forked from Archive/PX4-Autopilot
mkblctrl cleanup
This commit is contained in:
marco
parent
dca844a808
commit
9f090e651a
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@ -76,7 +76,6 @@
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#include <uORB/topics/actuator_outputs.h>
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#include <systemlib/err.h>
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#include <systemlib/ppm_decode.h>
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#define I2C_BUS_SPEED 400000
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#define UPDATE_RATE 400
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@ -114,6 +113,7 @@ public:
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virtual int ioctl(file *filp, int cmd, unsigned long arg);
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virtual int init(unsigned motors);
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virtual ssize_t write(file *filp, const char *buffer, size_t len);
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int set_mode(Mode mode);
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int set_pwm_rate(unsigned rate);
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@ -177,9 +177,10 @@ private:
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int gpio_ioctl(file *filp, int cmd, unsigned long arg);
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int mk_servo_arm(bool status);
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int mk_servo_set(unsigned int chan, float val);
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int mk_servo_set_test(unsigned int chan, float val);
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int mk_servo_set(unsigned int chan, short val);
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int mk_servo_set_value(unsigned int chan, short val);
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int mk_servo_test(unsigned int chan);
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short scaling(float val, float inMin, float inMax, float outMin, float outMax);
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};
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@ -207,20 +208,20 @@ const int blctrlAddr_octo_x[] = { 1, 4, 0, 1, -4, 1, 1, -4 }; // Addresstranslat
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const int blctrlAddr_px4[] = { 0, 0, 0, 0, 0, 0, 0, 0};
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int addrTranslator[] = {0,0,0,0,0,0,0,0};
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int addrTranslator[] = {0, 0, 0, 0, 0, 0, 0, 0};
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struct MotorData_t
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{
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struct MotorData_t {
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unsigned int Version; // the version of the BL (0 = old)
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unsigned int SetPoint; // written by attitude controller
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unsigned int SetPointLowerBits; // for higher Resolution of new BLs
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unsigned int State; // 7 bit for I2C error counter, highest bit indicates if motor is present
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unsigned int ReadMode; // select data to read
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// the following bytes must be exactly in that order!
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unsigned int Current; // in 0.1 A steps, read back from BL
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unsigned int MaxPWM; // read back from BL is less than 255 if BL is in current limit
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unsigned int Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in
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unsigned int RoundCount;
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unsigned int SetPoint; // written by attitude controller
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unsigned int SetPointLowerBits; // for higher Resolution of new BLs
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unsigned int State; // 7 bit for I2C error counter, highest bit indicates if motor is present
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unsigned int ReadMode; // select data to read
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unsigned short RawPwmValue; // length of PWM pulse
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// the following bytes must be exactly in that order!
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unsigned int Current; // in 0.1 A steps, read back from BL
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unsigned int MaxPWM; // read back from BL is less than 255 if BL is in current limit
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unsigned int Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in
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unsigned int RoundCount;
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};
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MotorData_t Motor[MAX_MOTORS];
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@ -314,7 +315,7 @@ MK::init(unsigned motors)
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/* start the IO interface task */
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_task = task_spawn("mkblctrl",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX -20,
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SCHED_PRIORITY_MAX - 20,
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2048,
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(main_t)&MK::task_main_trampoline,
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nullptr);
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@ -346,27 +347,11 @@ MK::set_mode(Mode mode)
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*/
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switch (mode) {
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case MODE_2PWM:
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if(_num_outputs == 4) {
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//debug("MODE_QUAD");
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} else if(_num_outputs == 6) {
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//debug("MODE_HEXA");
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} else if(_num_outputs == 8) {
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//debug("MODE_OCTO");
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}
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//up_pwm_servo_init(0x3);
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up_pwm_servo_deinit();
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_update_rate = UPDATE_RATE; /* default output rate */
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break;
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case MODE_4PWM:
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if(_num_outputs == 4) {
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//debug("MODE_QUADRO");
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} else if(_num_outputs == 6) {
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//debug("MODE_HEXA");
