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Merge branch 'master' into seatbelt_multirotor

This commit is contained in:
Anton Babushkin 2013-05-28 19:04:29 +04:00
parent f8900f002c 27ee36b204
commit 234b9c8f67
8 changed files with 626 additions and 264 deletions
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1
makefiles/config_px4fmu_default.mk
View File

@ -56,6 +56,7 @@ MODULES += systemcmds/tests
MODULES += modules/commander
MODULES += modules/mavlink
MODULES += modules/mavlink_onboard
MODULES += modules/gpio_led
#
# Estimation modules (EKF / other filters)

2
makefiles/toolchain_gnu-arm-eabi.mk
View File

@ -219,7 +219,7 @@ endef
define PRELINK
@$(ECHO) "PRELINK: $1"
@$(MKDIR) -p $(dir $1)
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
$(Q) $(LD) -Ur -Map $1.map -o $1 $2 && $(OBJCOPY) --localize-hidden $1
endef
# Update the archive $1 with the files in $2

2
src/drivers/hmc5883/hmc5883.cpp
View File

@ -329,7 +329,7 @@ HMC5883::HMC5883(int bus) :
_calibrated(false)
{
// enable debug() calls
_debug_enabled = true;
_debug_enabled = false;
// default scaling
_scale.x_offset = 0;

