ardupilot/ArduPlane/px4_mixer.cpp

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2015-05-13 03:09:36 -03:00
#include "Plane.h"
/*
handle creation of PX4 mixer file, for failover to direct RC control
on failure of FMU
This will create APM/MIXER.MIX on the microSD card. The user may
also create APM/CUSTOM.MIX, and if it exists that will be used
instead. That allows the user to setup more complex failsafe mixes
that include flaps, landing gear, ignition cut etc
*/
#if HAVE_PX4_MIXER
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdio.h>
#include <drivers/drv_pwm_output.h>
#include <systemlib/mixer/mixer.h>
#include <modules/px4iofirmware/protocol.h>
#include <GCS_MAVLink/include/mavlink/v2.0/checksum.h>
#include <utility>
#define PX4_LIM_RC_MIN 900
#define PX4_LIM_RC_MAX 2100
/*
formatted print to a buffer with buffer advance. Returns true on
success, false on fail
*/
bool Plane::print_buffer(char *&buf, uint16_t &buf_size, const char *fmt, ...)
{
va_list arg_list;
va_start(arg_list, fmt);
int n = ::vsnprintf(buf, buf_size, fmt, arg_list);
va_end(arg_list);
if (n <= 0 || n >= buf_size) {
return false;
}
buf += n;
buf_size -= n;
return true;
}
/*
create a mixer for a normal angle channel
*/
bool Plane::mix_one_channel(char *&buf, uint16_t &buf_size, uint8_t out_chan, uint8_t in_chan)
{
const float limit = 10000;
const SRV_Channel *outch = SRV_Channels::srv_channel(out_chan);
bool is_throttle = in_chan==rcmap.throttle()-1;
int16_t outch_trim = is_throttle?1500:outch->get_trim();
outch_trim = constrain_int16(outch_trim, outch->get_output_min()+1, outch->get_output_max()-1);
if (!print_buffer(buf, buf_size, "M: 1\n")) {
return false;
}
int32_t out_min = limit*(outch_trim - outch->get_output_min()) / (1500 - PX4_LIM_RC_MIN);
int32_t out_max = limit*(outch->get_output_max() - outch_trim) / (PX4_LIM_RC_MAX - 1500);
int32_t out_trim = limit*(outch_trim - 1500) / ((PX4_LIM_RC_MAX - PX4_LIM_RC_MIN) / 2);
int32_t reverse = outch->get_reversed()?-1:1;
if (!print_buffer(buf, buf_size, "O: %d %d %d %d %d\n",
int(out_min*reverse),
int(out_max*reverse),
int(out_trim),
int(-limit), int(limit))) {
return false;
}
if (!print_buffer(buf, buf_size, "S: 0 %u %d %d %d %d %d\n",
in_chan,
int(limit), int(limit),
0,
int(-limit), int(limit))) {
return false;
}
return true;
}
/*
mix two channels using elevon style mixer
*/
bool Plane::mix_two_channels(char *&buf, uint16_t &buf_size, uint8_t out_chan, uint8_t in_chan1, uint8_t in_chan2, bool left_channel)
{
const float limit = 10000;
const SRV_Channel *outch = SRV_Channels::srv_channel(out_chan);
int16_t outch_trim = outch->get_trim();
outch_trim = constrain_int16(outch_trim, outch->get_output_min()+1, outch->get_output_max()-1);
if (!print_buffer(buf, buf_size, "M: 2\n")) {
return false;
}
int32_t out_min = limit*(outch->get_trim() - outch->get_output_min()) / (1500 - PX4_LIM_RC_MIN);
int32_t out_max = limit*(outch->get_output_max() - outch->get_trim()) / (PX4_LIM_RC_MAX - 1500);
int32_t out_trim = limit*(outch_trim - 1500) / ((PX4_LIM_RC_MAX - PX4_LIM_RC_MIN) / 2);
int32_t in_mul2 = left_channel?-1:1;
float in_gain = g.mixing_gain;
int32_t reverse = outch->get_reversed()?-1:1;
if (!print_buffer(buf, buf_size, "O: %d %d %d %d %d\n",
int(out_min*reverse),
int(out_max*reverse),
int(out_trim),
int(-limit*2), int(limit*2))) {
return false;
}
if (!print_buffer(buf, buf_size, "S: 0 %u %d %d %d %d %d\n",
in_chan1,
int(limit*in_gain), int(limit*in_gain),
0,
int(-limit), int(limit))) {
return false;
}
if (!print_buffer(buf, buf_size, "S: 0 %u %d %d %d %d %d\n",
in_chan2,
int(limit*in_gain*in_mul2), int(limit*in_gain*in_mul2),
0,
int(-limit), int(limit))) {
return false;
}
return true;
}
/*
create a mixer for k_manual and k_rcin*
*/
bool Plane::mix_passthrough(char *&buf, uint16_t &buf_size, uint8_t out_chan, uint8_t in_chan)
