px4io.c File Reference

Top-level logic for the PX4IO module. More...

#include <px4_platform_common/px4_config.h>
#include "platform/cxxinitialize.h"
#include <stdio.h>
#include <stdbool.h>
#include <stdlib.h>
#include <errno.h>
#include <string.h>
#include <poll.h>
#include <signal.h>
#include <crc32.h>
#include <syslog.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_hrt.h>
#include <perf/perf_counter.h>
#include <output_limit/output_limit.h>
#include <stm32_uart.h>
#include "px4io.h"

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Macros
#define	DEBUG
#define	NUM_MSG   1
#define	APP_SIZE_MAX   0xf000
#define	APP_LOAD_ADDRESS   0x08001000

Functions
__EXPORT int	user_start (int argc, char *argv[])
static void	heartbeat_blink (void)
static void	ring_blink (void)
static void	update_mem_usage (void)
void	atomic_modify_or (volatile uint16_t *target, uint16_t modification)
void	atomic_modify_clear (volatile uint16_t *target, uint16_t modification)
void	atomic_modify_and (volatile uint16_t *target, uint16_t modification)
void	isr_debug (uint8_t level, const char *fmt,...)
	send a debug message to the console More...
static void	show_debug_messages (void)
void	schedule_reboot (uint32_t time_delta_usec)
	schedule a reboot in time_delta_usec microseconds More...
static void	check_reboot (void)
	check for a scheduled reboot More...
static void	calculate_fw_crc (void)

Variables
struct sys_state_s	system_state
static struct hrt_call	serial_dma_call
output_limit_t	pwm_limit
float	dt
static volatile uint32_t	msg_counter
static volatile uint32_t	last_msg_counter
static volatile uint8_t	msg_next_out
static volatile uint8_t	msg_next_in
static char	msg [NUM_MSG][CONFIG_USART1_TXBUFSIZE]
static uint64_t	reboot_time

Detailed Description

Top-level logic for the PX4IO module.

Author

Lorenz Meier loren.nosp@m.z@px.nosp@m.4.io

Definition in file px4io.c.

Macro Definition Documentation

APP_LOAD_ADDRESS

#define APP_LOAD_ADDRESS   0x08001000

Referenced by calculate_fw_crc().

APP_SIZE_MAX

#define APP_SIZE_MAX   0xf000

Referenced by calculate_fw_crc().

DEBUG

#define DEBUG

Definition at line 62 of file px4io.c.

NUM_MSG

#define NUM_MSG   1

Definition at line 88 of file px4io.c.

Referenced by isr_debug(), and show_debug_messages().

Function Documentation

atomic_modify_and()

void atomic_modify_and	(	volatile uint16_t *	target,
		uint16_t	modification
	)

Definition at line 109 of file px4io.c.

References PX4_CRITICAL_SECTION.

atomic_modify_clear()

void atomic_modify_clear	(	volatile uint16_t *	target,
		uint16_t	modification
	)

Definition at line 102 of file px4io.c.

References PX4_CRITICAL_SECTION.

Referenced by controls_tick(), mixer_handle_text(), mixer_tick(), and safety_check_button().

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atomic_modify_or()

void atomic_modify_or	(	volatile uint16_t *	target,
		uint16_t	modification
	)

Definition at line 95 of file px4io.c.

References PX4_CRITICAL_SECTION.

Referenced by controls_tick(), dsm_port_input(), mixer_tick(), and safety_check_button().

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calculate_fw_crc()

static void calculate_fw_crc ( void  )

static

Definition at line 262 of file px4io.c.

References APP_LOAD_ADDRESS, APP_SIZE_MAX, PX4IO_P_SETUP_CRC, and r_page_setup.

Referenced by user_start().

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check_reboot()

static void check_reboot ( void  )

static

check for a scheduled reboot

Definition at line 254 of file px4io.c.

References hrt_absolute_time(), and reboot_time.

Referenced by user_start().