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} else if(_num_outputs == 8) {
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//debug("MODE_OCTO");
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}
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//up_pwm_servo_init(0xf);
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up_pwm_servo_deinit();
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_update_rate = UPDATE_RATE; /* default output rate */
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break;
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@ -412,45 +397,55 @@ MK::set_frametype(int frametype)
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int
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MK::set_motor_count(unsigned count)
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{
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if(count > 0) {
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if (count > 0) {
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_num_outputs = count;
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if(_px4mode == MAPPING_MK) {
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if(_frametype == FRAME_PLUS) {
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if (_px4mode == MAPPING_MK) {
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if (_frametype == FRAME_PLUS) {
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fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: +\n");
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} else if(_frametype == FRAME_X) {
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} else if (_frametype == FRAME_X) {
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fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: X\n");
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}
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if(_num_outputs == 4) {
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if(_frametype == FRAME_PLUS) {
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if (_num_outputs == 4) {
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if (_frametype == FRAME_PLUS) {
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memcpy(&addrTranslator, &blctrlAddr_quad_plus, sizeof(blctrlAddr_quad_plus));
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} else if(_frametype == FRAME_X) {
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} else if (_frametype == FRAME_X) {
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memcpy(&addrTranslator, &blctrlAddr_quad_x, sizeof(blctrlAddr_quad_x));
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}
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} else if(_num_outputs == 6) {
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if(_frametype == FRAME_PLUS) {
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} else if (_num_outputs == 6) {
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if (_frametype == FRAME_PLUS) {
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memcpy(&addrTranslator, &blctrlAddr_hexa_plus, sizeof(blctrlAddr_hexa_plus));
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} else if(_frametype == FRAME_X) {
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} else if (_frametype == FRAME_X) {
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memcpy(&addrTranslator, &blctrlAddr_hexa_x, sizeof(blctrlAddr_hexa_x));
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}
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} else if(_num_outputs == 8) {
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if(_frametype == FRAME_PLUS) {
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} else if (_num_outputs == 8) {
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if (_frametype == FRAME_PLUS) {
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memcpy(&addrTranslator, &blctrlAddr_octo_plus, sizeof(blctrlAddr_octo_plus));
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} else if(_frametype == FRAME_X) {
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} else if (_frametype == FRAME_X) {
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memcpy(&addrTranslator, &blctrlAddr_octo_x, sizeof(blctrlAddr_octo_x));
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}
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}
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} else {
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fprintf(stderr, "[mkblctrl] PX4 native addressing used.\n");
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memcpy(&addrTranslator, &blctrlAddr_px4, sizeof(blctrlAddr_px4));
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}
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if(_num_outputs == 4) {
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if (_num_outputs == 4) {
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fprintf(stderr, "[mkblctrl] Quadrocopter Mode (4)\n");
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} else if(_num_outputs == 6) {
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} else if (_num_outputs == 6) {
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fprintf(stderr, "[mkblctrl] Hexacopter Mode (6)\n");
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} else if(_num_outputs == 8) {
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} else if (_num_outputs == 8) {
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fprintf(stderr, "[mkblctrl] Octocopter Mode (8)\n");
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}
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@ -469,16 +464,35 @@ MK::set_motor_test(bool motortest)
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return OK;
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}
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short
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MK::scaling(float val, float inMin, float inMax, float outMin, float outMax)
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{
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short retVal = 0;
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retVal = (val - inMin) / (inMax - inMin) * (outMax - outMin) + outMin;
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if (retVal < outMin) {
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retVal = outMin;
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} else if (retVal > outMax) {
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retVal = outMax;
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}
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return retVal;
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}
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void
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MK::task_main()
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{
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long update_rate_in_us = 0;
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float tmpVal = 0;
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/*
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* Subscribe to the appropriate PWM output topic based on whether we are the
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* primary PWM output or not.