524
src/drivers/mkblctrl/mkblctrl.cpp
View File

@ -76,7 +76,6 @@
#include <uORB/topics/actuator_outputs.h>
#include <systemlib/err.h>
#include <systemlib/ppm_decode.h>
#define I2C_BUS_SPEED 400000
#define UPDATE_RATE 400
@ -114,6 +113,7 @@ public:
virtual int ioctl(file *filp, int cmd, unsigned long arg);
virtual int init(unsigned motors);
virtual ssize_t write(file *filp, const char *buffer, size_t len);
int set_mode(Mode mode);
int set_pwm_rate(unsigned rate);
@ -177,9 +177,10 @@ private:
int gpio_ioctl(file *filp, int cmd, unsigned long arg);
int mk_servo_arm(bool status);
int mk_servo_set(unsigned int chan, float val);
int mk_servo_set_test(unsigned int chan, float val);
int mk_servo_set(unsigned int chan, short val);
int mk_servo_set_value(unsigned int chan, short val);
int mk_servo_test(unsigned int chan);
short scaling(float val, float inMin, float inMax, float outMin, float outMax);
};
@ -207,20 +208,20 @@ const int blctrlAddr_octo_x[] = { 1, 4, 0, 1, -4, 1, 1, -4 }; // Addresstranslat
const int blctrlAddr_px4[] = { 0, 0, 0, 0, 0, 0, 0, 0};
int addrTranslator[] = {0,0,0,0,0,0,0,0};
int addrTranslator[] = {0, 0, 0, 0, 0, 0, 0, 0};
struct MotorData_t
{
struct MotorData_t {
unsigned int Version; // the version of the BL (0 = old)
unsigned int SetPoint; // written by attitude controller
unsigned int SetPointLowerBits; // for higher Resolution of new BLs
unsigned int State; // 7 bit for I2C error counter, highest bit indicates if motor is present
unsigned int ReadMode; // select data to read
// the following bytes must be exactly in that order!
unsigned int Current; // in 0.1 A steps, read back from BL
unsigned int MaxPWM; // read back from BL is less than 255 if BL is in current limit
unsigned int Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in
unsigned int RoundCount;
unsigned int SetPoint; // written by attitude controller
unsigned int SetPointLowerBits; // for higher Resolution of new BLs
unsigned int State; // 7 bit for I2C error counter, highest bit indicates if motor is present
unsigned int ReadMode; // select data to read
unsigned short RawPwmValue; // length of PWM pulse
// the following bytes must be exactly in that order!
unsigned int Current; // in 0.1 A steps, read back from BL
unsigned int MaxPWM; // read back from BL is less than 255 if BL is in current limit
unsigned int Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in
unsigned int RoundCount;
};
MotorData_t Motor[MAX_MOTORS];
@ -314,7 +315,7 @@ MK::init(unsigned motors)
/* start the IO interface task */
_task = task_spawn("mkblctrl",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX -20,
SCHED_PRIORITY_MAX - 20,
2048,
(main_t)&MK::task_main_trampoline,
nullptr);
@ -346,27 +347,11 @@ MK::set_mode(Mode mode)
*/
switch (mode) {
case MODE_2PWM:
if(_num_outputs == 4) {
//debug("MODE_QUAD");
} else if(_num_outputs == 6) {
//debug("MODE_HEXA");
} else if(_num_outputs == 8) {
//debug("MODE_OCTO");
}
//up_pwm_servo_init(0x3);
up_pwm_servo_deinit();
_update_rate = UPDATE_RATE; /* default output rate */
break;
case MODE_4PWM:
if(_num_outputs == 4) {
//debug("MODE_QUADRO");
} else if(_num_outputs == 6) {
//debug("MODE_HEXA");
} else if(_num_outputs == 8) {
//debug("MODE_OCTO");
}
//up_pwm_servo_init(0xf);
up_pwm_servo_deinit();
_update_rate = UPDATE_RATE; /* default output rate */
break;
@ -412,45 +397,55 @@ MK::set_frametype(int frametype)
int
MK::set_motor_count(unsigned count)
{
if(count > 0) {
if (count > 0) {
_num_outputs = count;
if(_px4mode == MAPPING_MK) {
if(_frametype == FRAME_PLUS) {
if (_px4mode == MAPPING_MK) {
if (_frametype == FRAME_PLUS) {
fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: +\n");
} else if(_frametype == FRAME_X) {
} else if (_frametype == FRAME_X) {
fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: X\n");
}
if(_num_outputs == 4) {
if(_frametype == FRAME_PLUS) {
if (_num_outputs == 4) {
if (_frametype == FRAME_PLUS) {
memcpy(&addrTranslator, &blctrlAddr_quad_plus, sizeof(blctrlAddr_quad_plus));
} else if(_frametype == FRAME_X) {
} else if (_frametype == FRAME_X) {
memcpy(&addrTranslator, &blctrlAddr_quad_x, sizeof(blctrlAddr_quad_x));
}
} else if(_num_outputs == 6) {
if(_frametype == FRAME_PLUS) {
} else if (_num_outputs == 6) {
if (_frametype == FRAME_PLUS) {
memcpy(&addrTranslator, &blctrlAddr_hexa_plus, sizeof(blctrlAddr_hexa_plus));
} else if(_frametype == FRAME_X) {
} else if (_frametype == FRAME_X) {
memcpy(&addrTranslator, &blctrlAddr_hexa_x, sizeof(blctrlAddr_hexa_x));
}
} else if(_num_outputs == 8) {
if(_frametype == FRAME_PLUS) {
} else if (_num_outputs == 8) {
if (_frametype == FRAME_PLUS) {
memcpy(&addrTranslator, &blctrlAddr_octo_plus, sizeof(blctrlAddr_octo_plus));
} else if(_frametype == FRAME_X) {
} else if (_frametype == FRAME_X) {
memcpy(&addrTranslator, &blctrlAddr_octo_x, sizeof(blctrlAddr_octo_x));
}
}
} else {
