Merge branch 'master' into #111-px4io-integrated-mixing

Fix a botched merge for #106 at the same time.

.gitignore

@@ -11,6 +11,7 @@ Make.dep
 *.o
 *.a
 *~
+*.dSYM
 Images/*.bin
 Images/*.px4
 nuttx/Make.defs
@@ -40,3 +41,4 @@ nsh_romfsimg.h
 cscope.out
 .configX-e
 nuttx-export.zip
+dot.gdbinit

apps/drivers/boards/px4io/px4io_internal.h

@@ -61,28 +61,6 @@
 #define GPIO_LED3       (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
                          GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
 
-/* R/C in/out channels **************************************************************/
-
-/* XXX just GPIOs for now - eventually timer pins */
-
-#define GPIO_CH1_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_CH2_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN1)
-#define GPIO_CH3_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN8)
-#define GPIO_CH4_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN9)
-#define GPIO_CH5_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN6)
-#define GPIO_CH6_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN7)
-#define GPIO_CH7_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_CH8_IN     (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN1)
-
-#define GPIO_CH1_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_CH2_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
-#define GPIO_CH3_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
-#define GPIO_CH4_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
-#define GPIO_CH5_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
-#define GPIO_CH6_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
-#define GPIO_CH7_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_CH8_OUT    (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
-
 /* Safety switch button *************************************************************/
 
 #define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5)

apps/drivers/px4fmu/fmu.cpp

@@ -500,7 +500,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 		/* FALLTHROUGH */
 	case PWM_SERVO_GET(0):
 	case PWM_SERVO_GET(1): {
-			channel = cmd - PWM_SERVO_SET(0);
+			channel = cmd - PWM_SERVO_GET(0);
 			*(servo_position_t *)arg = up_pwm_servo_get(channel);
 			break;
 		}

apps/drivers/px4io/px4io.cpp

@@ -61,6 +61,7 @@
 #include <drivers/device/device.h>
 #include <drivers/drv_rc_input.h>
 #include <drivers/drv_pwm_output.h>
+#include <drivers/drv_gpio.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
 
@@ -117,6 +118,8 @@ class PX4IO : public device::CDev
 
 	bool			_primary_pwm_device;	///< true if we are the default PWM output
 
+	uint32_t		_relays;	///< state of the PX4IO relays, one bit per relay
+
 	volatile bool		_switch_armed;	///< PX4IO switch armed state
 	// XXX how should this work?
 
@@ -195,6 +198,7 @@ PX4IO::PX4IO() :
 	_mix_buf(nullptr),
 	_mix_buf_len(0),
 	_primary_pwm_device(false),
+	_relays(0),
 	_switch_armed(false),
 	_send_needed(false),
 	_config_needed(false)
@@ -542,7 +546,9 @@ PX4IO::io_send()
 	/* XXX needs to be based off post-mix values from the IO side */
 	orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &_outputs);
 
-	// XXX relays
+	/* update relays */
+	for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++)
+		cmd.relay_state[i] = (_relays & (1<< i)) ? true : false;
 
 	/* armed and not locked down */
 	cmd.arm_ok = (_armed.armed && !_armed.lockdown);
@@ -641,6 +647,30 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		*(servo_position_t *)arg = _outputs.output[cmd - PWM_SERVO_GET(0)];
 		break;
 
+	case GPIO_RESET:
+		_relays = 0;
+		_send_needed = true;
+		break;
+
+	case GPIO_SET:
+	case GPIO_CLEAR:
+		/* make sure only valid bits are being set */
+		if ((arg & ((1UL << PX4IO_RELAY_CHANNELS) - 1)) != arg) {
+			ret = EINVAL;
+			break;
+		}
+		if (cmd == GPIO_SET) {
+			_relays |= arg;
+		} else {
+			_relays &= ~arg;
+		}
+		_send_needed = true;
+		break;
+
+	case GPIO_GET:
+		*(uint32_t *)arg = _relays;
+		break;
+
 	case MIXERIOCGETOUTPUTCOUNT:
 		*(unsigned *)arg = PX4IO_CONTROL_CHANNELS;
 		break;

apps/px4io/comms.c

@@ -191,9 +191,26 @@ comms_handle_command(const void *buffer, size_t length)
 //	if (!system_state.arm_ok && system_state.armed)
 //		system_state.armed = false;
 
-	/* XXX do relay changes here */
-	for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++)
+	/* handle relay state changes here */	
+	for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++) {
+		if (system_state.relays[i] != cmd->relay_state[i]) {
+			switch (i) {
+			case 0:
+				POWER_ACC1(cmd->relay_state[i]);
+				break;
+			case 1:
+				POWER_ACC2(cmd->relay_state[i]);
+				break;
+			case 2:
+				POWER_RELAY1(cmd->relay_state[i]);
+				break;
+			case 3:
+				POWER_RELAY2(cmd->relay_state[i]);
+				break;
+			}
+		}
 		system_state.relays[i] = cmd->relay_state[i];
+	}
 
 	irqrestore(flags);
 }

apps/px4io/px4io.h

@@ -140,8 +140,8 @@ extern volatile int	timers[TIMER_NUM_TIMERS];
 #define LED_SAFETY(_s)		stm32_gpiowrite(GPIO_LED3, !(_s))
 
 #define POWER_SERVO(_s)		stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s))
-#define POWER_ACC1(_s)		stm32_gpiowrite(GPIO_SERVO_ACC1_EN, (_s))
-#define POWER_ACC2(_s)		stm32_gpiowrite(GPIO_SERVO_ACC2_EN, (_s))
+#define POWER_ACC1(_s)		stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s))
+#define POWER_ACC2(_s)		stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s))
 #define POWER_RELAY1(_s)	stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
 #define POWER_RELAY2(_s)	stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
 

nuttx/drivers/serial/serial.c

@@ -660,9 +660,9 @@ static int uart_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
 
   int ret = dev->ops->ioctl(filep, cmd, arg);
 
-  /* Append any higher level TTY flags */
+  /* If the low-level handler didn't handle the call, see if we can handle it here */
 
-  if (ret == OK)
+  if (ret == -ENOTTY)
     {
       switch (cmd)
         {
@@ -686,8 +686,43 @@ static int uart_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
             irqrestore(state);
 
             *(int *)arg = count;
+            ret = 0;
+
+            break;
+          }
+
+          case FIONWRITE:
+          {
+            int count;
+            irqstate_t state = irqsave();
+
+            /* determine the number of bytes free in the buffer */
+
+            if (dev->xmit.head < dev->xmit.tail)
+              { 
+                count = dev->xmit.tail - dev->xmit.head - 1;
+              }
+            else
+              {
+                count = dev->xmit.size - (dev->xmit.head - dev->xmit.tail) - 1;
+              }
+
+            irqrestore(state);
+
+            *(int *)arg = count;
+            ret = 0;
+
+            break;
           }
+        }
+    }
+
+  /* Append any higher level TTY flags */
 
+  else if (ret == OK)
+    {
+      switch (cmd)
+        {
 #ifdef CONFIG_SERIAL_TERMIOS
           case TCGETS:
           {

nuttx/include/nuttx/fs/ioctl.h

@@ -110,6 +110,10 @@
                                            * OUT: Bytes readable from this fd
                                            */
 
+#define FIONWRITE       _FIOC(0x0005)     /* IN:  Location to return value (int *)
+                                           * OUT: Bytes writable to this fd
+                                           */
+
 /* NuttX file system ioctl definitions **************************************/
 
 #define _DIOCVALID(c)   (_IOC_TYPE(c)==_DIOCBASE)