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heartbeat_blink()

static void heartbeat_blink ( void  )

static

Definition at line 176 of file px4io.c.

References LED_BLUE.

Referenced by user_start().

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isr_debug()

void isr_debug	(	uint8_t	level,
		const char *	fmt,
			...
	)

send a debug message to the console

Definition at line 120 of file px4io.c.

References msg, msg_counter, msg_next_in, NUM_MSG, PX4IO_P_SETUP_SET_DEBUG, and r_page_setup.

Referenced by mixer_handle_text(), mixer_handle_text_create_mixer(), mixer_tick(), registers_set_one(), and user_start().

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ring_blink()

static void ring_blink ( void  )

static

Definition at line 183 of file px4io.c.

References counter, LED_RING, PX4IO_P_SETUP_ARMING_FMU_ARMED, PX4IO_P_STATUS_FLAGS_SAFETY_OFF, r_setup_arming, and r_status_flags.

Referenced by user_start().

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schedule_reboot()

void schedule_reboot

(

uint32_t

time_delta_usec

)

schedule a reboot in time_delta_usec microseconds

schedule a reboot

Definition at line 246 of file px4io.c.

References hrt_absolute_time(), and reboot_time.

Referenced by registers_set_one().

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show_debug_messages()

static void show_debug_messages ( void  )

static

Definition at line 138 of file px4io.c.

References debug, last_msg_counter, msg, msg_counter, msg_next_out, and NUM_MSG.

Referenced by user_start().

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update_mem_usage()

static void update_mem_usage ( void  )

static

Definition at line 158 of file px4io.c.

References hrt_absolute_time(), PX4IO_P_SETUP_ARMING_FMU_ARMED, PX4IO_P_STATUS_FLAGS_SAFETY_OFF, PX4IO_P_STATUS_FREEMEM, r_page_status, r_setup_arming, and r_status_flags.

Referenced by user_start().

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user_start()

int user_start	(	int	argc,
		char *	argv[]
	)

Definition at line 279 of file px4io.c.

References adc_init(), calculate_fw_crc(), check_reboot(), controls_init(), controls_tick(), dt, ENABLE_SBUS_OUT, f(), failsafe_led_init(), heartbeat_blink(), hrt_absolute_time(), hrt_call_every(), hrt_init(), interface_init(), isr_debug(), LED_AMBER, LED_BLUE, LED_RING, LED_SAFETY, mixer_tick(), output_limit_init(), PC_ELAPSED, PC_INTERVAL, perf_alloc, perf_begin(), perf_count(), perf_end(), PX4IO_P_SETUP_SET_DEBUG, PX4IO_P_SETUP_THERMAL, PX4IO_P_STATUS_FLAGS_OVERRIDE, PX4IO_P_STATUS_FREEMEM, PX4IO_THERMAL_FULL, PX4IO_THERMAL_IGNORE, r_page_setup, r_page_status, r_setup_arming, r_setup_features, r_status_flags, ring_blink(), safety_init(), serial_dma_call, show_debug_messages(), system_state, up_pwm_servo_init(), and update_mem_usage().

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Variable Documentation

dt

float dt

Definition at line 73 of file px4io.c.