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*/
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_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
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ORB_ID(actuator_controls_1));
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ORB_ID(actuator_controls_0));
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/* force a reset of the update rate */
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_current_update_rate = 0;
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@ -488,16 +502,11 @@ MK::task_main()
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/* advertise the mixed control outputs */
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actuator_outputs_s outputs;
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memset(&outputs, 0, sizeof(outputs));
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/* advertise the mixed control outputs */
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_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
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&outputs);
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/* advertise the effective control inputs */
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actuator_controls_effective_s controls_effective;
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memset(&controls_effective, 0, sizeof(controls_effective));
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/* advertise the effective control inputs */
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_t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1),
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&controls_effective);
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pollfd fds[2];
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fds[0].fd = _t_actuators;
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@ -505,15 +514,7 @@ MK::task_main()
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fds[1].fd = _t_armed;
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fds[1].events = POLLIN;
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// rc input, published to ORB
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struct rc_input_values rc_in;
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orb_advert_t to_input_rc = 0;
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memset(&rc_in, 0, sizeof(rc_in));
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rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM;
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log("starting");
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long update_rate_in_us = 0;
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/* loop until killed */
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while (!_task_should_exit) {
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@ -528,6 +529,7 @@ MK::task_main()
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update_rate_in_ms = 2;
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_update_rate = 500;
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}
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/* reject slower than 50 Hz updates */
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if (update_rate_in_ms > 20) {
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update_rate_in_ms = 20;
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@ -539,8 +541,9 @@ MK::task_main()
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_current_update_rate = _update_rate;
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}
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/* sleep waiting for data, but no more than a second */
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int ret = ::poll(&fds[0], 2, 1000);
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/* sleep waiting for data, stopping to check for PPM
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* input at 100Hz */
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int ret = ::poll(&fds[0], 2, 100);
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/* this would be bad... */
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if (ret < 0) {
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@ -553,7 +556,7 @@ MK::task_main()
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if (fds[0].revents & POLLIN) {
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/* get controls - must always do this to avoid spinning */
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orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : ORB_ID(actuator_controls_1), _t_actuators, &_controls);
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orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : ORB_ID(actuator_controls_0), _t_actuators, &_controls);
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/* can we mix? */
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if (_mixers != nullptr) {
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@ -565,53 +568,52 @@ MK::task_main()
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// XXX output actual limited values
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memcpy(&controls_effective, &_controls, sizeof(controls_effective));
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orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective);
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/* iterate actuators */
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for (unsigned int i = 0; i < _num_outputs; i++) {
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/* last resort: catch NaN, INF and out-of-band errors */
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if (i < outputs.noutputs &&
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isfinite(outputs.output[i]) &&
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outputs.output[i] >= -1.0f &&
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outputs.output[i] <= 1.0f) {
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isfinite(outputs.output[i]) &&
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outputs.output[i] >= -1.0f &&
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outputs.output[i] <= 1.0f) {
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/* scale for PWM output 900 - 2100us */
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//outputs.output[i] = 1500 + (600 * outputs.output[i]);
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//outputs.output[i] = 127 + (127 * outputs.output[i]);
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/* nothing to do here */
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} else {
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/*
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* Value is NaN, INF or out of band - set to the minimum value.
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* This will be clearly visible on the servo status and will limit the risk of accidentally
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* spinning motors. It would be deadly in flight.
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*/
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if(outputs.output[i] < -1.0f) {
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if (outputs.output[i] < -1.0f) {
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outputs.output[i] = -1.0f;
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} else if(outputs.output[i] > 1.0f) {
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} else if (outputs.output[i] > 1.0f) {
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outputs.output[i] = 1.0f;
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} else {
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outputs.output[i] = -1.0f;
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}
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}
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/* don't go under BLCTRL_MIN_VALUE */
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if(outputs.output[i] < BLCTRL_MIN_VALUE) {
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if (outputs.output[i] < BLCTRL_MIN_VALUE) {
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outputs.output[i] = BLCTRL_MIN_VALUE;
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}
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//_motortest = true;
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/* output to BLCtrl's */
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if(_motortest == true) {
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mk_servo_test(i);
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} else {
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//mk_servo_set(i, outputs.output[i]);
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mk_servo_set_test(i, outputs.output[i]); // 8Bit
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}
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/* output to BLCtrl's */
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if (_motortest == true) {
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mk_servo_test(i);
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} else {
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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
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}
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}
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/* and publish for anyone that cares to see */
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orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &outputs);
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}
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}
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/* how about an arming update? */
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@ -622,29 +624,9 @@ MK::task_main()
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orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
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/* update PWM servo armed status if armed and not locked down */
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////up_pwm_servo_arm(aa.armed && !aa.lockdown);
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mk_servo_arm(aa.armed && !aa.lockdown);
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}
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// see if we have new PPM input data
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if (ppm_last_valid_decode != rc_in.timestamp) {
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// we have a new PPM frame. Publish it.
