/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Julian Oes <joes@student.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file esc_calib.c
*
* Tool for ESC calibration
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <sys/mount.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <nuttx/i2c.h>
#include <nuttx/mtd.h>
#include <nuttx/fs/nxffs.h>
#include <nuttx/fs/ioctl.h>
#include <arch/board/board.h>
#include "systemlib/systemlib.h"
#include "systemlib/err.h"
#include "drivers/drv_pwm_output.h"
static void usage(const char *reason);
__EXPORT int esc_calib_main(int argc, char *argv[]);
#define MAX_CHANNELS 14
static void
usage(const char *reason)
{
if (reason != NULL)
warnx("%s", reason);
errx(1,
"usage:\n"
"esc_calib [-d <device>] <channels>\n"
" <device> PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n"
" <channels> Provide channels (e.g.: 1 2 3 4)\n"
);
}
int
esc_calib_main(int argc, char *argv[])
{
char *dev = PWM_OUTPUT_DEVICE_PATH;
char *ep;
bool channels_selected[MAX_CHANNELS] = {false};
int ch;
int ret;
char c;
struct pollfd fds;
fds.fd = 0; /* stdin */
fds.events = POLLIN;
if (argc < 2)
usage(NULL);
while ((ch = getopt(argc-1, argv, "d:")) != EOF) {
switch (ch) {
case 'd':
dev = optarg;
argc-=2;
break;
default:
usage(NULL);
}
}
if(argc < 2) {
usage("no channels provided");
}
while (--argc) {
const char *arg = argv[argc];
unsigned channel_number = strtol(arg, &ep, 0);
if (*ep == '\0') {
if (channel_number > MAX_CHANNELS || channel_number <= 0) {
err(1, "invalid channel number: %d", channel_number);
} else {
channels_selected[channel_number-1] = true;
}
}
}
printf("\nATTENTION, please remove or fix propellers before starting calibration!\n"
"\n"
"Make sure\n"
"\t - that the ESCs are not powered\n"
"\t - that safety is off (two short blinks)\n"
"\t - that the controllers are stopped\n"
"\n"
"Do you want to start calibration now: y or n?\n");
/* wait for user input */
while (1) {
ret = poll(&fds, 1, 0);
if (ret > 0) {
read(0, &c, 1);
if (c == 'y' || c == 'Y') {
break;
} else if (c == 0x03 || c == 0x63 || c == 'q') {
printf("ESC calibration exited\n");
exit(0);
} else if (c == 'n' || c == 'N') {
printf("ESC calibration aborted\n");
exit(0);
} else {
printf("Unknown input, ESC calibration aborted\n");
exit(0);
}
}
/* rate limit to ~ 20 Hz */
usleep(50000);
}
/* open for ioctl only */
int fd = open(dev, 0);
if (fd < 0)
err(1, "can't open %s", dev);
/* Wait for user confirmation */
printf("\nHigh PWM set\n"
"\n"
"Connect battery now and hit ENTER after the ESCs confirm the first calibration step\n"
"\n");
fflush(stdout);
while (1) {
/* First set high PWM */
for (unsigned i = 0; i<MAX_CHANNELS; i++) {
if(channels_selected[i]) {
ret = ioctl(fd, PWM_SERVO_SET(i), 2100);
if (ret != OK)
err(1, "PWM_SERVO_SET(%d)", i);
}
}
ret = poll(&fds, 1, 0);
if (ret > 0) {
read(0, &c, 1);
if (c == 13) {
break;
} else if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("ESC calibration exited");
exit(0);
}
}
/* rate limit to ~ 20 Hz */
usleep(50000);
}
/* we don't need any more user input */
printf("Low PWM set, hit ENTER when finished\n"
"\n");
while (1) {
/* Then set low PWM */
for (unsigned i = 0; i<MAX_CHANNELS; i++) {
if(channels_selected[i]) {
ret = ioctl(fd, PWM_SERVO_SET(i), 900);
if (ret != OK)
err(1, "PWM_SERVO_SET(%d)", i);
}
}
ret = poll(&fds, 1, 0);
if (ret > 0) {
read(0, &c, 1);
if (c == 13) {
break;
} else if (c == 0x03 || c == 0x63 || c == 'q') {
printf("ESC calibration exited\n");
exit(0);
}
}
/* rate limit to ~ 20 Hz */
usleep(50000);
}
printf("ESC calibration finished\n");
exit(0);
}
