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* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
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*
* 1. Redistributions of source code must retain the above copyright
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/**
* @file commander_helper.cpp
* Commander helper functions implementations
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
*/
#include <stdio.h>
#include <unistd.h>
#include <stdint.h>
#include <stdbool.h>
#include <fcntl.h>
#include <math.h>
#include <string.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_tone_alarm.h>
#include <drivers/drv_led.h>
#include <drivers/drv_rgbled.h>
#include "commander_helper.h"
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
#define BLINK_MSG_TIME 700000 // 3 fast blinks
bool is_multirotor(const struct vehicle_status_s *current_status)
{
return ((current_status->system_type == vehicle_status_s::VEHICLE_TYPE_QUADROTOR) ||
(current_status->system_type == vehicle_status_s::VEHICLE_TYPE_HEXAROTOR) ||
(current_status->system_type == vehicle_status_s::VEHICLE_TYPE_OCTOROTOR) ||
(current_status->system_type == vehicle_status_s::VEHICLE_TYPE_TRICOPTER));
}
bool is_rotary_wing(const struct vehicle_status_s *current_status)
{
return is_multirotor(current_status) || (current_status->system_type == vehicle_status_s::VEHICLE_TYPE_HELICOPTER)
|| (current_status->system_type == vehicle_status_s::VEHICLE_TYPE_COAXIAL);
}
static int buzzer = -1;
static hrt_abstime blink_msg_end = 0; // end time for currently blinking LED message, 0 if no blink message
static hrt_abstime tune_end = 0; // end time of currently played tune, 0 for repeating tunes or silence
static int tune_current = TONE_STOP_TUNE; // currently playing tune, can be interrupted after tune_end
static unsigned int tune_durations[TONE_NUMBER_OF_TUNES];
int buzzer_init()
{
tune_end = 0;
tune_current = 0;
memset(tune_durations, 0, sizeof(tune_durations));
tune_durations[TONE_NOTIFY_POSITIVE_TUNE] = 800000;
tune_durations[TONE_NOTIFY_NEGATIVE_TUNE] = 900000;
tune_durations[TONE_NOTIFY_NEUTRAL_TUNE] = 500000;
tune_durations[TONE_ARMING_WARNING_TUNE] = 3000000;
buzzer = open(TONEALARM0_DEVICE_PATH, O_WRONLY);
if (buzzer < 0) {
warnx("Buzzer: open fail\n");
return ERROR;
}
return OK;
}
void buzzer_deinit()
{
close(buzzer);
}
void set_tune_override(int tune)
{
ioctl(buzzer, TONE_SET_ALARM, tune);
}
void set_tune(int tune)
{
unsigned int new_tune_duration = tune_durations[tune];
/* don't interrupt currently playing non-repeating tune by repeating */
if (tune_end == 0 || new_tune_duration != 0 || hrt_absolute_time() > tune_end) {
/* allow interrupting current non-repeating tune by the same tune */
if (tune != tune_current || new_tune_duration != 0) {
ioctl(buzzer, TONE_SET_ALARM, tune);
}
tune_current = tune;
if (new_tune_duration != 0) {
tune_end = hrt_absolute_time() + new_tune_duration;
} else {
tune_end = 0;
}
}
}
/**
* Blink green LED and play positive tune (if use_buzzer == true).
*/
void tune_positive(bool use_buzzer)
{
blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
rgbled_set_color(RGBLED_COLOR_GREEN);
rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
if (use_buzzer) {
set_tune(TONE_NOTIFY_POSITIVE_TUNE);
}
}
/**
* Blink white LED and play neutral tune (if use_buzzer == true).
*/
void tune_neutral(bool use_buzzer)
{
blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
rgbled_set_color(RGBLED_COLOR_WHITE);
rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
if (use_buzzer) {
set_tune(TONE_NOTIFY_NEUTRAL_TUNE);
}
}
/**
* Blink red LED and play negative tune (if use_buzzer == true).
