Sunday, September 17, 2017

Cleanflight repo updated with OrangePI Zero Flight Controller

Updated https://github.com/tcmichals/cleanflight repo with current code for the OrangePI flight controller.
  • Replaced the cleanflight scheduler with libevent
    • all timers are based on libevent timers
    • in process of adding events for:
      • serial port
      • sockets
      • remote transmitters
    • Instead of using hard timers for the above events, timer is more of a timeout/guard.  The event, will be posted to wake up the task instead of a timer/poll event.  
    • For logging this will be moved into another thread using a message   So, sdcard write will not delay main processing loop, 
 Adding exti (external gpio interrupts).  Creating separate read file descriptors for each IO then push each one to libevent.  This way, when IO triggers libevent will dispatch the proper handler.   See if 4Khz is possible.

using top:
143   134 root     S     5804   1%   0% ./obj/main/cleanflight_LINUX.elf

Also added a command allowing to get basic info:

Task list             rate/hz  max/us  avg/us maxload avgload     total/ms
00 - (         SYSTEM)     10       2       1    0.5%    0.5%         0
01 - (            PID)     50     151     125    1.2%    1.1%        96
   - (           GYRO)    101
02 - (          ACCEL)    101     140     120    1.9%    1.7%        95
03 - (       ATTITUDE)    101       5       2    0.5%    0.5%         1
04 - (             RX)     50      18      10    0.5%    0.5%         4
05 - (         SERIAL)    101      12       2    0.6%    0.5%         1
06 - (       DISPATCH)
07 - (BATTERY_VOLTAGE)
08 - (BATTERY_CURRENT)     50       1       0    0.5%    0.0%         0
09 - ( BATTERY_ALERTS)      4       4       1    0.5%    0.5%         0
10 - (            GPS)
11 - (        COMPASS)
12 - (           BARO)
13 - (       ALTITUDE)
14 - (      TELEMETRY)    101       1       1    0.5%    0.5%         0
15 - (        RCSPLIT)
RX Check Function                   0       0                         0
Total (excluding SERIAL)                         6.1%    5.3%
LinuxFlight>


 I have to look into why some of the numbers a little high for PID and ACCEL.  Also add memory locking and add high FIFO scheduling.  But, looking good.


Sunday, August 27, 2017

CleanFlight update to Linux

Making slow progress, on updating CleanFlight to access SPI, I2C and serial port on Linux.

Progress:
  • Updating bus_spi_linux.c to support SPI.
    • Still updating access functions based on previous work using LinuxFlight
  • Update scheduler to use libevent
    • Some of the issues with the current scheduler:
      • Does not use events, but polling for status for event block
      • Uses it's own timer framework
    • Created a new scheduler based on libevent
      • Using libevent timer framework
      • Adding a way for HW events and SW events to trigger a fc_task to wake.
        • Need some way to schedule based on priority, but will put this off, due progessing loop will not pause very long to progress a event, execept for I2C and SPI events.  Will change this next round to have another HW scheduling thread.
  • Need to branch LinuxFlight and push the new round of changes to to github.  With the support of SITL in cleanflight, minimal changes are needed. 
IO Board:
  • UDP via USB is not the fastest, about 500us for a 512 byte packet.  The main issue is full speed USB uses 64 bytes per interrupt.  So, it takes 8 USB packets to transfer one UDP 512 packet.  Once micro-controllers move to high speed USB, then USB packet is 512 bytes. 
  • Able to decode PWM signals
  • logging framework is done.

Sunday, July 30, 2017

General C/C++ lambda's and calling C code before main

I've been working on a few small projects, EtherCAT and QuadCopter IO board with USB EEM using STM32 micro-controllers. During this projects found couple interesting C++/C concepts:

  • Using Lambda functions for C callbacks
    • Simplifies static C++ functions to allowing C to call a C++ functions.
  • using GCC init to invoke C functions from C++ initialization.
    • One issue in creating projects is how to control or startup threads, init code etc in the proper order without #include every function.

