forked from Archive/PX4-Autopilot
delete pwm_out_rc_in
This commit is contained in:
Daniel Agar
parent
bb35f75bbf
commit
fd7d4156fd
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@ -74,7 +74,6 @@ set(config_module_list
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# PX4 drivers
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#
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drivers/gps
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drivers/pwm_out_rc_in
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drivers/spektrum_rc
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drivers/qshell/qurt
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drivers/snapdragon_pwm_out
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@ -70,7 +70,6 @@ set(config_module_list
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# PX4 drivers
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#
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drivers/gps
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drivers/pwm_out_rc_in
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drivers/spektrum_rc
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drivers/qshell/qurt
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@ -1,45 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2015-2016 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__pwm_out_rc_in
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MAIN pwm_out_rc_in
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INCLUDES
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${PX4_SOURCE_DIR}/mavlink/include/mavlink
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COMPILE_FLAGS
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-DMAVLINK_COMM_NUM_BUFFERS=1
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SRCS
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pwm_out_rc_in.cpp
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DEPENDS
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platforms__common
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)
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@ -1,584 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2015-2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <stdint.h>
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#include <px4_tasks.h>
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#include <px4_getopt.h>
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#include <px4_posix.h>
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#include <errno.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/input_rc.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_mixer.h>
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#include <lib/mixer/mixer.h>
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#include <lib/mixer/mixer_multirotor_normalized.generated.h>
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#include <systemlib/param/param.h>
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#include <systemlib/pwm_limit/pwm_limit.h>
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#include <dev_fs_lib_serial.h>
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#include <v2.0/checksum.h>
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#include <v2.0/mavlink_types.h>
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#include <v2.0/common/mavlink.h>
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/*
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* This driver is supposed to run on Snapdragon. It sends actuator_controls (PWM)
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* to a Pixhawk/Pixfalcon/Pixracer over UART (mavlink) and receives RC input.
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*/
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namespace pwm_out_rc_in
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{
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static const uint8_t mavlink_message_lengths[256] = MAVLINK_MESSAGE_LENGTHS;
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static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
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volatile bool _task_should_exit = false; // flag indicating if pwm_out_rc_in task should exit
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static char _device[32] = {};
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static bool _is_running = false; // flag indicating if pwm_out_rc_in app is running
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static px4_task_t _task_handle = -1; // handle to the task main thread
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// subscriptions
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int _controls_sub;
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int _armed_sub;
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int _fd;
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// filenames
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// /dev/fs/ is mapped to /usr/share/data/adsp/
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static const char *MIXER_FILENAME = "/dev/fs/quad_x.main.mix";
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// publications
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orb_advert_t _outputs_pub = nullptr;
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orb_advert_t _rc_pub = nullptr;
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// topic structures
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actuator_controls_s _controls;
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actuator_outputs_s _outputs;
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actuator_armed_s _armed;
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input_rc_s _rc;
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pwm_limit_t _pwm_limit;
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// esc parameters
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int32_t _pwm_disarmed;
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int32_t _pwm_min;
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int32_t _pwm_max;
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MultirotorMixer *_mixer = nullptr;
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void usage();
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void start(const char *device);
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void stop();
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void send_outputs_mavlink(const uint16_t *pwm, const unsigned num_pwm);
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void serial_callback(void *context, char *buffer, size_t num_bytes);
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void handle_message(mavlink_message_t *rc_message);
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void task_main_trampoline(int argc, char *argv[]);
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void task_main(int argc, char *argv[]);
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/* mixer initialization */
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int initialize_mixer(const char *mixer_filename);
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int mixer_control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input);
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int mixer_control_callback(uintptr_t handle,
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uint8_t control_group,
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uint8_t control_index,
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float &input)
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{
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const actuator_controls_s *controls = (actuator_controls_s *)handle;
