diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 01:17:12 +0200 |
---|---|---|
committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 01:30:14 +0200 |
commit | f57439b90e23de260259dec051d3e2ead2d61c8c (patch) | |
tree | 5cd778d2cf0c9afb2851ab9042bbecc5b742a497 /src/modules/px4iofirmware/mixer.cpp | |
parent | 8040b9b96e8f7c07aa981150c33f850096062f70 (diff) | |
download | px4-firmware-f57439b90e23de260259dec051d3e2ead2d61c8c.tar.gz px4-firmware-f57439b90e23de260259dec051d3e2ead2d61c8c.tar.bz2 px4-firmware-f57439b90e23de260259dec051d3e2ead2d61c8c.zip |
Moved all drivers to new world, PX4IO completely in new world
Diffstat (limited to 'src/modules/px4iofirmware/mixer.cpp')
-rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 311 |
1 files changed, 311 insertions, 0 deletions
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp new file mode 100644 index 000000000..f38593d2a --- /dev/null +++ b/src/modules/px4iofirmware/mixer.cpp @@ -0,0 +1,311 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * 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 mixer.cpp + * + * Control channel input/output mixer and failsafe. + */ + +#include <nuttx/config.h> +#include <syslog.h> + +#include <sys/types.h> +#include <stdbool.h> +#include <string.h> + +#include <drivers/drv_pwm_output.h> +#include <drivers/drv_hrt.h> + +#include <systemlib/mixer/mixer.h> + +extern "C" { +//#define DEBUG +#include "px4io.h" +} + +/* + * Maximum interval in us before FMU signal is considered lost + */ +#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 +#define OVERRIDE 4 + +/* current servo arm/disarm state */ +static bool mixer_servos_armed = false; + +/* selected control values and count for mixing */ +enum mixer_source { + MIX_NONE, + MIX_FMU, + MIX_OVERRIDE, + MIX_FAILSAFE +}; +static mixer_source source; + +static int mixer_callback(uintptr_t handle, + uint8_t control_group, + uint8_t control_index, + float &control); + +static MixerGroup mixer_group(mixer_callback, 0); + +void +mixer_tick(void) +{ + /* check that we are receiving fresh data from the FMU */ + if (hrt_elapsed_time(&system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) { + + /* too long without FMU input, time to go to failsafe */ + if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) { + isr_debug(1, "AP RX timeout"); + } + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM); + r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST; + + } else { + r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK; + r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST; + } + + source = MIX_FAILSAFE; + + /* + * Decide which set of controls we're using. + */ + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) || + !(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) { + + /* don't actually mix anything - we already have raw PWM values or + not a valid mixer. */ + source = MIX_NONE; + + } else { + + if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && + (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) { + + /* mix from FMU controls */ + source = MIX_FMU; + } + + if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && + (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && + (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) { + + /* if allowed, mix from RC inputs directly */ + source = MIX_OVERRIDE; + } + } + + /* + * Run the mixers. + */ + if (source == MIX_FAILSAFE) { + + /* copy failsafe values to the servo outputs */ + for (unsigned i = 0; i < IO_SERVO_COUNT; i++) + r_page_servos[i] = r_page_servo_failsafe[i]; + + } else if (source != MIX_NONE) { + + float outputs[IO_SERVO_COUNT]; + unsigned mixed; + + /* mix */ + mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT); + + /* scale to PWM and update the servo outputs as required */ + for (unsigned i = 0; i < mixed; i++) { + + /* save actuator values for FMU readback */ + r_page_actuators[i] = FLOAT_TO_REG(outputs[i]); + + /* scale to servo output */ + r_page_servos[i] = (outputs[i] * 500.0f) + 1500; + + } + for (unsigned i = mixed; i < IO_SERVO_COUNT; i++) + r_page_servos[i] = 