Lambda Functions for C callbacks

lwIP has an asynchronous interface allowing the programmer not to create a thread to wait on socket events, all of the events occur within lwIP worker thread.  Using the same thread alleviates locking


err_t            tcp_connect (struct tcp_pcb *pcb, const ip_addr_t *ipaddr,
                              u16_t port, tcp_connected_fn connected);

The above function starts the TCP connection with the IP address in the function.  So, function requires a C callback function.  

 err = tcp_connect(m_conn, &ipaddr, PORT, [](void *arg, struct tcp_pcb *tpcb, err_t err) -> err_t
                                         {
                                              class *pToClass = reinterpret_cast<class *>(args));
                                              return pToClass->connect(tpcb, err);
                                         }

From the code above, a lambda is used without any capture arguments, this allows the lambda to be callable from C.  So, now the connect function can also be a protected function.  So, no static function needs to be declared. 

Using C++ constructor to invoke a C function before main


Here is a simple function:

static void _startUpUdpServices(void) __attribute__((constructor (102)));
void _startUpUdpServices(void) 
{

    regStartUpFunction(StartUpPriority::_6, "udpServices", (startUpFunctor_t)startUpUDPServices);
}




The __attribute__((constructor (102))); Puts the function in the .init section and orders it to be at 102.  So _startUpUdpServices function will be called before main.  This makes it easy to register a system without calling the function.  nothing is worse then spegitti code to debug.  Now, it is possible to order using higher numbers.  I took a little more time and create anoterh class to register function and order them.

If you have any questions let me know...


Sunday, June 25, 2017

Update ( dRonin communication to secondary board via UDP (USB EEM))

EEM USB is now working, there are some performance tweaks still needed, but, it is working.

Next start on a simple protocol to setup pins and pwm modes, ie, oneshot, or pwm out.  The goal is to use micropython and json for pin maping, and have a work task handle the I/O.  

Next week, will checkout TCP performance using iperf and Lwip netperf app.

Pushing forward.  


Thursday, May 25, 2017

dRonin communication to secondary board via UDP (USB EEM)

There is a similar project, called FlyingPI, but instead of using Raspberry PI, this project is using the OrangePI (Zero)/(Zero plus2) 

The interface between the micro-controller and flight controller will be USB (Full-Speed).  (Soon there will be STM32 high speed USB  boards out, but as of now, it is USB Full Speed).  The protocol will be EEM-USB (Ethernet-Emulation-Model), it is simple, just two bulk end-points.  At this time I have a basic STM class driver setup and some what talking to Linux.   An Ethernet interface is created and DHCP messages are streaming from the Linux. So, at-least the USB descriptors are working etc.

Why use USB?  Why use Ethernet? The goal is to make the flight controller interface generic, i.e UDP This way different boards or platforms can use standard sockets instead of SPI, Serial, etc. 

The main issue at this time is RAM space the board only has 138K of RAM, so, buffer space will be limited, but, should work.

Moving forward...

Saturday, May 20, 2017

orangePI Zero dRonin

I've been making slow progress on getting dRonin running on the orangePI Zero; work, and other spring outside activities.

Status:
Sparkfun MPU9250 and MS5611 is connected to the zero and dRonin is loading on the board.  just debugging general start up issues and now getting to testing sensors.  Need to configure starting dRonin with command line options for SPI and I2C.  Once this is done, add the microcontroller board for motor control, pwm input, etc.  Making progress.

Saturday, March 11, 2017

General update

It has been several months since the last post; several projects starting up at work, and several projects around the house keeping me busy.

Here is the plan over the next few weeks:
  1. New OrangePI Zero buildroot tutorial 
    1. Basic configuration 
    2. Patches (from Armbian) for WiFi 
    3. How to configure kernel for RT_PREEMPT 
      1. Best way to configure OS for real-time multicore response
  2. Updates on BetaFlight conversion to Linux (never ending)
    1. Issues in porting
      1.  creating a HAL (Hardware abstraction Library)
        1. SPI 
        2. Serial
        3. I2C
        4. GPIO
        5. Interrupts
        6. Timers
    2. Goal is to be able to run BetaFlight 
      1. Linux
      2. Micro-controller 
        1. Must have I2C flash or SDCard
        2. Use FreeRTOS
          1.  Zephyr RTOS is interesting more of a Linux based RTOS (ITS NOT LINUX)
    3. Also doing a for arducopter 
  3. Complete Udoo NEO M4 port OpenAMP
    1. Update MQX to use OpenAMP
      1. Did a port a while back need update this

Yes this is a large list, but there are 25 hours in a day ! ;) yes a management theorem.

If there is any questions please ask.. always looking for idea's for postings