{
const float limit = 10000;
if (!print_buffer(buf, buf_size, "M: 1\n")) {
return false;
}
if (!print_buffer(buf, buf_size, "O: %d %d %d %d %d\n",
int(limit),
int(limit),
0,
int(-limit), int(limit))) {
return false;
}
if (!print_buffer(buf, buf_size, "S: 0 %u %d %d %d %d %d\n",
in_chan,
int(limit), int(limit),
0,
int(-limit), int(limit))) {
return false;
}
return true;
}
/*
create a mixer for outputting trim only
*/
bool Plane::mix_trim_channel(char *&buf, uint16_t &buf_size, uint8_t out_chan)
{
const float limit = 10000;
const SRV_Channel *outch = SRV_Channels::srv_channel(out_chan);
int16_t outch_trim = outch->get_trim();
outch_trim = constrain_int16(outch_trim, outch->get_output_min()+1, outch->get_output_max()-1);
if (!print_buffer(buf, buf_size, "M: 0\n")) {
return false;
}
int32_t out_trim = limit*(outch_trim - 1500) / ((PX4_LIM_RC_MAX - PX4_LIM_RC_MIN) / 2);
if (!print_buffer(buf, buf_size, "O: %d %d %d %d %d\n",
int(limit),
int(limit),
int(out_trim),
int(-limit), int(limit))) {
return false;
}
return true;
}
/*
create a PX4 mixer buffer given the current fixed wing parameters, returns the size of the buffer used
*/
uint16_t Plane::create_mixer(char *buf, uint16_t buf_size, const char *filename)
{
char *buf0 = buf;
uint16_t buf_size0 = buf_size;
uint16_t manual_mask = uint16_t(g2.manual_rc_mask.get());
for (uint8_t i=0; i<8; i++) {
if ((1U<<i) & manual_mask) {
// handle MANUAL_RCMASK channels
mix_passthrough(buf, buf_size, i, i);
continue;
}
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SRV_Channel::Aux_servo_function_t function = SRV_Channels::channel_function(i);
switch (function) {
case SRV_Channel::k_aileron:
case SRV_Channel::k_flaperon_left:
case SRV_Channel::k_flaperon_right:
mix_one_channel(buf, buf_size, i, rcmap.roll()-1);
break;
case SRV_Channel::k_elevator:
mix_one_channel(buf, buf_size, i, rcmap.pitch()-1);
break;
case SRV_Channel::k_throttle:
mix_one_channel(buf, buf_size, i, rcmap.throttle()-1);
break;
case SRV_Channel::k_rudder:
case SRV_Channel::k_steering:
mix_one_channel(buf, buf_size, i, rcmap.yaw()-1);
break;
case SRV_Channel::k_elevon_left:
case SRV_Channel::k_dspoilerLeft1:
case SRV_Channel::k_dspoilerLeft2:
mix_two_channels(buf, buf_size, i, rcmap.pitch()-1, rcmap.roll()-1, true);
break;
case SRV_Channel::k_elevon_right:
case SRV_Channel::k_dspoilerRight1:
case SRV_Channel::k_dspoilerRight2:
mix_two_channels(buf, buf_size, i, rcmap.pitch()-1, rcmap.roll()-1, false);
break;
case SRV_Channel::k_vtail_left:
mix_two_channels(buf, buf_size, i, rcmap.pitch()-1, rcmap.yaw()-1, true);
break;
case SRV_Channel::k_vtail_right:
mix_two_channels(buf, buf_size, i, rcmap.pitch()-1, rcmap.yaw()-1, false);
break;
case SRV_Channel::k_manual:
mix_passthrough(buf, buf_size, i, i);
break;
case SRV_Channel::k_rcin1 ... SRV_Channel::k_rcin16:
mix_passthrough(buf, buf_size, i, uint8_t(function - SRV_Channel::k_rcin1));
break;
default:
mix_trim_channel(buf, buf_size, i);
break;
}
}
/*
if possible, also write to a file for debugging purposes
*/
int mix_fd = open(filename, O_WRONLY|O_CREAT|O_TRUNC, 0644);
if (mix_fd != -1) {
write(mix_fd, buf0, buf_size0 - buf_size);
close(mix_fd);
}
return buf_size0 - buf_size;
}
/*
setup mixer on PX4 so that if FMU dies the pilot gets manual control
*/
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bool Plane::setup_failsafe_mixing(void)
{
const char *mixer_filename = "/fs/microsd/APM/MIXER.MIX";
bool ret = false;
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char *buf = nullptr;
const uint16_t buf_size = 2048;
uint16_t fileSize, new_crc;
int px4io_fd = -1;
enum AP_HAL::Util::safety_state old_state = hal.util->safety_switch_state();
struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 8};
unsigned mixer_status = 0;