fprintf(stderr, "[mkblctrl] PX4 native addressing used.\n");
memcpy(&addrTranslator, &blctrlAddr_px4, sizeof(blctrlAddr_px4));
}
if(_num_outputs == 4) {
if (_num_outputs == 4) {
fprintf(stderr, "[mkblctrl] Quadrocopter Mode (4)\n");
} else if(_num_outputs == 6) {
} else if (_num_outputs == 6) {
fprintf(stderr, "[mkblctrl] Hexacopter Mode (6)\n");
} else if(_num_outputs == 8) {
} else if (_num_outputs == 8) {
fprintf(stderr, "[mkblctrl] Octocopter Mode (8)\n");
}
@ -469,16 +464,35 @@ MK::set_motor_test(bool motortest)
return OK;
}
short
MK::scaling(float val, float inMin, float inMax, float outMin, float outMax)
{
short retVal = 0;
retVal = (val - inMin) / (inMax - inMin) * (outMax - outMin) + outMin;
if (retVal < outMin) {
retVal = outMin;
} else if (retVal > outMax) {
retVal = outMax;
}
return retVal;
}
void
MK::task_main()
{
long update_rate_in_us = 0;
float tmpVal = 0;
/*
* Subscribe to the appropriate PWM output topic based on whether we are the
* primary PWM output or not.
*/
_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
ORB_ID(actuator_controls_1));
_t_actuators = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
/* force a reset of the update rate */
_current_update_rate = 0;
@ -492,6 +506,8 @@ MK::task_main()
_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
&outputs);
/* advertise the effective control inputs */
actuator_controls_effective_s controls_effective;
memset(&controls_effective, 0, sizeof(controls_effective));
@ -499,21 +515,14 @@ MK::task_main()
_t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1),
&controls_effective);
pollfd fds[2];
fds[0].fd = _t_actuators;
fds[0].events = POLLIN;
fds[1].fd = _t_armed;
fds[1].events = POLLIN;
// rc input, published to ORB
struct rc_input_values rc_in;
orb_advert_t to_input_rc = 0;
memset(&rc_in, 0, sizeof(rc_in));
rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM;
log("starting");
long update_rate_in_us = 0;
/* loop until killed */
while (!_task_should_exit) {
@ -528,6 +537,7 @@ MK::task_main()
update_rate_in_ms = 2;
_update_rate = 500;
}
/* reject slower than 50 Hz updates */
if (update_rate_in_ms > 20) {
update_rate_in_ms = 20;
@ -539,8 +549,8 @@ MK::task_main()
_current_update_rate = _update_rate;
}
/* sleep waiting for data, but no more than a second */
int ret = ::poll(&fds[0], 2, 1000);
/* sleep waiting for data max 100ms */
int ret = ::poll(&fds[0], 2, 100);
/* this would be bad... */
if (ret < 0) {
@ -553,7 +563,7 @@ MK::task_main()
if (fds[0].revents & POLLIN) {
/* get controls - must always do this to avoid spinning */
orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : ORB_ID(actuator_controls_1), _t_actuators, &_controls);
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
/* can we mix? */
if (_mixers != nullptr) {
@ -565,53 +575,52 @@ MK::task_main()
// XXX output actual limited values
memcpy(&controls_effective, &_controls, sizeof(controls_effective));
orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective);
/* iterate actuators */
for (unsigned int i = 0; i < _num_outputs; i++) {
/* last resort: catch NaN, INF and out-of-band errors */
if (i < outputs.noutputs &&
isfinite(outputs.output[i]) &&
outputs.output[i] >= -1.0f &&
outputs.output[i] <= 1.0f) {
isfinite(outputs.output[i]) &&
outputs.output[i] >= -1.0f &&
outputs.output[i] <= 1.0f) {
/* scale for PWM output 900 - 2100us */
//outputs.output[i] = 1500 + (600 * outputs.output[i]);
//outputs.output[i] = 127 + (127 * outputs.output[i]);
/* nothing to do here */
} else {
/*
* Value is NaN, INF or out of band - set to the minimum value.
* This will be clearly visible on the servo status and will limit the risk of accidentally
* spinning motors. It would be deadly in flight.
*/
if(outputs.output[i] < -1.0f) {
if (outputs.output[i] < -1.0f) {
outputs.output[i] = -1.0f;
} else if(outputs.output[i] > 1.0f) {
} else if (outputs.output[i] > 1.0f) {
outputs.output[i] = 1.0f;
} else {
outputs.output[i] = -1.0f;
}
}
/* don't go under BLCTRL_MIN_VALUE */
if(outputs.output[i] < BLCTRL_MIN_VALUE) {
if (outputs.output[i] < BLCTRL_MIN_VALUE) {
outputs.output[i] = BLCTRL_MIN_VALUE;
}
//_motortest = true;
/* output to BLCtrl's */
if(_motortest == true) {
mk_servo_test(i);
} else {
//mk_servo_set(i, outputs.output[i]);
mk_servo_set_test(i, outputs.output[i]); // 8Bit
}
/* output to BLCtrl's */
if (_motortest == true) {
mk_servo_test(i);
} else {
mk_servo_set_value(i, scaling(outputs.output[i], -1.0f, 1.0f, 0, 1024)); // scale the output to 0 - 1024 and sent to output routine
}
}
/* and publish for anyone that cares to see */
orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &outputs);
}
}
/* how about an arming update? */
@ -622,29 +631,9 @@ MK::task_main()
orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
/* update PWM servo armed status if armed and not locked down */
////up_pwm_servo_arm(aa.armed && !aa.lockdown);
mk_servo_arm(aa.armed && !aa.lockdown);
