/****************************************************************************
*
* 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 <platforms/px4_defines.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"
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
static void usage(const char *reason);
__EXPORT int esc_calib_main(int argc, char *argv[]);
static void
usage(const char *reason)
{
if (reason != NULL)
warnx("%s", reason);
errx(1,
"usage:\n"
"esc_calib\n"
" [-d <device> PWM output device (defaults to " PWM_OUTPUT0_DEVICE_PATH ")\n"
" [-l <pwm> Low PWM value in us (default: %dus)\n"
" [-h <pwm> High PWM value in us (default: %dus)\n"
" [-c <channels>] Supply channels (e.g. 1234)\n"
" [-m <chanmask> ] Directly supply channel mask (e.g. 0xF)\n"
" [-a] Use all outputs\n"
, PWM_DEFAULT_MIN, PWM_DEFAULT_MAX);
}
int
esc_calib_main(int argc, char *argv[])
{
char *dev = PWM_OUTPUT0_DEVICE_PATH;
char *ep;
int ch;
int ret;
char c;
unsigned max_channels = 0;
uint32_t set_mask = 0;
unsigned long channels;
unsigned single_ch = 0;
uint16_t pwm_high = PWM_DEFAULT_MAX;
uint16_t pwm_low = PWM_DEFAULT_MIN;
struct pollfd fds;
fds.fd = 0; /* stdin */
fds.events = POLLIN;
if (argc < 2) {
usage("no channels provided");
}
int arg_consumed = 0;
while ((ch = getopt(argc, argv, "d:c:m:al:h:")) != EOF) {
switch (ch) {
case 'd':
dev = optarg;
arg_consumed += 2;
break;
case 'c':
/* Read in channels supplied as one int and convert to mask: 1234 -> 0xF */
channels = strtoul(optarg, &ep, 0);
while ((single_ch = channels % 10)) {
set_mask |= 1<<(single_ch-1);
channels /= 10;
}
break;
case 'm':
/* Read in mask directly */
set_mask = strtoul(optarg, &ep, 0);
if (*ep != '\0')
usage("bad set_mask value");
break;
case 'a':
/* Choose all channels */
for (unsigned i = 0; i<PWM_OUTPUT_MAX_CHANNELS; i++) {
set_mask |= 1<<i;
}
break;
case 'l':
/* Read in custom low value */
pwm_low = strtoul(optarg, &ep, 0);
if (*ep != '\0' || pwm_low < PWM_LOWEST_MIN || pwm_low > PWM_HIGHEST_MIN)
usage("low PWM invalid");
break;
case 'h':
/* Read in custom high value */
pwm_high = strtoul(optarg, &ep, 0);
if (*ep != '\0' || pwm_high > PWM_HIGHEST_MAX || pwm_high < PWM_LOWEST_MAX)
usage("high PWM invalid");
break;
default:
usage(NULL);
}
}
if (set_mask == 0)
usage("no channels chosen");
/* make sure no other source is publishing control values now */
struct actuator_controls_s actuators;
int act_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
/* clear changed flag */
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, act_sub, &actuators);
/* wait 50 ms */
usleep(50000);
/* now expect nothing changed on that topic */
bool orb_updated;
orb_check(act_sub, &orb_updated);
if (orb_updated) {
errx(1, "ABORTING! Attitude control still active. Please ensure to shut down all controllers:\n"
"\tmc_att_control stop\n"
"\tfw_att_control stop\n");
}
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);
/* get number of channels available on the device */
ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&max_channels);
if (ret != OK)
err(1, "PWM_SERVO_GET_COUNT");
/* tell IO/FMU that its ok to disable its safety with the switch */
ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
if (ret != OK)
err(1, "PWM_SERVO_SET_ARM_OK");
/* tell IO/FMU that the system is armed (it will output values if safety is off) */
ret = ioctl(fd, PWM_SERVO_ARM, 0);
if (ret != OK)
err(1, "PWM_SERVO_ARM");
warnx("Outputs armed");
/* wait for user confirmation */
printf("\nHigh PWM set: %d\n"
"\n"
"Connect battery now and hit ENTER after the ESCs confirm the first calibration step\n"
"\n", pwm_high);
fflush(stdout);
while (1) {
/* set max PWM */
for (unsigned i = 0; i < max_channels; i++) {
if (set_mask & 1<<i) {
ret = ioctl(fd, PWM_SERVO_SET(i), pwm_high);
if (ret != OK)
err(1, "PWM_SERVO_SET(%d), value: %d", i, pwm_high);
}
}
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);
}
printf("Low PWM set: %d\n"
"\n"
"Hit ENTER when finished\n"
"\n", pwm_low);
while (1) {
/* set disarmed PWM */
for (unsigned i = 0; i < max_channels; i++) {
if (set_mask & 1<<i) {
ret = ioctl(fd, PWM_SERVO_SET(i), pwm_low);
if (ret != OK)
err(1, "PWM_SERVO_SET(%d), value: %d", i, pwm_low);
}
}
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);
}
/* disarm */
ret = ioctl(fd, PWM_SERVO_DISARM, 0);
if (ret != OK)
err(1, "PWM_SERVO_DISARM");
warnx("Outputs disarmed");
printf("ESC calibration finished\n");
exit(0);
}