uint16_t manual_mask = uint16_t(g2.manual_rc_mask.get());
buf = (char *)calloc(1, buf_size);
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if (buf == nullptr) {
goto failed;
}
fileSize = create_mixer(buf, buf_size, mixer_filename);
if (!fileSize) {
hal.console->printf("Unable to create mixer\n");
goto failed;
}
new_crc = crc_calculate((uint8_t *)buf, fileSize);
if ((int32_t)new_crc == last_mixer_crc) {
free(buf);
return true;
} else {
last_mixer_crc = new_crc;
}
px4io_fd = open("/dev/px4io", 0);
if (px4io_fd == -1) {
// px4io isn't started, no point in setting up a mixer
goto failed;
}
if (old_state == AP_HAL::Util::SAFETY_ARMED) {
// make sure the throttle has a non-zero failsafe value before we
// disable safety. This prevents sending zero PWM during switch over
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, have_reverse_thrust()?SRV_Channel::SRV_CHANNEL_LIMIT_TRIM:SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
}
// we need to force safety on to allow us to load a mixer. We call
// it twice as there have been reports that this call can fail
// with a small probability
hal.rcout->force_safety_on();
hal.rcout->force_safety_no_wait();
/* reset any existing mixer in px4io. This shouldn't be needed,
* but is good practice */
if (ioctl(px4io_fd, MIXERIOCRESET, 0) != 0) {
hal.console->printf("Unable to reset mixer\n");
goto failed;
}
/* pass the buffer to the device */
if (ioctl(px4io_fd, MIXERIOCLOADBUF, (unsigned long)buf) != 0) {
hal.console->printf("Unable to send mixer to IO\n");
goto failed;
}
// setup RC config for each channel based on user specified
// mix/max/trim. We only do the first 8 channels due to
// a RC config limitation in px4io.c limiting to PX4IO_RC_MAPPED_CONTROL_CHANNELS
for (uint8_t i=0; i<8; i++) {
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RC_Channel *ch = RC_Channels::rc_channel(i);
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if (ch == nullptr) {
continue;
}
struct pwm_output_rc_config config;
config.channel = i;
// use high rc limits to allow for correct pass-thru channels
// without limits
config.rc_min = ch->get_radio_min();
config.rc_max = ch->get_radio_max();
if (rcmap.throttle()-1 == i) {
// throttle uses a trim between min and max, so we don't get division
// by small numbers near RC3_MIN
config.rc_trim = (config.rc_min + config.rc_max)/2;
} else {
ArduPlane: Fix up after refactoring RC_Channel class Further to refactor of RC_Channel class which included adding get_xx set_xx methods, change reads and writes to the public members to calls to get and set functionsss old public member(int16_t) get function -> int16_t set function (int16_t) (expression where c is an object of type RC_Channel) c.radio_in c.get_radio_in() c.set_radio_in(v) c.control_in c.get_control_in() c.set_control_in(v) c.servo_out c.get_servo_out() c.set_servo_out(v) c.pwm_out c.get_pwm_out() // use existing c.radio_out c.get_radio_out() c.set_radio_out(v) c.radio_max c.get_radio_max() c.set_radio_max(v) c.radio_min c.get_radio_min() c.set_radio_min(v) c.radio_trim c.get_radio_trim() c.set_radio_trim(v); c.min_max_configured() // return true if min and max are configured Because data members of RC_Channels are now private and so cannot be written directly some overloads are provided in the Plane classes to provide the old functionality new overload Plane::stick_mix_channel(RC_Channel *channel) which forwards to the previously existing void stick_mix_channel(RC_Channel *channel, int16_t &servo_out); new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const which forwards to (uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const; Rename functions RC_Channel_aux::set_radio_trim(Aux_servo_function_t