}
// see if we have new PPM input data
if (ppm_last_valid_decode != rc_in.timestamp) {
// we have a new PPM frame. Publish it.
rc_in.channel_count = ppm_decoded_channels;
if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) {
rc_in.channel_count = RC_INPUT_MAX_CHANNELS;
}
for (uint8_t i=0; i<rc_in.channel_count; i++) {
rc_in.values[i] = ppm_buffer[i];
}
rc_in.timestamp = ppm_last_valid_decode;
/* lazily advertise on first publication */
if (to_input_rc == 0) {
to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_in);
} else {
orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in);
}
}
}
@ -666,7 +655,7 @@ MK::task_main()
}
int
int
MK::mk_servo_arm(bool status)
{
_armed = status;
@ -680,12 +669,13 @@ MK::mk_check_for_blctrl(unsigned int count, bool showOutput)
_retries = 50;
uint8_t foundMotorCount = 0;
for(unsigned i=0; i<MAX_MOTORS; i++) {
for (unsigned i = 0; i < MAX_MOTORS; i++) {
Motor[i].Version = 0;
Motor[i].SetPoint = 0;
Motor[i].SetPointLowerBits = 0;
Motor[i].State = 0;
Motor[i].ReadMode = 0;
Motor[i].RawPwmValue = 0;
Motor[i].Current = 0;
Motor[i].MaxPWM = 0;
Motor[i].Temperature = 0;
@ -695,34 +685,37 @@ MK::mk_check_for_blctrl(unsigned int count, bool showOutput)
uint8_t msg = 0;
uint8_t result[3];
for(unsigned i=0; i< count; i++) {
for (unsigned i = 0; i < count; i++) {
result[0] = 0;
result[1] = 0;
result[2] = 0;
set_address( BLCTRL_BASE_ADDR + i );
set_address(BLCTRL_BASE_ADDR + i);
if (OK == transfer(&msg, 1, &result[0], 3)) {
Motor[i].Current = result[0];
Motor[i].MaxPWM = result[1];
Motor[i].Temperature = result[2];
Motor[i].State |= MOTOR_STATE_PRESENT_MASK; // set present bit;
foundMotorCount++;
if(Motor[i].MaxPWM == 250) {
if (Motor[i].MaxPWM == 250) {
Motor[i].Version = BLCTRL_NEW;
} else {
Motor[i].Version = BLCTRL_OLD;
}
}
}
if(showOutput) {
fprintf(stderr, "[mkblctrl] MotorsFound: %i\n",foundMotorCount);
for(unsigned i=0; i< foundMotorCount; i++) {
fprintf(stderr, "[mkblctrl] blctrl[%i] : found=%i\tversion=%i\tcurrent=%i\tmaxpwm=%i\ttemperature=%i\n", i,Motor[i].State, Motor[i].Version, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature);
if (showOutput) {
fprintf(stderr, "[mkblctrl] MotorsFound: %i\n", foundMotorCount);
for (unsigned i = 0; i < foundMotorCount; i++) {
fprintf(stderr, "[mkblctrl] blctrl[%i] : found=%i\tversion=%i\tcurrent=%i\tmaxpwm=%i\ttemperature=%i\n", i, Motor[i].State, Motor[i].Version, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature);
}
if(foundMotorCount != 4 && foundMotorCount != 6 && foundMotorCount != 8) {
if (foundMotorCount != 4 && foundMotorCount != 6 && foundMotorCount != 8) {
_task_should_exit = true;
}
}
@ -734,122 +727,136 @@ MK::mk_check_for_blctrl(unsigned int count, bool showOutput)
int
MK::mk_servo_set(unsigned int chan, float val)
MK::mk_servo_set(unsigned int chan, short val)
{
float tmpVal = 0;
short tmpVal = 0;
_retries = 0;
uint8_t result[3] = { 0,0,0 };
uint8_t msg[2] = { 0,0 };
uint8_t rod=0;
uint8_t result[3] = { 0, 0, 0 };
uint8_t msg[2] = { 0, 0 };
uint8_t rod = 0;
uint8_t bytesToSendBL2 = 2;
tmpVal = val;
tmpVal = (1023 + (1023 * val));
if(tmpVal > 2047) {
tmpVal = 2047;
if (tmpVal > 1024) {
tmpVal = 1024;
} else if (tmpVal < 0) {
tmpVal = 0;
}
Motor[chan].SetPoint = (uint8_t)(tmpVal / 4);
//Motor[chan].SetPointLowerBits = (uint8_t) tmpVal % 4;
Motor[chan].SetPoint = (uint8_t) tmpVal / 3; // divide 8
Motor[chan].SetPointLowerBits = (uint8_t) tmpVal % 8; // rest of divide 8
//rod = (uint8_t) tmpVal % 8;
//Motor[chan].SetPointLowerBits = rod<<1; // rest of divide 8
Motor[chan].SetPointLowerBits = 0;
if(_armed == false) {
if (_armed == false) {
Motor[chan].SetPoint = 0;
Motor[chan].SetPointLowerBits = 0;
}
//if(Motor[chan].State & MOTOR_STATE_PRESENT_MASK) {
set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
if (Motor[chan].Version == BLCTRL_OLD) {
/*
* Old BL-Ctrl 8Bit served. Version < 2.0
*/
msg[0] = Motor[chan].SetPoint;
if (Motor[chan].RoundCount >= 16) {
// on each 16th cyle we read out the status messages from the blctrl
if (OK == transfer(&msg[0], 1, &result[0], 2)) {
Motor[chan].Current = result[0];
Motor[chan].MaxPWM = result[1];
Motor[chan].Temperature = 255;;
if(Motor[chan].Version == BLCTRL_OLD) {
/*
* Old BL-Ctrl 8Bit served. Version < 2.0
*/
msg[0] = Motor[chan].SetPoint;
if(Motor[chan].RoundCount >= 16) {
// on each 16th cyle we read out the status messages from the blctrl
if (OK == transfer(&msg[0], 1, &result[0], 2)) {
Motor[chan].Current = result[0];
Motor[chan].MaxPWM = result[1];
Motor[chan].Temperature = 255;;
} else {
if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++; // error
}
Motor[chan].RoundCount = 0;
} else {
if (OK != transfer(&msg[0], 1, nullptr, 0)) {
if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++; // error
}
if ((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++; // error
}
Motor[chan].RoundCount = 0;
} else {
/*