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input = controls[control_group].control[control_index];
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return 0;
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}
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int initialize_mixer(const char *mixer_filename)
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{
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char buf[2048];
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size_t buflen = sizeof(buf);
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PX4_INFO("Trying to initialize mixer from config file %s", mixer_filename);
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int fd_load = ::open(mixer_filename, O_RDONLY);
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if (fd_load != -1) {
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int nRead = ::read(fd_load, buf, buflen);
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close(fd_load);
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if (nRead > 0) {
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_mixer = MultirotorMixer::from_text(mixer_control_callback, (uintptr_t)&_controls, buf, buflen);
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if (_mixer != nullptr) {
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PX4_INFO("Successfully initialized mixer from config file");
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return 0;
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} else {
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PX4_ERR("Unable to parse from mixer config file");
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return -1;
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}
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} else {
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PX4_WARN("Unable to read from mixer config file");
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return -2;
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}
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} else {
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PX4_WARN("No mixer config file found, using default mixer.");
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/* Mixer file loading failed, fall back to default mixer configuration for
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* QUAD_X airframe. */
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float roll_scale = 1;
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float pitch_scale = 1;
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float yaw_scale = 1;
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float deadband = 0;
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_mixer = new MultirotorMixer(mixer_control_callback, (uintptr_t)&_controls,
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MultirotorGeometry::QUAD_X,
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roll_scale, pitch_scale, yaw_scale, deadband);
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if (_mixer == nullptr) {
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PX4_ERR("Mixer initialization failed");
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return -1;
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}
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return 0;
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}
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}
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int uart_initialize(const char *device)
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{
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_fd = ::open(device, O_RDWR | O_NONBLOCK);
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if (_fd == -1) {
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PX4_ERR("Failed to open UART.");
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return -1;
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}
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struct dspal_serial_ioctl_data_rate rate;
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rate.bit_rate = DSPAL_SIO_BITRATE_921600;
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int ret = ioctl(_fd, SERIAL_IOCTL_SET_DATA_RATE, (void *)&rate);
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if (ret != 0) {
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PX4_ERR("Failed to set UART bitrate.");
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return -2;
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}
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struct dspal_serial_ioctl_receive_data_callback callback;
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callback.rx_data_callback_func_ptr = serial_callback;
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ret = ioctl(_fd, SERIAL_IOCTL_SET_RECEIVE_DATA_CALLBACK, (void *)&callback);
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if (ret != 0) {
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PX4_ERR("Failed to setup UART flow control options.");
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return -3;
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}
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return 0;
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}
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int uart_deinitialize()
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{
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return close(_fd);
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}
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// send actuator controls message to Pixhawk
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void send_outputs_mavlink(const uint16_t *pwm, const unsigned num_pwm)
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{
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// Fill up to number of outputs.
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mavlink_actuator_control_target_t controls_message;
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for (unsigned i = 0; i < num_pwm && i < actuator_controls_s::NUM_ACTUATOR_CONTROLS; ++i) {
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controls_message.controls[i] = pwm[i];
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}
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// And the rest with NAN.
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for (unsigned i = _outputs.noutputs; (i < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS)
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&& (i < actuator_controls_s::NUM_ACTUATOR_CONTROLS); ++i) {
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controls_message.controls[i] = NAN;
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}
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controls_message.time_usec = _controls.timestamp;
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const uint8_t msgid = MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET;
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const uint8_t component_ID = 0;
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const uint8_t payload_len = mavlink_message_lengths[msgid];
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const unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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uint8_t buf[MAVLINK_MAX_PACKET_LEN];
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/* header */
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buf[0] = MAVLINK_STX;
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buf[1] = payload_len;
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// TODO FIXME: no idea which numbers should be here.