function) to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function) RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value) to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value) Rationale: RC_Channel is a complicated class, which combines several functionalities dealing with stick inputs in pwm and logical units, logical and actual actuator outputs, unit conversion etc, etc The intent of this PR is to clarify existing use of the class. At the basic level it should now be possible to grep all places where private variable is set by searching for the set_xx function. (The wider purpose is to provide a more generic and logically simpler method of output mixing. This is a small step)
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config.rc_trim = constrain_int16(ch->get_radio_trim(), config.rc_min+1, config.rc_max-1);
}
config.rc_dz = 0; // zero for the purposes of manual takeover
config.rc_reverse = ch->get_reverse();
if (i == 1) {
// undo the reversal of channel2 in px4io
config.rc_reverse = !config.rc_reverse;
}
if (i+1 == g.override_channel.get()) {
/*
This is an OVERRIDE_CHAN channel. We want IO to trigger
override with a channel input of over 1750. The px4io
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code is setup for triggering below 80% of the range below
trim. To map this to values above 1750 we need to reverse
the direction and set the rc range for this channel to 1000
to 1813 (1812.5 = 1500 + 250/0.8)
*/
config.rc_assignment = PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH;
config.rc_reverse = true;
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config.rc_max = 1813; // round 1812.5 up to grant > 1750
config.rc_min = 1000;
config.rc_trim = 1500;
} else if (manual_mask & (1U<<i)) {
// use fixed limits for manual_mask channels
config.rc_assignment = i;
config.rc_reverse = i==1?true:false;
config.rc_max = PX4_LIM_RC_MAX;
config.rc_min = PX4_LIM_RC_MIN;
config.rc_trim = 1500;
} else {
config.rc_assignment = i;
}
if (ioctl(px4io_fd, PWM_SERVO_SET_RC_CONFIG, (unsigned long)&config) != 0) {
hal.console->printf("SET_RC_CONFIG failed\n");
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goto failed;
}
}
for (uint8_t i = 0; i < pwm_values.channel_count; i++) {
if (SRV_Channel::is_motor(SRV_Channels::channel_function(i))) {
pwm_values.values[i] = quadplane.thr_min_pwm;
} else {
pwm_values.values[i] = PX4_LIM_RC_MIN;
}
}
if (ioctl(px4io_fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values) != 0) {
hal.console->printf("SET_MIN_PWM failed\n");
goto failed;
}
for (uint8_t i = 0; i < pwm_values.channel_count; i++) {
if (SRV_Channel::is_motor(SRV_Channels::channel_function(i))) {
hal.rcout->write(i, quadplane.thr_min_pwm);
pwm_values.values[i] = quadplane.thr_min_pwm;
} else {
pwm_values.values[i] = PX4_LIM_RC_MAX;
}
}
if (ioctl(px4io_fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values) != 0) {
hal.console->printf("SET_MAX_PWM failed\n");
goto failed;
}
if (ioctl(px4io_fd, PWM_SERVO_SET_OVERRIDE_OK, 0) != 0) {
hal.console->printf("SET_OVERRIDE_OK failed\n");
goto failed;
}
if (ioctl(px4io_fd, PWM_SERVO_SET_OVERRIDE_IMMEDIATE, 1) != 0) {
hal.console->printf("SET_OVERRIDE_IMMEDIATE failed\n");
goto failed;
}
if (ioctl(px4io_fd, PWM_IO_GET_STATUS, (unsigned long)&mixer_status) != 0 ||
(mixer_status & PX4IO_P_STATUS_FLAGS_MIXER_OK) != 0) {
hal.console->printf("Mixer failed: 0x%04x\n", mixer_status);
goto failed;
}
ret = true;
failed:
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if (buf != nullptr) {
free(buf);
}
if (px4io_fd != -1) {
close(px4io_fd);
}
// restore safety state if it was previously armed
if (old_state == AP_HAL::Util::SAFETY_ARMED) {
hal.rcout->force_safety_off();
hal.rcout->force_safety_no_wait();
}
if (!ret) {
// clear out the mixer CRC so that we will attempt to send it again
last_mixer_crc = -1;
}
return ret;
}
#endif // CONFIG_HAL_BOARD