* New BL-Ctrl 11Bit served. Version >= 2.0
*/
msg[0] = Motor[chan].SetPoint;
msg[1] = Motor[chan].SetPointLowerBits;
if(Motor[chan].SetPointLowerBits == 0) {
bytesToSendBL2 = 1; // if setpoint lower bits are zero, we send only the higher bits - this saves time
if (OK != transfer(&msg[0], 1, nullptr, 0)) {
if ((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++; // error
}
if(Motor[chan].RoundCount >= 16) {
// on each 16th cyle we read out the status messages from the blctrl
if (OK == transfer(&msg[0], bytesToSendBL2, &result[0], 3)) {
Motor[chan].Current = result[0];
Motor[chan].MaxPWM = result[1];
Motor[chan].Temperature = result[2];
} else {
if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++; // error
}
Motor[chan].RoundCount = 0;
} else {
if (OK != transfer(&msg[0], bytesToSendBL2, nullptr, 0)) {
if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++; // error
}
}
}
Motor[chan].RoundCount++;
} else {
/*
* New BL-Ctrl 11Bit served. Version >= 2.0
*/
msg[0] = Motor[chan].SetPoint;
msg[1] = Motor[chan].SetPointLowerBits;
if (Motor[chan].SetPointLowerBits == 0) {
bytesToSendBL2 = 1; // if setpoint lower bits are zero, we send only the higher bits - this saves time
}
if (Motor[chan].RoundCount >= 16) {
// on each 16th cyle we read out the status messages from the blctrl
if (OK == transfer(&msg[0], bytesToSendBL2, &result[0], 3)) {
Motor[chan].Current = result[0];
Motor[chan].MaxPWM = result[1];
Motor[chan].Temperature = result[2];
} else {
if ((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++; // error
}
Motor[chan].RoundCount = 0;
} else {
if (OK != transfer(&msg[0], bytesToSendBL2, nullptr, 0)) {
if ((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++; // error
}
}
}
Motor[chan].RoundCount++;
//}
if(showDebug == true) {
if (showDebug == true) {
debugCounter++;
if(debugCounter == 2000) {
if (debugCounter == 2000) {
debugCounter = 0;
for(int i=0; i<_num_outputs; i++){
if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) {
for (int i = 0; i < _num_outputs; i++) {
if (Motor[i].State & MOTOR_STATE_PRESENT_MASK) {
fprintf(stderr, "[mkblctrl] #%i:\tVer: %i\tVal: %i\tCurr: %i\tMaxPWM: %i\tTemp: %i\tState: %i\n", i, Motor[i].Version, Motor[i].SetPoint, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature, Motor[i].State);
}
}
fprintf(stderr, "\n");
}
}
return 0;
}
int
MK::mk_servo_set_test(unsigned int chan, float val)
MK::mk_servo_set_value(unsigned int chan, short val)
{
_retries = 0;
int ret;
short tmpVal = 0;
uint8_t msg[2] = { 0, 0 };
float tmpVal = 0;
tmpVal = val;
uint8_t msg[2] = { 0,0 };
if (tmpVal > 1024) {
tmpVal = 1024;
tmpVal = (1023 + (1023 * val));
if(tmpVal > 2048) {
tmpVal = 2048;
} else if (tmpVal < 0) {
tmpVal = 0;
}
Motor[chan].SetPoint = (uint8_t) (tmpVal / 8);
Motor[chan].SetPoint = (uint8_t)(tmpVal / 4);
if(_armed == false) {
if (_armed == false) {
Motor[chan].SetPoint = 0;
Motor[chan].SetPointLowerBits = 0;
}
@ -860,7 +867,6 @@ MK::mk_servo_set_test(unsigned int chan, float val)
ret = transfer(&msg[0], 1, nullptr, 0);
ret = OK;
return ret;
}
@ -868,59 +874,61 @@ MK::mk_servo_set_test(unsigned int chan, float val)
int
MK::mk_servo_test(unsigned int chan)
{
int ret=0;
int ret = 0;
float tmpVal = 0;
float val = -1;
_retries = 0;
uint8_t msg[2] = { 0,0 };
uint8_t msg[2] = { 0, 0 };
if(debugCounter >= MOTOR_SPINUP_COUNTER) {
if (debugCounter >= MOTOR_SPINUP_COUNTER) {
debugCounter = 0;
_motor++;
if(_motor < _num_outputs) {
if (_motor < _num_outputs) {
fprintf(stderr, "[mkblctrl] Motortest - #%i:\tspinup\n", _motor);
}
if(_motor >= _num_outputs) {
if (_motor >= _num_outputs) {
_motor = -1;
_motortest = false;
}
}
debugCounter++;
if(_motor == chan) {
if (_motor == chan) {
val = BLCTRL_MIN_VALUE;
} else {
val = -1;
}
tmpVal = (1023 + (1023 * val));
if(tmpVal > 2048) {
tmpVal = 2048;
tmpVal = (511 + (511 * val));
if (tmpVal > 1024) {
tmpVal = 1024;
}
//Motor[chan].SetPoint = (uint8_t) (tmpVal / 8);
//Motor[chan].SetPointLowerBits = (uint8_t) (tmpVal % 8) & 0x07;
Motor[chan].SetPoint = (uint8_t) tmpVal>>3;
Motor[chan].SetPointLowerBits = (uint8_t) tmpVal & 0x07;
Motor[chan].SetPoint = (uint8_t)(tmpVal / 4);
if(_motor != chan) {
if (_motor != chan) {
Motor[chan].SetPoint = 0;
Motor[chan].SetPointLowerBits = 0;
}
if(Motor[chan].Version == BLCTRL_OLD) {
if (Motor[chan].Version == BLCTRL_OLD) {
msg[0] = Motor[chan].SetPoint;
} else {
msg[0] = Motor[chan].SetPoint;
msg[1] = Motor[chan].SetPointLowerBits;
}
set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
if(Motor[chan].Version == BLCTRL_OLD) {
if (Motor[chan].Version == BLCTRL_OLD) {
ret = transfer(&msg[0], 1, nullptr, 0);
} else {
ret = transfer(&msg[0], 2, nullptr, 0);
}
@ -931,9 +939,9 @@ MK::mk_servo_test(unsigned int chan)
int
MK::control_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input)
uint8_t control_group,
uint8_t control_index,
float &input)
{