0; + } + + /* + * Decide whether the servos should be armed right now. + * + * We must be armed, and we must have a PWM source; either raw from + * FMU or from the mixer. + * + * XXX correct behaviour for failsafe may require an additional case + * here. + */ + bool should_arm = ( + /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && + /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && + /* there is valid input */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) && + /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) && + /* FMU is available or FMU is not available but override is an option */ + ((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) || (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && (r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) )) + ); + + if (should_arm && !mixer_servos_armed) { + /* need to arm, but not armed */ + up_pwm_servo_arm(true); + mixer_servos_armed = true; + + } else if (!should_arm && mixer_servos_armed) { + /* armed but need to disarm */ + up_pwm_servo_arm(false); + mixer_servos_armed = false; + } + + if (mixer_servos_armed) { + /* update the servo outputs. */ + for (unsigned i = 0; i < IO_SERVO_COUNT; i++) + up_pwm_servo_set(i, r_page_servos[i]); + } +} + +static int +mixer_callback(uintptr_t handle, + uint8_t control_group, + uint8_t control_index, + float &control) +{ + if (control_group != 0) + return -1; + + switch (source) { + case MIX_FMU: + if (control_index < PX4IO_CONTROL_CHANNELS) { + control = REG_TO_FLOAT(r_page_controls[control_index]); + break; + } + return -1; + + case MIX_OVERRIDE: + if (r_page_rc_input[PX4IO_P_RC_VALID] & (1 << control_index)) { + control = REG_TO_FLOAT(r_page_rc_input[PX4IO_P_RC_BASE + control_index]); + break; + } + return -1; + + case MIX_FAILSAFE: + case MIX_NONE: + /* XXX we could allow for configuration of per-output failsafe values */ + return -1; + } + + return 0; +} + +/* + * XXX error handling here should be more aggressive; currently it is + * possible to get STATUS_FLAGS_MIXER_OK set even though the mixer has + * not loaded faithfully. + */ + +static char mixer_text[256]; /* large enough for one mixer */ +static unsigned mixer_text_length = 0; + +void +mixer_handle_text(const void *buffer, size_t length) +{ + /* do not allow a mixer change while fully armed */ + if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && + /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { + return; + } + + px4io_mixdata *msg = (px4io_mixdata *)buffer; + + isr_debug(2, "mix txt %u", length); + + if (length < sizeof(px4io_mixdata)) + return; + + unsigned text_length = length - sizeof(px4io_mixdata); + + switch (msg->action) { + case F2I_MIXER_ACTION_RESET: + isr_debug(2, "reset"); + + /* FIRST mark the mixer as invalid */ + r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK; + /* THEN actually delete it */ + mixer_group.reset(); + mixer_text_length = 0; + + /* FALLTHROUGH */ + case F2I_MIXER_ACTION_APPEND: + isr_debug(2, "append %d", length); + + /* check for overflow - this is really fatal */ + /* XXX could add just what will fit & try to parse, then repeat... */ + if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) { + r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK; + return; + } + + /* append mixer text and nul-terminate */ + memcpy(&mixer_text[mixer_text_length], msg->text, text_length); + mixer_text_length += text_length; + mixer_text[mixer_text_length] = '\0'; + isr_debug(2, "buflen %u", mixer_text_length); + + /* process the text buffer, adding new mixers as their descriptions can be parsed */ + unsigned resid = mixer_text_length; + mixer_group.load_from_buf(&mixer_text[0], resid); + + /* if anything was parsed */ + if (resid != mixer_text_length) { + + /* ideally, this should test resid == 0 ? */ + r_status_flags |= PX4IO_P_STATUS_FLAGS_MIXER_OK; + + isr_debug(2, "used %u", mixer_text_length - resid); + + /* copy any leftover text to the base of the buffer for re-use */ + if (resid > 0) + memcpy(&mixer_text[0], &mixer_text[mixer_text_length - resid], resid); + + mixer_text_length = resid; + } + + break; + } +} |