Referenced by vmount::OutputBase::_calculate_output_angles(), TECS::_update_speed_states(), PositionControl::_velocityController(), SmoothZTest::accelerateDownwardFromBrake(), SmoothZTest::accelerateUpwardFromBrake(), SmoothZTest::brakeDownward(), SmoothZTest::brakeUpward(), MavlinkRateLimiter::check(), ECL_YawController::control_bodyrate(), ECL_WheelController::control_bodyrate(), ECL_RollController::control_bodyrate(), ECL_PitchController::control_bodyrate(), RoverPositionControl::control_position(), FixedwingPositionControl::control_position(), RoverPositionControl::control_velocity(), detect_orientation(), Ekf2::filter_altitude_ellipsoid(), frsky_telemetry_thread_main(), TerrainEstimator::get_velocity(), Ekf::gps_is_good(), Ekf::initialiseCovariance(), main(), mixer_set_failsafe(), mixer_tick(), motor_ramp_thread_main(), perf_count(), perf_end(), perf_set_elapsed(), pid_calculate(), positionError(), TerrainEstimator::predict(), landing_target_estimator::KalmanFilter::predict(), Ekf::predictCovariance(), Integrator::put(), matrix::Quaternion< Type >::Quaternion(), Ekf::reset_imu_bias(), MulticopterRateControl::Run(), MulticopterAttitudeControl::Run(), AttitudeEstimatorQ::Run(), GPS::run(), BlockLocalPositionEstimator::Run(), ECL_L1_Pos_Controller::set_dt(), control::Block::setDt(), RateControl::setFeedForwardGain(), PositionControl::setHoverThrust(), EstimatorInterface::setIMUData(), Takeoff::setSpoolupTime(), uORB::DeviceMaster::showTop(), PrecLand::slewrate(), MatrixTest::squareMatrixTests(), Battery::sumDischarged(), control::SuperBlock::SuperBlock(), Mavlink::task_main(), FixedwingPositionControl::tecs_update_pitch_throttle(), TEST_F(), WindEstimator::update(), launchdetection::CatapultLaunchMethod::update(), landing_target_estimator::LandingTargetEstimator::update(), MavlinkStream::update(), AttitudeEstimatorQ::update(), FixedwingPositionControl::update_desired_altitude(), TECS::update_vehicle_state_estimates(), RateControl::updateIntegral(), ManualSmoothingXY::updateMaxVelocity(), MixingOutput::updateOutputSlewrate(), user_start(), and landing_target_estimator::KalmanFilter::~KalmanFilter().

last_msg_counter

volatile uint32_t last_msg_counter

static

Definition at line 80 of file px4io.c.

Referenced by show_debug_messages().

msg

char msg[NUM_MSG][CONFIG_USART1_TXBUFSIZE]

static

Definition at line 89 of file px4io.c.