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rc_in.channel_count = ppm_decoded_channels;
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if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) {
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rc_in.channel_count = RC_INPUT_MAX_CHANNELS;
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}
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for (uint8_t i=0; i<rc_in.channel_count; i++) {
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rc_in.values[i] = ppm_buffer[i];
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}
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rc_in.timestamp = ppm_last_valid_decode;
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/* lazily advertise on first publication */
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if (to_input_rc == 0) {
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to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_in);
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} else {
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orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in);
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}
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}
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}
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@ -666,7 +648,7 @@ MK::task_main()
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}
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int
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int
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MK::mk_servo_arm(bool status)
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{
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_armed = status;
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@ -680,12 +662,13 @@ MK::mk_check_for_blctrl(unsigned int count, bool showOutput)
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_retries = 50;
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uint8_t foundMotorCount = 0;
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for(unsigned i=0; i<MAX_MOTORS; i++) {
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for (unsigned i = 0; i < MAX_MOTORS; i++) {
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Motor[i].Version = 0;
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Motor[i].SetPoint = 0;
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Motor[i].SetPointLowerBits = 0;
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Motor[i].State = 0;
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Motor[i].ReadMode = 0;
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Motor[i].RawPwmValue = 0;
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Motor[i].Current = 0;
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Motor[i].MaxPWM = 0;
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Motor[i].Temperature = 0;
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@ -695,34 +678,37 @@ MK::mk_check_for_blctrl(unsigned int count, bool showOutput)
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uint8_t msg = 0;
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uint8_t result[3];
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for(unsigned i=0; i< count; i++) {
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for (unsigned i = 0; i < count; i++) {
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result[0] = 0;
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result[1] = 0;
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result[2] = 0;
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set_address( BLCTRL_BASE_ADDR + i );
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set_address(BLCTRL_BASE_ADDR + i);
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if (OK == transfer(&msg, 1, &result[0], 3)) {
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Motor[i].Current = result[0];
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Motor[i].MaxPWM = result[1];
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Motor[i].Temperature = result[2];
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Motor[i].State |= MOTOR_STATE_PRESENT_MASK; // set present bit;
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foundMotorCount++;
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if(Motor[i].MaxPWM == 250) {
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if (Motor[i].MaxPWM == 250) {
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Motor[i].Version = BLCTRL_NEW;
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} else {
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Motor[i].Version = BLCTRL_OLD;
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}
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}
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}
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if(showOutput) {
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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 +720,136 @@ 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 +860,6 @@ MK::mk_servo_set_test(unsigned int chan, float val)
|
|||
ret = transfer(&msg[0], 1, nullptr, 0);
|
||||
|
||||
ret = OK;
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
|
@ -868,59 +867,61 @@ 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 +932,9 @@ 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 +948,6 @@ 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 +978,37 @@ 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 +1017,20 @@ 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 +1083,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
|
|||
ret = -EINVAL;
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
|
|
@ -1091,6 +1097,32 @@ 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;
|
||||
uint16_t values[4];
|
||||
|
||||
if (count > 4) {
|
||||
// we only have 4 PWM outputs on the FMU
|
||||
count = 4;
|
||||
}
|
||||
|
||||
// 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 +1261,10 @@ enum MappingMode {
|
|||
MAPPING_PX4,
|
||||
};
|
||||
|
||||
enum FrameType {
|
||||
FRAME_PLUS = 0,
|
||||
FRAME_X,
|
||||
};
|
||||
enum FrameType {
|
||||
FRAME_PLUS = 0,
|
||||
FRAME_X,
|
||||
};
|
||||
|
||||
PortMode g_port_mode;
|
||||
|
||||
|
|
@ -1297,18 +1329,17 @@ 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 +1406,8 @@ 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 +1416,21 @@ 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 +1445,12 @@ 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 +1460,7 @@ 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;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue