forked from Archive/PX4-Autopilot
357 lines
10 KiB
C++
357 lines
10 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2012 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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/**
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* @file mixer.cpp
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*
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* Control channel input/output mixer and failsafe.
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*/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdbool.h>
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#include <string.h>
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#include <drivers/drv_pwm_output.h>
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#include <drivers/drv_hrt.h>
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#include <systemlib/mixer/mixer.h>
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extern "C" {
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//#define DEBUG
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#include "px4io.h"
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}
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/*
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* Maximum interval in us before FMU signal is considered lost
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*/
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#define FMU_INPUT_DROP_LIMIT_US 200000
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/* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */
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#define ROLL 0
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#define PITCH 1
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#define YAW 2
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#define THROTTLE 3
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#define OVERRIDE 4
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/* current servo arm/disarm state */
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static bool mixer_servos_armed = false;
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/* selected control values and count for mixing */
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enum mixer_source {
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MIX_NONE,
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MIX_FMU,
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MIX_OVERRIDE,
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MIX_FAILSAFE
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};
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static mixer_source source;
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static int mixer_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 &control);
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static MixerGroup mixer_group(mixer_callback, 0);
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void
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mixer_tick(void)
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{
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/* check that we are receiving fresh data from the FMU */
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if ((hrt_absolute_time() - system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) {
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/* too long without FMU input, time to go to failsafe */
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if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) {
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debug("AP RX timeout");
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}
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r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
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r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM);
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r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST;
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}
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source = MIX_FAILSAFE;
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/*
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* Decide which set of controls we're using.
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*/
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if (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) {
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/* don't actually mix anything - we already have raw PWM values */
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source = MIX_NONE;
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} else {
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if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
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(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
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/* mix from FMU controls */
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source = MIX_FMU;
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}
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if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
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(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) {
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/* if allowed, mix from RC inputs directly */
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source = MIX_OVERRIDE;
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}
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}
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/*
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* Run the mixers.
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*/
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if (source == MIX_FAILSAFE) {
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/* copy failsafe values to the servo outputs */
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for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
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r_page_servos[i] = r_page_servo_failsafe[i];
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} else if (source != MIX_NONE) {
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float outputs[IO_SERVO_COUNT];
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unsigned mixed;
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/* mix */
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mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT);
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/* scale to PWM and update the servo outputs as required */
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for (unsigned i = 0; i < mixed; i++) {
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/* save actuator values for FMU readback */
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r_page_actuators[i] = FLOAT_TO_REG(outputs[i]);
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/* scale to servo output */
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r_page_servos[i] = (outputs[i] * 500.0f) + 1500;
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}
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for (unsigned i = mixed; i < IO_SERVO_COUNT; i++)
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r_page_servos[i] = 0;
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}
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#if 0
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/* if everything is ok */
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if (!system_state.mixer_manual_override && system_state.mixer_fmu_available) {
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/* we have recent control data from the FMU */
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control_count = PX4IO_CONTROL_CHANNELS;
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control_values = &system_state.fmu_channel_data[0];
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} else if (system_state.rc_channels > 0) {
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/* when override is on or the fmu is not available, but RC is present */
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control_count = system_state.rc_channels;
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sched_lock();
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/* remap roll, pitch, yaw and throttle from RC specific to internal ordering */
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rc_channel_data[ROLL] = system_state.rc_channel_data[system_state.rc_map[ROLL] - 1];
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rc_channel_data[PITCH] = system_state.rc_channel_data[system_state.rc_map[PITCH] - 1];
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rc_channel_data[YAW] = system_state.rc_channel_data[system_state.rc_map[YAW] - 1];
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rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE] - 1];
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//rc_channel_data[OVERRIDE] = system_state.rc_channel_data[system_state.rc_map[OVERRIDE] - 1];
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/* get the remaining channels, no remapping needed */
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for (unsigned i = 4; i < system_state.rc_channels; i++) {
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rc_channel_data[i] = system_state.rc_channel_data[i];
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}
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/* scale the control inputs */
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rc_channel_data[THROTTLE] = ((float)(rc_channel_data[THROTTLE] - system_state.rc_min[THROTTLE]) /
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(float)(system_state.rc_max[THROTTLE] - system_state.rc_min[THROTTLE])) * 1000.0f + 1000;
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if (rc_channel_data[THROTTLE] > 2000) {
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rc_channel_data[THROTTLE] = 2000;
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}
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if (rc_channel_data[THROTTLE] < 1000) {
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rc_channel_data[THROTTLE] = 1000;
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}
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// lib_lowprintf("Tmin: %d Ttrim: %d Tmax: %d T: %d \n",
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// (int)(system_state.rc_min[THROTTLE]), (int)(system_state.rc_trim[THROTTLE]),
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// (int)(system_state.rc_max[THROTTLE]), (int)(rc_channel_data[THROTTLE]));
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control_values = &rc_channel_data[0];
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sched_unlock();
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} else {
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/* we have no control input (no FMU, no RC) */
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// XXX builtin failsafe would activate here
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control_count = 0;
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}
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//lib_lowprintf("R: %d P: %d Y: %d T: %d \n", control_values[0], control_values[1], control_values[2], control_values[3]);
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/* this is for multicopters, etc. where manual override does not make sense */
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} else {
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/* if the fmu is available whe are good */
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if (system_state.mixer_fmu_available) {
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control_count = PX4IO_CONTROL_CHANNELS;
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control_values = &system_state.fmu_channel_data[0];
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/* we better shut everything off */
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} else {
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control_count = 0;
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}
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}
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#endif
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/*
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* Decide whether the servos should be armed right now.
