mirror of https://github.com/ArduPilot/ardupilot
335 lines
6.9 KiB
C++
335 lines
6.9 KiB
C++
/*
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SITL handling
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This simulates the APM1 hardware sufficiently for the APM code to
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think it is running on real hardware
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Andrew Tridgell November 2011
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*/
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#include <unistd.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <errno.h>
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#include <sys/ioctl.h>
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <netinet/udp.h>
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#include <arpa/inet.h>
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#include <time.h>
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#include <sys/time.h>
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#include <signal.h>
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#include <math.h>
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#include <APM_RC.h>
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#include <wiring.h>
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#include <AP_PeriodicProcess.h>
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#include <AP_TimerProcess.h>
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#include <SITL.h>
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#include <avr/interrupt.h>
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#include "sitl_adc.h"
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#include "sitl_rc.h"
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#include "desktop.h"
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#include "util.h"
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#define SIMIN_PORT 5501
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#define RCOUT_PORT 5502
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static int sitl_fd;
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struct sockaddr_in rcout_addr;
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#ifndef __CYGWIN__
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static pid_t parent_pid;
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#endif
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struct ADC_UDR2 UDR2;
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struct RC_ICR4 ICR4;
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extern AP_TimerProcess timer_scheduler;
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extern Arduino_Mega_ISR_Registry isr_registry;
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extern SITL sitl;
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static uint32_t update_count;
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/*
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setup a SITL FDM listening UDP port
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*/
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static void setup_fdm(void)
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{
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int one=1, ret;
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struct sockaddr_in sockaddr;
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memset(&sockaddr,0,sizeof(sockaddr));
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#ifdef HAVE_SOCK_SIN_LEN
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sockaddr.sin_len = sizeof(sockaddr);
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#endif
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sockaddr.sin_port = htons(SIMIN_PORT);
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sockaddr.sin_family = AF_INET;
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sitl_fd = socket(AF_INET, SOCK_DGRAM, 0);
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if (sitl_fd == -1) {
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fprintf(stderr, "SITL: socket failed - %s\n", strerror(errno));
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exit(1);
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}
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/* we want to be able to re-use ports quickly */
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setsockopt(sitl_fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
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ret = bind(sitl_fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
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if (ret == -1) {
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fprintf(stderr, "SITL: bind failed on port %u - %s\n",
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(unsigned)ntohs(sockaddr.sin_port), strerror(errno));
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exit(1);
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}
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set_nonblocking(sitl_fd);
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}
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/*
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check for a SITL FDM packet
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*/
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static void sitl_fdm_input(void)
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{
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ssize_t size;
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struct pwm_packet {
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uint16_t pwm[8];
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};
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union {
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struct sitl_fdm fg_pkt;
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struct pwm_packet pwm_pkt;
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} d;
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size = recv(sitl_fd, &d, sizeof(d), MSG_DONTWAIT);
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switch (size) {
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case 132:
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static uint32_t last_report;
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static uint32_t count;
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if (d.fg_pkt.magic != 0x4c56414e) {
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printf("Bad FDM packet - magic=0x%08x\n", d.fg_pkt.magic);
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return;
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}
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if (d.fg_pkt.latitude == 0 ||
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d.fg_pkt.longitude == 0 ||
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d.fg_pkt.altitude <= 0) {
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// garbage input
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return;
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}
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sitl.state = d.fg_pkt;
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update_count++;
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count++;
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if (millis() - last_report > 1000) {
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//printf("SIM %u FPS\n", count);
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count = 0;
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last_report = millis();
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}
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break;
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case 16: {
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// a packet giving the receiver PWM inputs
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uint8_t i;
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for (i=0; i<8; i++) {
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// setup the ICR4 register for the RC channel
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// inputs
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if (d.pwm_pkt.pwm[i] != 0) {
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ICR4.set(i, d.pwm_pkt.pwm[i]);
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}
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}
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break;
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}
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}
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}
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// used for noise generation in the ADC code
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// motor speed in revolutions per second
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float sitl_motor_speed[4] = {0,0,0,0};
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/*
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send RC outputs to simulator
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*/
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static void sitl_simulator_output(void)
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{
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static uint32_t last_update;
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uint16_t pwm[11];
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/* this maps the registers used for PWM outputs. The RC
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* driver updates these whenever it wants the channel output
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* to change */
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uint16_t *reg[11] = { &OCR5B, &OCR5C, &OCR1B, &OCR1C,
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&OCR4C, &OCR4B, &OCR3C, &OCR3B,
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&OCR5A, &OCR1A, &OCR3A };
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uint8_t i;
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if (last_update == 0) {
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for (i=0; i<11; i++) {
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(*reg[i]) = 1000*2;
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}