const actuator_controls_s *controls = (actuator_controls_s *)handle;
@ -947,7 +955,6 @@ MK::ioctl(file *filp, int cmd, unsigned long arg)
int ret;
// XXX disabled, confusing users
//debug("ioctl 0x%04x 0x%08x", cmd, arg);
/* try it as a GPIO ioctl first */
ret = gpio_ioctl(filp, cmd, arg);
@ -978,32 +985,37 @@ int
MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
{
int ret = OK;
int channel;
lock();
switch (cmd) {
case PWM_SERVO_ARM:
////up_pwm_servo_arm(true);
mk_servo_arm(true);
break;
case PWM_SERVO_SET_ARM_OK:
case PWM_SERVO_CLEAR_ARM_OK:
// these are no-ops, as no safety switch
break;
case PWM_SERVO_DISARM:
////up_pwm_servo_arm(false);
mk_servo_arm(false);
break;
case PWM_SERVO_SET_UPDATE_RATE:
set_pwm_rate(arg);
ret = OK;
break;
case PWM_SERVO_SELECT_UPDATE_RATE:
ret = OK;
break;
case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
if (arg < 2150) {
Motor[cmd - PWM_SERVO_SET(0)].RawPwmValue = (unsigned short)arg;
mk_servo_set_value(cmd - PWM_SERVO_SET(0), scaling(arg, 1010, 2100, 0, 1024));
/* fake an update to the selected 'servo' channel */
if ((arg >= 0) && (arg <= 255)) {
channel = cmd - PWM_SERVO_SET(0);
//mk_servo_set(channel, arg);
} else {
ret = -EINVAL;
}
@ -1012,20 +1024,20 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1):
/* copy the current output value from the channel */
*(servo_position_t *)arg = cmd - PWM_SERVO_GET(0);
*(servo_position_t *)arg = Motor[cmd - PWM_SERVO_SET(0)].RawPwmValue;
break;
case PWM_SERVO_GET_RATEGROUP(0):
case PWM_SERVO_GET_RATEGROUP(1):
case PWM_SERVO_GET_RATEGROUP(2):
case PWM_SERVO_GET_RATEGROUP(3):
//*(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0));
break;
case PWM_SERVO_GET_COUNT:
case MIXERIOCGETOUTPUTCOUNT:
/*
if (_mode == MODE_4PWM) {
*(unsigned *)arg = 4;
} else {
*(unsigned *)arg = 2;
}
*/
*(unsigned *)arg = _num_outputs;
break;
case MIXERIOCRESET:
@ -1078,6 +1090,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
ret = -EINVAL;
}
}
break;
}
@ -1091,6 +1104,38 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
return ret;
}
/*
this implements PWM output via a write() method, for compatibility
with px4io
*/
ssize_t
MK::write(file *filp, const char *buffer, size_t len)
{
unsigned count = len / 2;
// loeschen uint16_t values[4];
uint16_t values[8];
// loeschen if (count > 4) {
// loeschen // we only have 4 PWM outputs on the FMU
// loeschen count = 4;
// loeschen }
if (count > _num_outputs) {
// we only have 8 I2C outputs in the driver
count = _num_outputs;
}
// allow for misaligned values
memcpy(values, buffer, count * 2);
for (uint8_t i = 0; i < count; i++) {
Motor[i].RawPwmValue = (unsigned short)values[i];
mk_servo_set_value(i, scaling(values[i], 1010, 2100, 0, 1024));
}
return count * 2;
}
void
MK::gpio_reset(void)
{
@ -1229,10 +1274,10 @@ enum MappingMode {
MAPPING_PX4,
};
enum FrameType {
FRAME_PLUS = 0,
FRAME_X,
};
enum FrameType {
FRAME_PLUS = 0,
FRAME_X,
};
PortMode g_port_mode;
@ -1297,18 +1342,17 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest,
g_mk->set_motor_test(motortest);
/* (re)set count of used motors */
////g_mk->set_motor_count(motorcount);
/* count used motors */
do {
if(g_mk->mk_check_for_blctrl(8, false) != 0) {
if (g_mk->mk_check_for_blctrl(8, false) != 0) {
shouldStop = 4;
} else {
shouldStop++;
}
sleep(1);
} while ( shouldStop < 3);
} while (shouldStop < 3);
g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, true));
@ -1375,7 +1419,8 @@ mkblctrl_main(int argc, char *argv[])
if (argc > i + 1) {
bus = atoi(argv[i + 1]);
newMode = true;
} else {
} else {
errx(1, "missing argument for i2c bus (-b)");
return 1;
}
@ -1384,17 +1429,21 @@ mkblctrl_main(int argc, char *argv[])
/* look for the optional frame parameter */
if (strcmp(argv[i], "-mkmode") == 0 || strcmp(argv[i], "--mkmode") == 0) {
if (argc > i + 1) {
if(strcmp(argv[i + 1], "+") == 0 || strcmp(argv[i + 1], "x") == 0 || strcmp(argv[i + 1], "X") == 0) {
if (strcmp(argv[i + 1], "+") == 0 || strcmp(argv[i + 1], "x") == 0 || strcmp(argv[i + 1], "X") == 0) {
px4mode = MAPPING_MK;
newMode = true;
if(strcmp(argv[i + 1], "+") == 0) {
if (strcmp(argv[i + 1], "+") == 0) {
frametype = FRAME_PLUS;
} else {
frametype = FRAME_X;
}
} else {
errx(1, "only + or x for frametype supported !");
}
} else {
errx(1, "missing argument for mkmode (-mkmode)");
return 1;
@ -1409,12 +1458,12 @@ mkblctrl_main(int argc, char *argv[])
/* look for the optional -h --help parameter */
if (strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "--help") == 0) {
showHelp == true;
showHelp = true;
}
}
if(showHelp) {
if (showHelp) {
fprintf(stderr, "mkblctrl: help:\n");
fprintf(stderr, " [-mkmode frame{+/x}] [-b i2c_bus_number] [-t motortest] [-h / --help]\n");
exit(1);
@ -1424,6 +1473,7 @@ mkblctrl_main(int argc, char *argv[])
if (g_mk == nullptr) {
if (mk_start(bus, motorcount) != OK) {
errx(1, "failed to start the MK-BLCtrl driver");
} else {
newMode = true;
}

129
src/examples/fixedwing_control/main.c
View File

@ -33,10 +33,13 @@
****************************************************************************/
/**
* @file main.c
* Implementation of a fixed wing attitude controller. This file is a complete
* fixed wing controller flying manual attitude control or auto waypoint control.
*
* Example implementation of a fixed wing attitude controller. This file is a complete
* fixed wing controller for manual attitude control or auto waypoint control.
* There is no need to touch any other system components to extend / modify the
* complete control architecture.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
@ -60,7 +63,6 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/debug_key_value.h>
#include <uORB/topics/parameter_update.h>
#include <systemlib/param/param.h>
#include <systemlib/pid/pid.h>
@ -73,8 +75,15 @@
#include "params.h"
/* Prototypes */
/**
* Daemon management function.
*
* This function allows to start / stop the background task (daemon).
* The purpose of it is to be able to start the controller on the
* command line, query its status and stop it, without giving up
* the command line to one particular process or the need for bg/fg
* ^Z support by the shell.
*/
__EXPORT int ex_fixedwing_control_main(int argc, char *argv[]);
@ -88,10 +97,34 @@ int fixedwing_control_thread_main(int argc, char *argv[]);
*/
static void usage(const char *reason);
/**
* Control roll and pitch angle.
*
* This very simple roll and pitch controller takes the current roll angle
* of the system and compares it to a reference. Pitch is controlled to zero and yaw remains
* uncontrolled (tutorial code, not intended for flight).
*
* @param att_sp The current attitude setpoint - the values the system would like to reach.
* @param att The current attitude. The controller should make the attitude match the setpoint
* @param speed_body The velocity of the system. Currently unused.
* @param rates_sp The angular rate setpoint. This is the output of the controller.
*/
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
float speed_body[], float gyro[], struct vehicle_rates_setpoint_s *rates_sp,
float speed_body[], struct vehicle_rates_setpoint_s *rates_sp,
struct actuator_controls_s *actuators);
/**
* Control heading.
*
* This very simple heading to roll angle controller outputs the desired roll angle based on
* the current position of the system, the desired position (the setpoint) and the current
* heading.
*
* @param pos The current position of the system
* @param sp The current position setpoint
* @param att The current attitude
* @param att_sp The attitude setpoint. This is the output of the controller
*/
void control_heading(const struct vehicle_global_position_s *pos, const struct vehicle_global_position_setpoint_s *sp,
const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp);
@ -103,7 +136,7 @@ static struct params p;
static struct param_handles ph;
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
float speed_body[], float gyro[], struct vehicle_rates_setpoint_s *rates_sp,
float speed_body[], struct vehicle_rates_setpoint_s *rates_sp,
struct actuator_controls_s *actuators)
{
@ -148,7 +181,10 @@ void control_heading(const struct vehicle_global_position_s *pos, const struct v
* Calculate heading error of current position to desired position
*/
/* PX4 uses 1e7 scaled integers to represent global coordinates for max resolution */
/*
* PX4 uses 1e7 scaled integers to represent global coordinates for max resolution,
* so they need to be scaled by 1e7 and converted to IEEE double precision floating point.
*/
float bearing = get_bearing_to_next_waypoint(pos->lat/1e7d, pos->lon/1e7d, sp->lat/1e7d, sp->lon/1e7d);
/* calculate heading error */
@ -157,10 +193,10 @@ void control_heading(const struct vehicle_global_position_s *pos, const struct v
float roll_command = yaw_err * p.hdng_p;
/* limit output, this commonly is a tuning parameter, too */
if (att_sp->roll_body < -0.5f) {
att_sp->roll_body = -0.5f;
} else if (att_sp->roll_body > 0.5f) {
att_sp->roll_body = 0.5f;
if (att_sp->roll_body < -0.6f) {
att_sp->roll_body = -0.6f;
} else if (att_sp->roll_body > 0.6f) {
att_sp->roll_body = 0.6f;
}
}
@ -183,7 +219,32 @@ int fixedwing_control_thread_main(int argc, char *argv[])
parameters_init(&ph);
parameters_update(&ph, &p);
/* declare and safely initialize all structs to zero */
/*
* PX4 uses a publish/subscribe design pattern to enable
* multi-threaded communication.
*
* The most elegant aspect of this is that controllers and
* other processes can either 'react' to new data, or run
* at their own pace.
*
* PX4 developer guide:
* https://pixhawk.ethz.ch/px4/dev/shared_object_communication
*
* Wikipedia description:
* http://en.wikipedia.org/wiki/Publish–subscribe_pattern
*
*/
/*
* Declare and safely initialize all structs to zero.
*
* These structs contain the system state and things
* like attitude, position, the current waypoint, etc.
*/
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct vehicle_attitude_setpoint_s att_sp;
@ -199,20 +260,24 @@ int fixedwing_control_thread_main(int argc, char *argv[])
struct vehicle_global_position_setpoint_s global_sp;
memset(&global_sp, 0, sizeof(global_sp));
/* output structs */
/* output structs - this is what is sent to the mixer */
struct actuator_controls_s actuators;
memset(&actuators, 0, sizeof(actuators));
/* publish actuator controls */
/* publish actuator controls with zero values */
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
actuators.control[i] = 0.0f;
}
/*
* Advertise that this controller will publish actuator
* control values and the rate setpoint
*/
orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
/* subscribe */
/* subscribe to topics. */
int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
@ -222,8 +287,9 @@ int fixedwing_control_thread_main(int argc, char *argv[])
int param_sub = orb_subscribe(ORB_ID(parameter_update));
/* Setup of loop */
float gyro[3] = {0.0f, 0.0f, 0.0f};
float speed_body[3] = {0.0f, 0.0f, 0.0f};
/* RC failsafe check */
bool throttle_half_once = false;
struct pollfd fds[2] = {{ .fd = param_sub, .events = POLLIN },
{ .fd = att_sub, .events = POLLIN }};
@ -242,7 +308,10 @@ int fixedwing_control_thread_main(int argc, char *argv[])
int ret = poll(fds, 2, 500);
if (ret < 0) {
/* poll error, this will not really happen in practice */
/*
* Poll error, this will not really happen in practice,
* but its good design practice to make output an error message.
*/
warnx("poll error");
} else if (ret == 0) {
@ -268,6 +337,8 @@ int fixedwing_control_thread_main(int argc, char *argv[])
orb_check(global_pos_sub, &pos_updated);
bool global_sp_updated;
orb_check(global_sp_sub, &global_sp_updated);
bool manual_sp_updated;
orb_check(manual_sp_sub, &manual_sp_updated);
/* get a local copy of attitude */
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
@ -275,6 +346,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
if (global_sp_updated)
orb_copy(ORB_ID(vehicle_global_position_setpoint), global_sp_sub, &global_sp);
/* currently speed in body frame is not used, but here for reference */
if (pos_updated) {
orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
@ -292,15 +364,23 @@ int fixedwing_control_thread_main(int argc, char *argv[])
}
}
orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
if (manual_sp_updated)
/* get the RC (or otherwise user based) input */
orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
gyro[0] = att.rollspeed;
gyro[1] = att.pitchspeed;
gyro[2] = att.yawspeed;
/* check if the throttle was ever more than 50% - go later only to failsafe if yes */
if (isfinite(manual_sp.throttle) &&
(manual_sp.throttle >= 0.6f) &&
(manual_sp.throttle <= 1.0f)) {
throttle_half_once = true;
}
/* get the system status and the flight mode we're in */
orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
/* control */
/* if in auto mode, fly global position setpoint */
if (vstatus.state_machine == SYSTEM_STATE_AUTO ||
vstatus.state_machine == SYSTEM_STATE_STABILIZED) {
@ -312,7 +392,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
actuators.control[2] = 0.0f;
/* simple attitude control */
control_attitude(&att_sp, &att, speed_body, gyro, &rates_sp, &actuators);
control_attitude(&att_sp, &att, speed_body, &rates_sp, &actuators);
/* pass through throttle */
actuators.control[3] = att_sp.thrust;
@ -320,11 +400,12 @@ int fixedwing_control_thread_main(int argc, char *argv[])
/* set flaps to zero */
actuators.control[4] = 0.0f;
/* if in manual mode, decide between attitude stabilization (SAS) and full manual pass-through */
} else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) {
if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
/* if the RC signal is lost, try to stay level and go slowly back down to ground */
if (vstatus.rc_signal_lost) {
if (vstatus.rc_signal_lost && throttle_half_once) {
/* put plane into loiter */
att_sp.roll_body = 0.3f;
@ -355,7 +436,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
att_sp.timestamp = hrt_absolute_time();
/* attitude control */
control_attitude(&att_sp, &att, speed_body, gyro, &rates_sp, &actuators);
control_attitude(&att_sp, &att, speed_body, &rates_sp, &actuators);
/* pass through throttle */
actuators.control[3] = att_sp.thrust;