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*
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* We must be armed, and we must have a PWM source; either raw from
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* FMU or from the mixer.
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*
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* XXX correct behaviour for failsafe may require an additional case
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* here.
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*/
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bool should_arm = (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
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/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
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/* there is valid input */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)));
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if (should_arm && !mixer_servos_armed) {
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/* need to arm, but not armed */
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up_pwm_servo_arm(true);
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mixer_servos_armed = true;
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} else if (!should_arm && mixer_servos_armed) {
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/* armed but need to disarm */
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up_pwm_servo_arm(false);
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mixer_servos_armed = false;
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}
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if (mixer_servos_armed) {
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/* update the servo outputs. */
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for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
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up_pwm_servo_set(i, r_page_servos[i]);
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}
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}
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static int
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mixer_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 &control)
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{
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if (control_group != 0)
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return -1;
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switch (source) {
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case MIX_FMU:
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if (control_index < PX4IO_CONTROL_CHANNELS) {
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control = REG_TO_FLOAT(r_page_controls[control_index]);
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break;
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}
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return -1;
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case MIX_OVERRIDE:
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if (r_page_rc_input[PX4IO_P_RC_VALID] & (1 << control_index)) {
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control = REG_TO_FLOAT(r_page_rc_input[PX4IO_P_RC_BASE + control_index]);
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break;
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}
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return -1;
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case MIX_FAILSAFE:
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case MIX_NONE:
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/* XXX we could allow for configuration of per-output failsafe values */
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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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* XXX error handling here should be more aggressive; currently it is
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* possible to get STATUS_FLAGS_MIXER_OK set even though the mixer has
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* not loaded faithfully.
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*/
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static char mixer_text[256]; /* large enough for one mixer */
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static unsigned mixer_text_length = 0;
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void
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mixer_handle_text(const void *buffer, size_t length)
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{
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px4io_mixdata *msg = (px4io_mixdata *)buffer;
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debug("mixer text %u", length);
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if (length < sizeof(px4io_mixdata))
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return;
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unsigned text_length = length - sizeof(px4io_mixdata);
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switch (msg->action) {
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case F2I_MIXER_ACTION_RESET:
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debug("reset");
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mixer_group.reset();
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mixer_text_length = 0;
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r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
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/* FALLTHROUGH */
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case F2I_MIXER_ACTION_APPEND:
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debug("append %d", length);
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/* check for overflow - this is really fatal */
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/* XXX could add just what will fit & try to parse, then repeat... */
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if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
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r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
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return;
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}
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/* append mixer text and nul-terminate */
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memcpy(&mixer_text[mixer_text_length], msg->text, text_length);
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mixer_text_length += text_length;
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mixer_text[mixer_text_length] = '\0';
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debug("buflen %u", mixer_text_length);
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/* process the text buffer, adding new mixers as their descriptions can be parsed */
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unsigned resid = mixer_text_length;
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mixer_group.load_from_buf(&mixer_text[0], resid);
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/* if anything was parsed */
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if (resid != mixer_text_length) {
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/* ideally, this should test resid == 0 ? */
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r_status_flags |= PX4IO_P_STATUS_FLAGS_MIXER_OK;
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debug("used %u", mixer_text_length - resid);
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/* copy any leftover text to the base of the buffer for re-use */
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if (resid > 0)
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memcpy(&mixer_text[0], &mixer_text[mixer_text_length - resid], resid);
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mixer_text_length = resid;
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}
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break;
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}
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}
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