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buf[2] = 100;
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buf[3] = 0;
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buf[4] = component_ID;
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buf[5] = msgid;
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/* payload */
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memcpy(&buf[MAVLINK_NUM_HEADER_BYTES], (const void *)&controls_message, payload_len);
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/* checksum */
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uint16_t checksum;
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crc_init(&checksum);
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crc_accumulate_buffer(&checksum, (const char *) &buf[1], MAVLINK_CORE_HEADER_LEN + payload_len);
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crc_accumulate(mavlink_message_crcs[msgid], &checksum);
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buf[MAVLINK_NUM_HEADER_BYTES + payload_len] = (uint8_t)(checksum & 0xFF);
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buf[MAVLINK_NUM_HEADER_BYTES + payload_len + 1] = (uint8_t)(checksum >> 8);
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int ret = ::write(_fd, &buf[0], packet_len);
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//static unsigned counter = 0;
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//if (counter++ % 250 == 0) {
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// PX4_INFO("send motor controls %d bytes %.2f %.2f %.2f %.2f",
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// ret,
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// controls_message.controls[0],
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// controls_message.controls[1],
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// controls_message.controls[2],
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// controls_message.controls[3]);
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//}
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if (ret < 1) {
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PX4_WARN("Failed sending rc mavlink message, ret: %d, errno: %d", ret, errno);
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}
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}
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void serial_callback(void *context, char *buffer, size_t num_bytes)
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{
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mavlink_status_t serial_status = {};
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if (num_bytes > 0) {
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mavlink_message_t msg;
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for (size_t i = 0; i < num_bytes; ++i) {
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// The MAVLink app doesn't use the internal buffer functions
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// and hence the first port can be used here.
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if (mavlink_parse_char(MAVLINK_COMM_0, buffer[i], &msg, &serial_status)) {
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// have a message, handle it
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if (msg.msgid == MAVLINK_MSG_ID_RC_CHANNELS) {
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// we should publish but would be great if this works
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handle_message(&msg);
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}
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}
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}
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} else {
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PX4_ERR("error: read callback with no data in the buffer");
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}
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}
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void handle_message(mavlink_message_t *rc_message)
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{
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mavlink_rc_channels_t rc;
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mavlink_msg_rc_channels_decode(rc_message, &rc);
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_rc.timestamp = hrt_absolute_time();
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_rc.timestamp_last_signal = hrt_absolute_time();
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_rc.channel_count = rc.chancount;
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_rc.rc_lost = false;
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_rc.rssi = rc.rssi;