2
src/examples/fixedwing_control/params.c
View File

@ -45,7 +45,7 @@
/**
*
*/
PARAM_DEFINE_FLOAT(EXFW_HDNG_P, 0.2f);
PARAM_DEFINE_FLOAT(EXFW_HDNG_P, 0.1f);
/**
*

191
src/modules/gpio_led/gpio_led.c Normal file
View File

@ -0,0 +1,191 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <anton.babushkin@me.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file gpio_led.c
*
* Status LED via GPIO driver.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <stdbool.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <systemlib/systemlib.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <poll.h>
#include <drivers/drv_gpio.h>
struct gpio_led_s {
struct work_s work;
int gpio_fd;
int pin;
struct vehicle_status_s status;
int vehicle_status_sub;
bool led_state;
int counter;
};
static struct gpio_led_s gpio_led_data;
__EXPORT int gpio_led_main(int argc, char *argv[]);
void gpio_led_start(FAR void *arg);
void gpio_led_cycle(FAR void *arg);
int gpio_led_main(int argc, char *argv[])
{
int pin = GPIO_EXT_1;
if (argc > 1) {
if (!strcmp(argv[1], "-p")) {
if (!strcmp(argv[2], "1")) {
pin = GPIO_EXT_1;
} else if (!strcmp(argv[2], "2")) {
pin = GPIO_EXT_2;
} else {
printf("[gpio_led] Unsupported pin: %s\n", argv[2]);
exit(1);
}
}
}
memset(&gpio_led_data, 0, sizeof(gpio_led_data));
gpio_led_data.pin = pin;
int ret = work_queue(LPWORK, &gpio_led_data.work, gpio_led_start, &gpio_led_data, 0);
if (ret != 0) {
printf("[gpio_led] Failed to queue work: %d\n", ret);
exit(1);
}
exit(0);
}
void gpio_led_start(FAR void *arg)
{
FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
/* open GPIO device */
priv->gpio_fd = open(GPIO_DEVICE_PATH, 0);
if (priv->gpio_fd < 0) {
printf("[gpio_led] GPIO: open fail\n");
return;
}
/* configure GPIO pin */
ioctl(priv->gpio_fd, GPIO_SET_OUTPUT, priv->pin);
/* subscribe to vehicle status topic */
memset(&priv->status, 0, sizeof(priv->status));
priv->vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
/* add worker to queue */
int ret = work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, 0);
if (ret != 0) {
printf("[gpio_led] Failed to queue work: %d\n", ret);
return;
}
printf("[gpio_led] Started, using pin GPIO_EXT%i\n", priv->pin);
}
void gpio_led_cycle(FAR void *arg)
{
FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
/* check for status updates*/
bool status_updated;
orb_check(priv->vehicle_status_sub, &status_updated);
if (status_updated)
orb_copy(ORB_ID(vehicle_status), priv->vehicle_status_sub, &priv->status);
/* select pattern for current status */
int pattern = 0;
if (priv->status.flag_system_armed) {
if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
pattern = 0x3f; // ****** solid (armed)
} else {
pattern = 0x2A; // *_*_*_ fast blink (armed, battery warning)
}
} else {
if (priv->status.state_machine == SYSTEM_STATE_PREFLIGHT) {
pattern = 0x00; // ______ off (disarmed, preflight check)
} else if (priv->status.state_machine == SYSTEM_STATE_STANDBY &&
priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
pattern = 0x38; // ***___ slow blink (disarmed, ready)
} else {
pattern = 0x28; // *_*___ slow double blink (disarmed, not good to arm)
}
}
/* blink pattern */
bool led_state_new = (pattern & (1 << priv->counter)) != 0;
if (led_state_new != priv->led_state) {
priv->led_state = led_state_new;
if (led_state_new) {
ioctl(priv->gpio_fd, GPIO_SET, priv->pin);
} else {
ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin);
}
}
priv->counter++;
if (priv->counter > 5)
priv->counter = 0;
/* repeat cycle at 5 Hz*/
work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, USEC2TICK(200000));
}

39
src/modules/gpio_led/module.mk Normal file
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############################################################################
#
# Copyright (C) 2013 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Status LED via GPIO driver
#
MODULE_COMMAND = gpio_led
SRCS = gpio_led.c