forked from Archive/PX4-Autopilot
246 lines
6.5 KiB
C
246 lines
6.5 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 Control channel input/output mixer and failsafe.
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*/
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#include <nuttx/config.h>
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#include <nuttx/arch.h>
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#include <sys/types.h>
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#include <stdbool.h>
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#include <assert.h>
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#include <errno.h>
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#include <fcntl.h>
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#include <arch/board/drv_ppm_input.h>
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#include <arch/board/drv_pwm_servo.h>
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#include <arch/board/up_hrt.h>
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#include "px4io.h"
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#ifdef CONFIG_DISABLE_MQUEUE
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# error Mixer requires message queues - set CONFIG_DISABLE_MQUEUE=n and try again
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#endif
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static mqd_t input_queue;
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/*
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* Count of periodic calls in which we have no data.
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*/
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static unsigned mixer_input_drops;
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#define MIXER_INPUT_DROP_LIMIT 10
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/*
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* Count of periodic calls in which we have no FMU input.
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*/
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static unsigned fmu_input_drops;
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#define FMU_INPUT_DROP_LIMIT 10
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/*
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* HRT periodic call used to check for control input data.
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*/
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static struct hrt_call mixer_input_call;
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/*
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* Mixer periodic tick.
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*/
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static void mixer_tick(void *arg);
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/*
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* Collect RC input data from the controller source(s).
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*/
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static void mixer_get_rc_input(void);
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/*
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* Update a mixer based on the current control signals.
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*/
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static void mixer_update(int mixer, uint16_t *inputs, int input_count);
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/* servo driver handle */
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int mixer_servo_fd;
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/* current servo arm/disarm state */
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bool mixer_servos_armed;
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/*
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* Each mixer consumes a set of inputs and produces a single output.
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*/
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struct mixer {
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uint16_t current_value;
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/* XXX more config here */
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} mixers[IO_SERVO_COUNT];
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int
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mixer_init(const char *mq_name)
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{
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/* open the control input queue; this should always exist */
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input_queue = mq_open(mq_name, O_RDONLY | O_NONBLOCK);
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ASSERTCODE((input_queue >= 0), A_INPUTQ_OPEN_FAIL);
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/* open the servo driver */
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mixer_servo_fd = open("/dev/pwm_servo", O_WRONLY);
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ASSERTCODE((mixer_servo_fd >= 0), A_SERVO_OPEN_FAIL);
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/* look for control data at 50Hz */
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hrt_call_every(&mixer_input_call, 1000, 20000, mixer_tick, NULL);
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return 0;
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}
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static void
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mixer_tick(void *arg)
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{
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uint16_t *control_values;
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int control_count;
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int i;
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bool should_arm;
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/*
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* Start by looking for R/C control inputs.
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* This updates system_state with any control inputs received.
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*/
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mixer_get_rc_input();
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/*
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* Decide which set of inputs we're using.
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*/
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if (system_state.mixer_use_fmu) {
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/* we have recent control data from the FMU */
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control_count = PX4IO_OUTPUT_CHANNELS;
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control_values = &system_state.fmu_channel_data[0];
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/* check that we are receiving fresh data from the FMU */
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if (!system_state.fmu_data_received) {
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fmu_input_drops++;
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/* too many frames without FMU input, time to go to failsafe */
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if (fmu_input_drops >= FMU_INPUT_DROP_LIMIT) {
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system_state.mixer_use_fmu = false;
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}
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} else {
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fmu_input_drops = 0;
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system_state.fmu_data_received = false;
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}
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} else if (system_state.rc_channels > 0) {
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/* we have control data from an R/C input */
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control_count = system_state.rc_channels;
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control_values = &system_state.rc_channel_data[0];
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} else {
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/* we have no control input */
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control_count = 0;
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}
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/*
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* Tickle each mixer, if we have control data.
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*/
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if (control_count > 0) {
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for (i = 0; i < PX4IO_OUTPUT_CHANNELS; i++) {
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mixer_update(i, control_values, control_count);
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/*
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* If we are armed, update the servo output.
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*/
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if (system_state.armed)
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ioctl(mixer_servo_fd, PWM_SERVO_SET(i), mixers[i].current_value);
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}
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}
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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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should_arm = system_state.armed && (control_count > 0);
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if (should_arm && !mixer_servos_armed) {
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/* need to arm, but not armed */
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ioctl(mixer_servo_fd, PWM_SERVO_ARM, 0);
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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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ioctl(mixer_servo_fd, PWM_SERVO_DISARM, 0);
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mixer_servos_armed = false;
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}
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}
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static void
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mixer_get_rc_input(void)
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{
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ssize_t len;
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/*
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* Pull channel data from the message queue into the system state structure.
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*
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*/
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len = mq_receive(input_queue, &system_state.rc_channel_data, sizeof(system_state.rc_channel_data), NULL);
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/*
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* If we have data, update the count and status.
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*/
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if (len > 0) {
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system_state.rc_channels = len / sizeof(system_state.rc_channel_data[0]);
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mixer_input_drops = 0;
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system_state.fmu_report_due = true;
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} else {
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/*
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* No data; count the 'frame drops' and once we hit the limit
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* assume that we have lost input.
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*/
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if (mixer_input_drops < MIXER_INPUT_DROP_LIMIT) {
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mixer_input_drops++;
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/* if we hit the limit, stop pretending we have input and let the FMU know */
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if (mixer_input_drops == MIXER_INPUT_DROP_LIMIT) {
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system_state.rc_channels = 0;
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system_state.fmu_report_due = true;
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}
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}
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}
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}
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static void
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mixer_update(int mixer, uint16_t *inputs, int input_count)
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{
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/* simple passthrough for now */
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if (mixer < input_count) {
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mixers[mixer].current_value = inputs[mixer];
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} else {
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mixers[mixer].current_value = 0;
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}
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}
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