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if (!desktop_state.quadcopter) {
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(*reg[0]) = (*reg[1]) = (*reg[3]) = 1500*2;
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(*reg[7]) = 1800*2;
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}
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}
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// output at chosen framerate
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if (millis() - last_update < 1000/desktop_state.framerate) {
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return;
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}
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last_update = millis();
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for (i=0; i<11; i++) {
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if (*reg[i] == 0xFFFF) {
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pwm[i] = 0;
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} else {
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pwm[i] = (*reg[i])/2;
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}
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}
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if (!desktop_state.quadcopter) {
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// add in engine multiplier
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if (pwm[2] > 1000) {
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pwm[2] = ((pwm[2]-1000) * sitl.engine_mul) + 1000;
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if (pwm[2] > 2000) pwm[2] = 2000;
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}
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// 400kV motor, 16V
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sitl_motor_speed[0] = ((pwm[2]-1000)/1000.0) * 400 * 16 / 60.0;
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} else {
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// 850kV motor, 16V
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for (i=0; i<4; i++) {
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sitl_motor_speed[i] = ((pwm[i]-1000)/1000.0) * 850 * 12 / 60.0;
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}
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}
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sendto(sitl_fd, (void*)pwm, sizeof(pwm), MSG_DONTWAIT, (const sockaddr *)&rcout_addr, sizeof(rcout_addr));
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}
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/*
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timer called at 1kHz
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*/
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static void timer_handler(int signum)
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{
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static uint32_t last_update_count;
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static bool running;
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if (running) {
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return;
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}
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running = true;
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cli();
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#ifndef __CYGWIN__
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/* make sure we die if our parent dies */
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if (kill(parent_pid, 0) != 0) {
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exit(1);
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}
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#else
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static uint16_t count = 0;
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static uint32_t last_report;
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count++;
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if (millis() - last_report > 1000) {
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printf("TH %u cps\n", count);
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count = 0;
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last_report = millis();
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}
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#endif
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/* check for packet from flight sim */
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sitl_fdm_input();
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// trigger all timers
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timer_scheduler.run();
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// trigger RC input
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if (isr_registry._registry[ISR_REGISTRY_TIMER4_CAPT]) {
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isr_registry._registry[ISR_REGISTRY_TIMER4_CAPT]();
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}
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// send RC output to flight sim
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sitl_simulator_output();
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if (update_count == 0) {
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sitl_update_gps(0, 0, 0, 0, 0, false);
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sei();
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running = false;
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return;
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}
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if (update_count == last_update_count) {
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sei();
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running = false;
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return;
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}
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last_update_count = update_count;
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sitl_update_gps(sitl.state.latitude, sitl.state.longitude,
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sitl.state.altitude,
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sitl.state.speedN, sitl.state.speedE, !sitl.gps_disable);
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sitl_update_adc(sitl.state.rollDeg, sitl.state.pitchDeg, sitl.state.yawDeg,
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sitl.state.rollRate, sitl.state.pitchRate, sitl.state.yawRate,
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sitl.state.xAccel, sitl.state.yAccel, sitl.state.zAccel,
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sitl.state.airspeed);
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sitl_update_barometer(sitl.state.altitude);
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sitl_update_compass(sitl.state.rollDeg, sitl.state.pitchDeg, sitl.state.heading);
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// clear the ADC conversion flag,
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// so the ADC code doesn't get stuck
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ADCSRA &= ~_BV(ADSC);
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sei();
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running = false;
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}
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/*
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setup a timer used to prod the ISRs
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*/
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static void setup_timer(void)
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{
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struct itimerval it;
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struct sigaction act;
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act.sa_handler = timer_handler;
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act.sa_flags = SA_RESTART|SA_NODEFER;
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sigemptyset(&act.sa_mask);
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sigaddset(&act.sa_mask, SIGALRM);
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sigaction(SIGALRM, &act, NULL);
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it.it_interval.tv_sec = 0;
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it.it_interval.tv_usec = 1000; // 1KHz
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it.it_value = it.it_interval;
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setitimer(ITIMER_REAL, &it, NULL);
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}
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/*
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setup for SITL handling
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*/
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void sitl_setup(void)
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{
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#ifndef __CYGWIN__
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parent_pid = getppid();
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#endif
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rcout_addr.sin_family = AF_INET;
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rcout_addr.sin_port = htons(RCOUT_PORT);
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inet_pton(AF_INET, "127.0.0.1", &rcout_addr.sin_addr);
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setup_timer();
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setup_fdm();
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sitl_setup_adc();
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printf("Starting SITL input\n");
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// setup some initial values
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sitl_update_barometer(desktop_state.initial_height);
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sitl_update_adc(0, 0, 0, 0, 0, 0, 0, 0, -9.8, 0);
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sitl_update_compass(0, 0, 0);
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sitl_update_gps(0, 0, 0, 0, 0, false);
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}
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