Referenced by MavlinkFtpTest::_bad_datasize_test(), MavlinkFtpTest::_burst_test(), MavlinkFtpTest::_send_receive_msg(), Simulator::actuator_controls_from_outputs(), UavcanGnssBridge::broadcast_from_orb(), build_eam_response(), build_gam_request(), build_gam_response(), build_gps_response(), LeddarOne::collect(), GPSDriverSBF::configure(), GPSDriverUBX::configureMessageRate(), BlinkM::fade_hsb(), BlinkM::fade_hsb_random(), BlinkM::fade_rgb(), BlinkM::fade_rgb_random(), BlinkM::get_firmware_version(), UavcanBatteryBridge::get_name(), UavcanFlowBridge::get_name(), UavcanBarometerBridge::get_name(), UavcanMagnetometerBridge::get_name(), UavcanGnssBridge::get_name(), BlinkM::get_rgb(), Mavlink::get_status(), MavlinkULog::handle_update(), MavlinkCommandSender::handle_vehicle_command(), GPS::handleInjectDataTopic(), isr_debug(), UavcanEscController::max_output_value(), mixer_handle_text(), PX4IO::mixer_send(), MK::mk_check_for_blctrl(), MK::mk_servo_locate(), MK::mk_servo_set(), MK::mk_servo_test(), BlinkM::play_script(), Simulator::poll_for_MAVLink_messages(), publish_gam_message(), BlinkM::read_script_line(), MavlinkReceiver::Run(), MavlinkStreamHighLatency2::send(), MavlinkStreamStatustext::send(), MavlinkStreamSysStatus::send(), MavlinkStreamHighresIMU::send(), MavlinkStreamScaledIMU::send(), MavlinkStreamScaledIMU2::send(), MavlinkStreamScaledIMU3::send(), MavlinkStreamAttitude::send(), MavlinkStreamAttitudeQuaternion::send(), MavlinkStreamVFRHUD::send(), MavlinkStreamGPSRawInt::send(), MavlinkStreamGPS2Raw::send(), MavlinkStreamSystemTime::send(), MavlinkStreamTimesync::send(), MavlinkStreamADSBVehicle::send(), MavlinkStreamUTMGlobalPosition::send(), MavlinkStreamCollision::send(), MavlinkStreamCameraTrigger::send(), MavlinkStreamCameraImageCaptured::send(), MavlinkStreamGlobalPositionInt::send(), MavlinkStreamOdometry::send(), MavlinkStreamLocalPositionNED::send(), MavlinkStreamEstimatorStatus::send(), MavlinkStreamAttPosMocap::send(), MavlinkStreamHomePosition::send(), MavlinkStreamServoOutputRaw< N >::send(), MavlinkStreamActuatorControlTarget< N >::send(), MavlinkStreamHILActuatorControls::send(), MavlinkStreamPositionTargetGlobalInt::send(), MavlinkStreamLocalPositionSetpoint::send(), MavlinkStreamAttitudeTarget::send(), MavlinkStreamRCChannels::send(), MavlinkStreamManualControl::send(), MavlinkStreamTrajectoryRepresentationWaypoints::send(), MavlinkStreamOpticalFlowRad::send(), MavlinkStreamNamedValueFloat::send(), MavlinkStreamDebug::send(), MavlinkStreamDebugVect::send(), MavlinkStreamDebugFloatArray::send(), MavlinkStreamNavControllerOutput::send(), MavlinkStreamCameraCapture::send(), MavlinkStreamDistanceSensor::send(), MavlinkStreamAltitude::send(), MavlinkStreamWind::send(), MavlinkStreamMountOrientation::send(), MavlinkStreamGroundTruth::send(), MavlinkStreamPing::send(), MavlinkStreamObstacleDistance::send(), Mavlink::send_autopilot_capabilites(), RGBLED::send_led_enable(), RGBLED_NPC5623C::send_led_rgb(), RGBLED::send_led_rgb(), MavlinkParametersManager::send_one(), MavlinkParametersManager::send_param(), Mavlink::send_protocol_version(), MavlinkParametersManager::send_uavcan(), GPSDriverUBX::sendMessage(), BlinkM::set_fade_speed(), BlinkM::set_rgb(), BlinkM::set_script(), show_debug_messages(), BlinkM::stop_script(), Mavlink::task_main(), UavcanEscController::update_outputs(), GPSDriverUBX::waitForAck(), RGBLED_NPC5623C::write(), px4::logger::Logger::write_add_logged_msg(), px4::logger::Logger::write_changed_parameters(), px4::logger::Logger::write_format(), px4::logger::Logger::write_formats(), px4::logger::Logger::write_info(), px4::logger::Logger::write_info_multiple(), px4::logger::Logger::write_info_template(), px4::logger::Logger::write_parameters(), and BlinkM::write_script_line().

msg_counter

volatile uint32_t msg_counter

static

Definition at line 79 of file px4io.c.

Referenced by isr_debug(), and show_debug_messages().

msg_next_in

volatile uint8_t msg_next_in

static

Definition at line 81 of file px4io.c.

Referenced by isr_debug().

msg_next_out

volatile uint8_t msg_next_out

static

Definition at line 81 of file px4io.c.

Referenced by show_debug_messages().

pwm_limit

output_limit_t pwm_limit

Definition at line 71 of file px4io.c.

Referenced by mixer_callback(), and mixer_tick().

reboot_time

uint64_t reboot_time

static

Definition at line 241 of file px4io.c.

Referenced by check_reboot(), and schedule_reboot().

serial_dma_call

struct hrt_call serial_dma_call

static

Definition at line 69 of file px4io.c.

Referenced by user_start().

system_state

struct sys_state_s system_state

Definition at line 67 of file px4io.c.

Referenced by controls_init(), controls_tick(), mixer_tick(), registers_set(), and user_start().