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_rc.values[ 0] = rc.chancount > 0 ? rc.chan1_raw : UINT16_MAX;
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_rc.values[ 1] = rc.chancount > 0 ? rc.chan2_raw : UINT16_MAX;
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_rc.values[ 2] = rc.chancount > 0 ? rc.chan3_raw : UINT16_MAX;
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_rc.values[ 3] = rc.chancount > 0 ? rc.chan4_raw : UINT16_MAX;
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_rc.values[ 4] = rc.chancount > 0 ? rc.chan5_raw : UINT16_MAX;
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_rc.values[ 5] = rc.chancount > 0 ? rc.chan6_raw : UINT16_MAX;
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_rc.values[ 6] = rc.chancount > 0 ? rc.chan7_raw : UINT16_MAX;
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_rc.values[ 7] = rc.chancount > 0 ? rc.chan8_raw : UINT16_MAX;
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_rc.values[ 8] = rc.chancount > 0 ? rc.chan9_raw : UINT16_MAX;
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_rc.values[ 9] = rc.chancount > 0 ? rc.chan10_raw : UINT16_MAX;
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_rc.values[10] = rc.chancount > 0 ? rc.chan11_raw : UINT16_MAX;
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_rc.values[11] = rc.chancount > 0 ? rc.chan12_raw : UINT16_MAX;
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_rc.values[12] = rc.chancount > 0 ? rc.chan13_raw : UINT16_MAX;
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_rc.values[13] = rc.chancount > 0 ? rc.chan14_raw : UINT16_MAX;
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_rc.values[14] = rc.chancount > 0 ? rc.chan15_raw : UINT16_MAX;
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_rc.values[15] = rc.chancount > 0 ? rc.chan16_raw : UINT16_MAX;
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_rc.values[16] = rc.chancount > 0 ? rc.chan17_raw : UINT16_MAX;
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_rc.values[17] = rc.chancount > 0 ? rc.chan18_raw : UINT16_MAX;
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if (_rc_pub != nullptr) {
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orb_publish(ORB_ID(input_rc), _rc_pub, &_rc);
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} else {
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_rc_pub = orb_advertise(ORB_ID(input_rc), &_rc);
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}
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}
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void task_main(int argc, char *argv[])
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{
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_is_running = true;
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if (uart_initialize(_device) < 0) {
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PX4_ERR("Failed to initialize UART.");
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return;
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}
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// Subscribe for orb topics
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_controls_sub = orb_subscribe(ORB_ID(actuator_controls_0));
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_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
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// Start disarmed
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_armed.armed = false;
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_armed.prearmed = false;
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// Set up poll topic
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px4_pollfd_struct_t fds[1];
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fds[0].fd = _controls_sub;
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fds[0].events = POLLIN;
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/* Don't limit poll intervall for now, 250 Hz should be fine. */
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//orb_set_interval(_controls_sub, 10);
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// Set up mixer
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if (initialize_mixer(MIXER_FILENAME) < 0) {
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PX4_ERR("Mixer initialization failed.");
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return;
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}
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pwm_limit_init(&_pwm_limit);
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// TODO XXX: this is needed otherwise we crash in the callback context.
|
||||
_rc_pub = orb_advertise(ORB_ID(input_rc), &_rc);
|
||||
|
||||
// Main loop
|
||||
while (!_task_should_exit) {
|
||||
