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First try for an ESC calibration tool

This commit is contained in:
Julian Oes 2013-06-20 01:13:49 +02:00
parent 23858a6726
commit 9b6c9358ed
5 changed files with 303 additions and 7 deletions
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1
makefiles/config_px4fmu_default.mk
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@ -46,6 +46,7 @@ MODULES += systemcmds/param
MODULES += systemcmds/perf
MODULES += systemcmds/preflight_check
MODULES += systemcmds/pwm
MODULES += systemcmds/esc_calib
MODULES += systemcmds/reboot
MODULES += systemcmds/top
MODULES += systemcmds/tests

5
src/drivers/px4io/px4io.cpp
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@ -1496,9 +1496,10 @@ PX4IO::print_status()
printf("failsafe");
for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u\n", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i));
printf("idle values");
printf("\nidle values");
for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u\n", io_reg_get(PX4IO_PAGE_IDLE_PWM, i));
printf(" %u", io_reg_get(PX4IO_PAGE_IDLE_PWM, i));
printf("\n");
}
int

13
src/modules/px4iofirmware/mixer.cpp
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@ -270,11 +270,14 @@ mixer_tick(void)
* here.
*/
should_arm = (
/* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) &&
/* and IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
/* and FMU is armed */ ( (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
/* and there is valid input via direct PWM or mixer */ ((r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) ||
/* or failsafe was set manually */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ) )
/* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
/* and IO is armed */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
/* and FMU is armed */ && (
((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)
/* and there is valid input via or mixer */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) )
/* or direct PWM is set */ || (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM)
/* or failsafe was set manually */ || (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)
)
);
should_always_enable_pwm = (r_setup_arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE)

250
src/systemcmds/esc_calib/esc_calib.c Normal file
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@ -0,0 +1,250 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* @file esc_calib.c
*
* Tool for ESC calibration
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/mount.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <nuttx/i2c.h>
#include <nuttx/mtd.h>
#include <nuttx/fs/nxffs.h>
#include <nuttx/fs/ioctl.h>
#include <arch/board/board.h>
#include "systemlib/systemlib.h"
#include "systemlib/err.h"
#include "drivers/drv_pwm_output.h"
static void usage(const char *reason);
__EXPORT int esc_calib_main(int argc, char *argv[]);
#define MAX_CHANNELS 8
static void
usage(const char *reason)
{
if (reason != NULL)
warnx("%s", reason);
errx(1,
"usage:\n"
"esc_calib [-d <device>] <channels>\n"
" <device> PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n"
" <channels> Provide channels (e.g.: 1 2 3 4)\n"
);
}
int
esc_calib_main(int argc, char *argv[])
{
const char *dev = PWM_OUTPUT_DEVICE_PATH;
char *ep;
bool channels_selected[MAX_CHANNELS] = {false};
int ch;
int ret;
char c;
if (argc < 2)
usage(NULL);
while ((ch = getopt(argc, argv, "d:")) != EOF) {
switch (ch) {
case 'd':
dev = optarg;
argc--;
break;
default:
usage(NULL);
}
}
if(argc < 1) {
usage("no channels provided");
}
while (--argc) {
const char *arg = argv[argc];
unsigned channel_number = strtol(arg, &ep, 0);
if (*ep == '\0') {
if (channel_number > MAX_CHANNELS || channel_number <= 0) {
err(1, "invalid channel number: %d", channel_number);
} else {
channels_selected[channel_number-1] = true;
}
}
}
/* Wait for confirmation */
int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
if (!console)
err(1, "failed opening console");
warnx("ATTENTION, please remove or fix props before starting calibration!\n"
"\n"
"Also press the arming switch first for safety off\n"
"\n"
"Do you really want to start calibration: y or n?\n");
/* wait for user input */
while (1) {
if (read(console, &c, 1) == 1) {
if (c == 'y' || c == 'Y') {
break;
} else if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("ESC calibration exited");
close(console);
exit(0);
} else if (c == 'n' || c == 'N') {
warnx("ESC calibration aborted");
close(console);
exit(0);
} else {
warnx("Unknown input, ESC calibration aborted");
close(console);
exit(0);
}
}
/* rate limit to ~ 20 Hz */
usleep(50000);
}
/* open for ioctl only */
int fd = open(dev, 0);
if (fd < 0)
err(1, "can't open %s", dev);
// XXX arming not necessaire at the moment
// /* Then arm */
// ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
// if (ret != OK)
// err(1, "PWM_SERVO_SET_ARM_OK");
// ret = ioctl(fd, PWM_SERVO_ARM, 0);
// if (ret != OK)
// err(1, "PWM_SERVO_ARM");
/* Wait for user confirmation */
warnx("Set high PWM\n"
"Connect battery now and hit ENTER after the ESCs confirm the first calibration step");
while (1) {
/* First set high PWM */
for (unsigned i = 0; i<MAX_CHANNELS; i++) {
if(channels_selected[i]) {
ret = ioctl(fd, PWM_SERVO_SET(i), 2100);
if (ret != OK)
err(1, "PWM_SERVO_SET(%d)", i);
}
}
if (read(console, &c, 1) == 1) {
if (c == 13) {
break;
} else if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("ESC calibration exited");
close(console);
exit(0);
}
}
/* rate limit to ~ 20 Hz */
usleep(50000);
}
/* we don't need any more user input */
warnx("Set low PWM, hit ENTER when finished");
while (1) {
/* Then set low PWM */
for (unsigned i = 0; i<MAX_CHANNELS; i++) {
if(channels_selected[i]) {
ret = ioctl(fd, PWM_SERVO_SET(i), 900);
if (ret != OK)
err(1, "PWM_SERVO_SET(%d)", i);
}
}
if (read(console, &c, 1) == 1) {
if (c == 13) {
break;
} else if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("ESC calibration exited");
close(console);
exit(0);
}
}
/* rate limit to ~ 20 Hz */
usleep(50000);
}
warnx("ESC calibration finished");
close(console);
// XXX disarming not necessaire at the moment
/* Now disarm again */
// ret = ioctl(fd, PWM_SERVO_DISARM, 0);
exit(0);
}

41
src/systemcmds/esc_calib/module.mk Normal file
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@ -0,0 +1,41 @@
############################################################################
#
# Copyright (c) 2012, 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.
#
############################################################################
#
# Build the esc_calib tool.
#
MODULE_COMMAND = esc_calib
SRCS = esc_calib.c
MODULE_STACKSIZE = 4096