HIGHEST_MAX) {
r_page_servo_control_max[offset] = PWM_HIGHEST_MAX;
} else if (*values < PWM_LOWEST_MAX) {
r_page_servo_control_max[offset] = PWM_LOWEST_MAX;
} else {
r_page_servo_control_max[offset] = *values;
}
offset++;
num_values--;
values++;
}
break;
case PX4IO_PAGE_DISARMED_PWM: {
/* flag for all outputs */
bool all_disarmed_off = true;
/* copy channel data */
while ((offset < PX4IO_ACTUATOR_COUNT) && (num_values > 0)) {
if (*values == 0) {
/* 0 means disabling always PWM */
r_page_servo_disarmed[offset] = 0;
} else if (*values < PWM_LOWEST_MIN) {
r_page_servo_disarmed[offset] = PWM_LOWEST_MIN;
all_disarmed_off = false;
} else if (*values > PWM_HIGHEST_MAX) {
r_page_servo_disarmed[offset] = PWM_HIGHEST_MAX;
all_disarmed_off = false;
} else {
r_page_servo_disarmed[offset] = *values;
all_disarmed_off = false;
}
offset++;
num_values--;
values++;
}
if (all_disarmed_off) {
/* disable PWM output if disarmed */
r_setup_arming &= ~(PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE);
} else {
/* enable PWM output always */
r_setup_arming |= PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE;
}
}
break;
/* handle text going to the mixer parser */
case PX4IO_PAGE_MIXERLOAD:
/* do not change the mixer if FMU is armed and IO's safety is off
* this state defines an active system. This check is done in the
* text handling function.
*/
return mixer_handle_text(values, num_values * sizeof(*values));
default:
/* avoid offset wrap */
if ((offset + num_values) > 255) {
num_values = 255 - offset;
}
/* iterate individual registers, set each in turn */
while (num_values--) {
if (registers_set_one(page, offset, *values)) {
return -1;
}
offset++;
values++;
}
break;
}
return 0;
}