|
||||
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 10);
|
||||
|
||||
/* Timed out, do a periodic check for _task_should_exit. */
|
||||
if (pret == 0) {
|
||||
continue;
|
||||
}
|
||||
|
||||
/* This is undesirable but not much we can do. */
|
||||
if (pret < 0) {
|
||||
PX4_WARN("poll error %d, %d", pret, errno);
|
||||
/* sleep a bit before next try */
|
||||
usleep(100000);
|
||||
continue;
|
||||
}
|
||||
|
||||
if (fds[0].revents & POLLIN) {
|
||||
orb_copy(ORB_ID(actuator_controls_0), _controls_sub, &_controls);
|
||||
|
||||
_outputs.timestamp = _controls.timestamp;
|
||||
|
||||
/* do mixing */
|
||||
_outputs.noutputs = _mixer->mix(_outputs.output, 0);
|
||||
|
||||
/* disable unused ports by setting their output to NaN */
|
||||
for (size_t i = _outputs.noutputs; i < sizeof(_outputs.output) / sizeof(_outputs.output[0]); i++) {
|
||||
_outputs.output[i] = NAN;
|
||||
}
|
||||
|
||||
const uint16_t reverse_mask = 0;
|
||||
uint16_t disarmed_pwm[4];
|
||||
uint16_t min_pwm[4];
|
||||
uint16_t max_pwm[4];
|
||||
uint16_t trim_pwm[4];
|
||||
|
||||
for (unsigned int i = 0; i < 4; i++) {
|
||||
disarmed_pwm[i] = _pwm_disarmed;
|
||||
min_pwm[i] = _pwm_min;
|
||||
max_pwm[i] = _pwm_max;
|
||||
trim_pwm[i] = 0;
|
||||
}
|
||||
|
||||
uint16_t pwm[4];
|
||||
|
||||
// TODO FIXME: pre-armed seems broken
|
||||
pwm_limit_calc(_armed.armed, false/*_armed.prearmed*/, _outputs.noutputs, reverse_mask,
|
||||
disarmed_pwm, min_pwm, max_pwm, _outputs.output, pwm, &_pwm_limit);
|
||||
|
||||
|
||||
send_outputs_mavlink(pwm, 4);
|
||||
|
||||
if (_outputs_pub != nullptr) {
|
||||
orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_outputs);
|
||||
|
||||
} else {
|
||||
_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs);
|
||||
}
|
||||
}
|
||||
|
||||
bool updated;
|
||||
orb_check(_armed_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
|
||||
}
|
||||
}
|
||||
|
||||
uart_deinitialize();
|
||||
orb_unsubscribe(_controls_sub);
|
||||
orb_unsubscribe(_armed_sub);
|
||||
|
||||
_is_running = false;
|
||||
|
||||
}
|
||||
|
||||
void task_main_trampoline(int argc, char *argv[])
|
||||
{
|
||||
task_main(argc, argv);
|
||||
}
|
||||
|
||||
void start()
|
||||
{
|
||||
ASSERT(_task_handle == -1);
|
||||
|
||||
_task_should_exit = false;
|
||||
|
||||
/* start the task */
|
||||
_task_handle = px4_task_spawn_cmd("pwm_out_rc_in_main",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX,
|
||||
1500,
|
||||
(px4_main_t)&task_main_trampoline,
|
||||
nullptr);
|
||||
|
||||
if (_task_handle < 0) {
|
||||
warn("task start failed");
|
||||
return;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void stop()
|
||||
{
|
||||
_task_should_exit = true;
|
||||
|
||||
while (_is_running) {
|
||||
usleep(200000);
|
||||
PX4_INFO(".");
|
||||
}
|
||||
|
||||
_task_handle = -1;
|
||||
}
|
||||
|
||||
void usage()
|
||||
{
|
||||
PX4_INFO("usage: pwm_out_rc_in start -d /dev/tty-3");
|
||||
PX4_INFO(" pwm_out_rc_in stop");
|
||||
PX4_INFO(" pwm_out_rc_in status");
|
||||
}
|
||||
|
||||
} // namespace pwm_out_rc_in
|
||||
|
||||
/* driver 'main' command */
|
||||
extern "C" __EXPORT int pwm_out_rc_in_main(int argc, char *argv[]);
|
||||
|
||||
int pwm_out_rc_in_main(int argc, char *argv[])
|
||||
{
|
||||
const char *device = nullptr;
|
||||
int ch;
|
||||
int myoptind = 1;
|
||||
const char *myoptarg = nullptr;
|
||||
|
||||
char *verb = nullptr;
|
||||
|
||||
if (argc >= 2) {
|
||||
verb = argv[1];
|
||||
}
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'd':
|
||||
device = myoptarg;
|
||||
strncpy(pwm_out_rc_in::_device, device, strlen(device));
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// gets the parameters for the esc's pwm
|
||||
param_get(param_find("PWM_DISARMED"), &pwm_out_rc_in::_pwm_disarmed);
|
||||
param_get(param_find("PWM_MIN"), &pwm_out_rc_in::_pwm_min);
|
||||
param_get(param_find("PWM_MAX"), &pwm_out_rc_in::_pwm_max);
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
if (pwm_out_rc_in::_is_running) {
|
||||
PX4_WARN("pwm_out_rc_in already running");
|
||||
return 1;
|
||||
}
|
||||
|
||||
// Check on required arguments
|
||||
if (device == nullptr || strlen(device) == 0) {
|
||||
pwm_out_rc_in::usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
pwm_out_rc_in::start();
|
||||
}
|
||||
|
||||
else if (!strcmp(verb, "stop")) {
|
||||
if (!pwm_out_rc_in::_is_running) {
|
||||
PX4_WARN("pwm_out_rc_in is not running");
|
||||
return 1;
|
||||
}
|
||||
|
||||
pwm_out_rc_in::stop();
|
||||
}
|
||||
|
||||
else if (!strcmp(verb, "status")) {
|
||||
PX4_WARN("pwm_out_rc_in is %s", pwm_out_rc_in::_is_running ? "running" : "not running");
|
||||
return 0;
|
||||
|
||||
} else {
|
||||
pwm_out_rc_in::usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
Loading…
Reference in New Issue