*/
void tune_negative(bool use_buzzer)
{
blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
rgbled_set_color(RGBLED_COLOR_RED);
rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
if (use_buzzer) {
set_tune(TONE_NOTIFY_NEGATIVE_TUNE);
}
}
int blink_msg_state()
{
if (blink_msg_end == 0) {
return 0;
} else if (hrt_absolute_time() > blink_msg_end) {
blink_msg_end = 0;
return 2;
} else {
return 1;
}
}
static int leds = -1;
static int rgbleds = -1;
int led_init()
{
blink_msg_end = 0;
/* first open normal LEDs */
leds = open(LED0_DEVICE_PATH, 0);
if (leds < 0) {
warnx("LED: open fail\n");
return ERROR;
}
/* the blue LED is only available on FMUv1 & AeroCore but not FMUv2 */
(void)ioctl(leds, LED_ON, LED_BLUE);
/* switch blue off */
led_off(LED_BLUE);
/* we consider the amber led mandatory */
if (ioctl(leds, LED_ON, LED_AMBER)) {
warnx("Amber LED: ioctl fail\n");
return ERROR;
}
/* switch amber off */
led_off(LED_AMBER);
/* then try RGB LEDs, this can fail on FMUv1*/
rgbleds = open(RGBLED0_DEVICE_PATH, 0);
if (rgbleds < 0) {
warnx("No RGB LED found at " RGBLED0_DEVICE_PATH);
}
return 0;
}
void led_deinit()
{
if (leds >= 0) {
close(leds);
}
if (rgbleds >= 0) {
close(rgbleds);
}
}
int led_toggle(int led)
{
if (leds < 0) {
return leds;
}
return ioctl(leds, LED_TOGGLE, led);
}
int led_on(int led)
{
if (leds < 0) {
return leds;
}
return ioctl(leds, LED_ON, led);
}
int led_off(int led)
{
if (leds < 0) {
return leds;
}
return ioctl(leds, LED_OFF, led);
}
void rgbled_set_color(rgbled_color_t color)
{
if (rgbleds < 0) {
return;
}
ioctl(rgbleds, RGBLED_SET_COLOR, (unsigned long)color);
}
void rgbled_set_mode(rgbled_mode_t mode)
{
if (rgbleds < 0) {
return;
}
ioctl(rgbleds, RGBLED_SET_MODE, (unsigned long)mode);
}
void rgbled_set_pattern(rgbled_pattern_t *pattern)
{
if (rgbleds < 0) {
return;
}
ioctl(rgbleds, RGBLED_SET_PATTERN, (unsigned long)pattern);
}
float battery_remaining_estimate_voltage(float voltage, float discharged, float throttle_normalized)
{
float ret = 0;
static param_t bat_v_empty_h;
static param_t bat_v_full_h;
static param_t bat_n_cells_h;
static param_t bat_capacity_h;
static param_t bat_v_load_drop_h;
static float bat_v_empty = 3.4f;
static float bat_v_full = 4.2f;
static float bat_v_load_drop = 0.06f;
static int bat_n_cells = 3;
static float bat_capacity = -1.0f;
static bool initialized = false;
static unsigned int counter = 0;
if (!initialized) {
bat_v_empty_h = param_find("BAT_V_EMPTY");
bat_v_full_h = param_find("BAT_V_CHARGED");
bat_n_cells_h = param_find("BAT_N_CELLS");
bat_capacity_h = param_find("BAT_CAPACITY");
bat_v_load_drop_h = param_find("BAT_V_LOAD_DROP");
initialized = true;
}
if (counter % 100 == 0) {
param_get(bat_v_empty_h, &bat_v_empty);
param_get(bat_v_full_h, &bat_v_full);
param_get(bat_v_load_drop_h, &bat_v_load_drop);
param_get(bat_n_cells_h, &bat_n_cells);
param_get(bat_capacity_h, &bat_capacity);
}
counter++;
/* remaining charge estimate based on voltage and internal resistance (drop under load) */
float bat_v_full_dynamic = bat_v_full - (bat_v_load_drop * throttle_normalized);
float remaining_voltage = (voltage - (bat_n_cells * bat_v_empty)) / (bat_n_cells * (bat_v_full_dynamic - bat_v_empty));
if (bat_capacity > 0.0f) {
/* if battery capacity is known, use discharged current for estimate, but don't show more than voltage estimate */
ret = fminf(remaining_voltage, 1.0f - discharged / bat_capacity);
} else {
/* else use voltage */
ret = remaining_voltage;
}
/* limit to sane values */
ret = (ret < 0.0f) ? 0.0f : ret;
ret = (ret > 1.0f) ? 1.0f : ret;
return ret;
}