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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-06 11:47:30 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-06 11:47:30 +0100 |
commit | f788d452ea02ab4d8af52f644dbd56a06d33dadb (patch) | |
tree | 61ce4dc02d271c88667ed9907189c8fff64b4e4e | |
parent | 4462a25ce9de65ff68cb42cdf23d3c877e9cd841 (diff) | |
parent | 7842caf3b2d5686c4e909d7d7f28758119e8918f (diff) | |
download | px4-firmware-f788d452ea02ab4d8af52f644dbd56a06d33dadb.tar.gz px4-firmware-f788d452ea02ab4d8af52f644dbd56a06d33dadb.tar.bz2 px4-firmware-f788d452ea02ab4d8af52f644dbd56a06d33dadb.zip |
Merged
-rw-r--r-- | apps/drivers/px4io/px4io.cpp | 57 | ||||
-rw-r--r-- | apps/px4io/comms.c | 14 | ||||
-rw-r--r-- | apps/px4io/controls.c | 3 | ||||
-rw-r--r-- | apps/px4io/mixer.cpp | 36 | ||||
-rw-r--r-- | apps/px4io/protocol.h | 9 | ||||
-rw-r--r-- | apps/px4io/px4io.h | 14 |
6 files changed, 119 insertions, 14 deletions
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index c2396b002..332d4f882 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -72,6 +72,7 @@ #include <systemlib/err.h> #include <systemlib/systemlib.h> #include <systemlib/scheduling_priorities.h> +#include <systemlib/param/param.h> #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls_effective.h> @@ -225,7 +226,7 @@ PX4IO::PX4IO() : _relays(0), _switch_armed(false), _send_needed(false), - _config_needed(false) + _config_needed(true) { /* we need this potentially before it could be set in task_main */ g_dev = this; @@ -454,12 +455,6 @@ PX4IO::task_main() } } - /* send an update to IO if required */ - if (_send_needed) { - _send_needed = false; - io_send(); - } - /* send a config packet to IO if required */ if (_config_needed) { _config_needed = false; @@ -474,6 +469,12 @@ PX4IO::task_main() _mix_buf = nullptr; _mix_buf_len = 0; } + + /* send an update to IO if required */ + if (_send_needed) { + _send_needed = false; + io_send(); + } } unlock(); @@ -632,7 +633,7 @@ PX4IO::io_send() cmd.manual_override_ok = _vstatus.flag_external_manual_override_ok; /* set desired PWM output rate */ cmd.servo_rate = _update_rate; - + ret = hx_stream_send(_io_stream, &cmd, sizeof(cmd)); if (ret) @@ -647,6 +648,46 @@ PX4IO::config_send() cfg.f2i_config_magic = F2I_CONFIG_MAGIC; + int val; + + /* maintaing the standard order of Roll, Pitch, Yaw, Throttle */ + param_get(param_find("RC_MAP_ROLL"), &val); + cfg.rc_map[0] = (uint8_t)val; + param_get(param_find("RC_MAP_PITCH"), &val); + cfg.rc_map[1] = (uint8_t)val; + param_get(param_find("RC_MAP_YAW"), &val); + cfg.rc_map[2] = (uint8_t)val; + param_get(param_find("RC_MAP_THROTTLE"), &val); + cfg.rc_map[3] = (uint8_t)val; + + /* set the individual channel properties */ + char nbuf[16]; + for (unsigned i = 0; i < 4; i++) { + sprintf(nbuf, "RC%d_MIN", i); + param_get(param_find(nbuf), &val); + cfg.rc_min[i] = (uint16_t)val; + } + for (unsigned i = 0; i < 4; i++) { + sprintf(nbuf, "RC%d_TRIM", i); + param_get(param_find(nbuf), &val); + cfg.rc_trim[i] = (uint16_t)val; + } + for (unsigned i = 0; i < 4; i++) { + sprintf(nbuf, "RC%d_MAX", i); + param_get(param_find(nbuf), &val); + cfg.rc_max[i] = (uint16_t)val; + } + for (unsigned i = 0; i < 4; i++) { + sprintf(nbuf, "RC%d_REV", i); + param_get(param_find(nbuf), &val); + cfg.rc_rev[i] = (uint16_t)val; + } + for (unsigned i = 0; i < 4; i++) { + sprintf(nbuf, "RC%d_DZ", i); + param_get(param_find(nbuf), &val); + cfg.rc_dz[i] = (uint16_t)val; + } + ret = hx_stream_send(_io_stream, &cfg, sizeof(cfg)); if (ret) diff --git a/apps/px4io/comms.c b/apps/px4io/comms.c index 8d7e90093..adedea74c 100644 --- a/apps/px4io/comms.c +++ b/apps/px4io/comms.c @@ -207,7 +207,19 @@ comms_handle_config(const void *buffer, size_t length) if (length != sizeof(*cfg)) return; - /* XXX */ + /* fetch the rc mappings */ + for (unsigned i = 0; i < 4; i++) { + system_state.rc_map[i] = cfg->rc_map[i]; + } + + /* fetch the rc channel attributes */ + for (unsigned i = 0; i < 4; i++) { + system_state.rc_min[i] = cfg->rc_min[i]; + system_state.rc_trim[i] = cfg->rc_trim[i]; + system_state.rc_max[i] = cfg->rc_max[i]; + system_state.rc_rev[i] = cfg->rc_rev[i]; + system_state.rc_dz[i] = cfg->rc_dz[i]; + } } static void diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c index 297fea017..da445e3b4 100644 --- a/apps/px4io/controls.c +++ b/apps/px4io/controls.c @@ -167,8 +167,9 @@ ppm_input(void) /* PPM data exists, copy it */ system_state.rc_channels = ppm_decoded_channels; - for (unsigned i = 0; i < ppm_decoded_channels; i++) + for (unsigned i = 0; i < ppm_decoded_channels; i++) { system_state.rc_channel_data[i] = ppm_buffer[i]; + } /* copy the timestamp and clear it */ system_state.rc_channels_timestamp = ppm_last_valid_decode; diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp index 052876954..95484bc9d 100644 --- a/apps/px4io/mixer.cpp +++ b/apps/px4io/mixer.cpp @@ -47,11 +47,13 @@ #include <errno.h> #include <unistd.h> #include <fcntl.h> +#include <sched.h> #include <debug.h> #include <drivers/drv_pwm_output.h> #include <drivers/drv_hrt.h> +#include <drivers/device/device.h> #include <systemlib/mixer/mixer.h> @@ -65,6 +67,12 @@ extern "C" { */ #define FMU_INPUT_DROP_LIMIT_US 200000 +/* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */ +#define ROLL 0 +#define PITCH 1 +#define YAW 2 +#define THROTTLE 3 + /* current servo arm/disarm state */ bool mixer_servos_armed = false; @@ -72,6 +80,8 @@ bool mixer_servos_armed = false; static uint16_t *control_values; static int control_count; +static uint16_t rc_channel_data[PX4IO_CONTROL_CHANNELS]; + static int mixer_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, @@ -107,13 +117,34 @@ mixer_tick(void) } else if (system_state.rc_channels > 0) { /* when override is on or the fmu is not available, but RC is present */ control_count = system_state.rc_channels; - control_values = &system_state.rc_channel_data[0]; + + sched_lock(); + + /* remap roll, pitch, yaw and throttle from RC specific to internal ordering */ + rc_channel_data[ROLL] = system_state.rc_channel_data[system_state.rc_map[ROLL] - 1]; + rc_channel_data[PITCH] = system_state.rc_channel_data[system_state.rc_map[PITCH] - 1]; + rc_channel_data[YAW] = system_state.rc_channel_data[system_state.rc_map[YAW] - 1]; + rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE] - 1]; + + /* get the remaining channels, no remapping needed */ + for (unsigned i = 4; i < system_state.rc_channels; i++) + rc_channel_data[i] = system_state.rc_channel_data[i]; + + /* scale the control inputs */ + rc_channel_data[THROTTLE] = ((rc_channel_data[THROTTLE] - system_state.rc_min[THROTTLE]) / + (system_state.rc_max[THROTTLE] - system_state.rc_min[THROTTLE])) * 1000 + 1000; + //lib_lowprintf("Tmin: %d Ttrim: %d Tmax: %d T: %d \n", + // system_state.rc_min[THROTTLE], system_state.rc_trim[THROTTLE], system_state.rc_max[THROTTLE], rc_channel_data[THROTTLE]); + + control_values = &rc_channel_data[0]; + sched_unlock(); } else { /* we have no control input (no FMU, no RC) */ // XXX builtin failsafe would activate here control_count = 0; } + //lib_lowprintf("R: %d P: %d Y: %d T: %d \n", control_values[0], control_values[1], control_values[2], control_values[3]); /* this is for multicopters, etc. where manual override does not make sense */ } else { @@ -151,8 +182,9 @@ mixer_tick(void) /* * If we are armed, update the servo output. */ - if (system_state.armed && system_state.arm_ok) + if (system_state.armed && system_state.arm_ok) { up_pwm_servo_set(i, system_state.servos[i]); + } } } diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h index 163c52c02..7aa3be02a 100644 --- a/apps/px4io/protocol.h +++ b/apps/px4io/protocol.h @@ -59,7 +59,7 @@ struct px4io_command { bool relay_state[PX4IO_RELAY_CHANNELS]; /**< relay states as requested by FMU */ bool arm_ok; /**< FMU allows full arming */ bool vector_flight_mode_ok; /**< FMU aquired a valid position lock, ready for pos control */ - bool manual_override_ok; /**< if true, IO performs a direct manual override */ + bool manual_override_ok; /**< if true, IO performs a direct manual override */ }; /** @@ -85,7 +85,12 @@ struct px4io_config { uint16_t f2i_config_magic; #define F2I_CONFIG_MAGIC 0x6366 - /* XXX currently nothing here */ + uint8_t rc_map[4]; /**< channel ordering of roll, pitch, yaw, throttle */ + uint16_t rc_min[4]; /**< min value for each channel */ + uint16_t rc_trim[4]; /**< trim value for each channel */ + uint16_t rc_max[4]; /**< max value for each channel */ + uint16_t rc_rev[4]; /**< rev value for each channel */ + uint16_t rc_dz[4]; /**< dz value for each channel */ }; /** diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h index 157135854..65d33f34b 100644 --- a/apps/px4io/px4io.h +++ b/apps/px4io/px4io.h @@ -73,6 +73,20 @@ struct sys_state_s { uint16_t servo_rate; /* output rate of servos in Hz */ /** + * Remote control input(s) channel mappings + */ + uint8_t rc_map[4]; + + /** + * Remote control channel attributes + */ + uint16_t rc_min[4]; + uint16_t rc_trim[4]; + uint16_t rc_max[4]; + uint16_t rc_rev[4]; + uint16_t rc_dz[4]; + + /** * Data from the remote control input(s) */ unsigned rc_channels; |