1 files changed, 264 insertions, 0 deletions
diff --git a/apps/systemcmds/calibration/servo_cal.c b/apps/systemcmds/calibration/servo_cal.c
new file mode 100644
index 000000000..96b3045a9
--- /dev/null
+++ b/apps/systemcmds/calibration/servo_cal.c
@@ -0,0 +1,264 @@
+/****************************************************************************
+ * servo_cal.c
+ *
+ *   Copyright (C) 2012 Nils Wenzler. All rights reserved.
+ *   Authors: Nils Wenzler <wenzlern@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 NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+#include <stdio.h>
+#include <stdlib.h>
+#include <arch/board/drv_pwm_servo.h>
+#include <fcntl.h>
+#include "calibration.h"
+
+/****************************************************************************
+ * Defines
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+//Store the values here before writing them to global_data_rc_channels
+uint16_t max_values_servo[PWM_SERVO_MAX_CHANNELS];
+uint16_t min_values_servo[PWM_SERVO_MAX_CHANNELS];
+uint16_t mid_values_servo[PWM_SERVO_MAX_CHANNELS];
+
+// Servo loop thread
+
+pthread_t servo_calib_thread;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/**This sets the middle values
+ */
+uint8_t set_mid_s(void)
+{
+	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
+		uint8_t i;
+
+		for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
+			if (i == global_data_rc_channels->function[ROLL] ||
+			    i == global_data_rc_channels->function[YAW] ||
+			    i == global_data_rc_channels->function[PITCH]) {
+
+				mid_values_servo[i] = global_data_rc_channels->chan[i].raw;
+
+			} else {
+				mid_values_servo[i] = (max_values_servo[i] + min_values_servo[i]) / 2;
+			}
+
+		}
+
+		global_data_unlock(&global_data_rc_channels->access_conf);
+		return 0;
+
+	} else
+		return -1;
+}
+
+/**This gets all current values and writes them to min or max
+ */
+uint8_t get_value_s(void)
+{
+	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
+		uint8_t i;
+
+		for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
+			//see if the value is bigger or smaller than 1500 (roughly neutral)
+			//and write to the appropriate array
+			if (global_data_rc_channels->chan[i].raw != 0 &&
+			    global_data_rc_channels->chan[i].raw < 1500) {
+				min_values_servo[i] = global_data_rc_channels->chan[i].raw;
+
+			} else if (global_data_rc_channels->chan[i].raw != 0 &&
+				   global_data_rc_channels->chan[i].raw > 1500) {
+				max_values_servo[i] = global_data_rc_channels->chan[i].raw;
+
+			} else {
+				max_values_servo[i] = 0;
+				min_values_servo[i] = 0;
+			}
+		}
+
+		global_data_unlock(&global_data_rc_channels->access_conf);
+		return 0;
+
+	} else
+		return -1;
+}
+
+
+void write_data_s(void)
+{
+	//  global_data_lock(&global_data_rc_channels->access_conf);
+	//  uint8_t i;
+	//  for(i=0; i < NR_CHANNELS; i++){
+	//    //Write the data to global_data_rc_channels (if not 0)
+	//    if(mid_values_servo[i]!=0 && min_values_servo[i]!=0 && max_values_servo[i]!=0){
+	//      global_data_rc_channels->chan[i].scaling_factor =
+	//        10000/((max_values_servo[i] - min_values_servo[i])/2);
+	//
+	//      global_data_rc_channels->chan[i].mid = mid_values_servo[i];
+	//    }
+	//
+	//    printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
+	//        i,
+	//        global_data_rc_channels->function_name[global_data_rc_channels->function[i]],
+	//        min_values_servo[i], max_values_servo[i],
+	//        global_data_rc_channels->chan[i].scaling_factor,
+	//        global_data_rc_channels->chan[i].mid);
+	//  }
+	//  global_data_unlock(&global_data_rc_channels->access_conf);
+
+	//Write to the Parameter storage
+
+
+
+	global_data_lock(&global_data_parameter_storage->access_conf);
+
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MIN] = min_values_servo[0];
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MIN] = min_values_servo[1];
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MIN] = min_values_servo[2];
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MIN] = min_values_servo[3];
+
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MAX] = max_values_servo[0];
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MAX] = max_values_servo[1];
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MAX] = max_values_servo[2];
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MAX] = max_values_servo[3];
+
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO1_TRIM] = mid_values_servo[0];
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO2_TRIM] = mid_values_servo[1];
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO3_TRIM] = mid_values_servo[2];
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO4_TRIM] = mid_values_servo[3];
+
+	global_data_unlock(&global_data_parameter_storage->access_conf);
+
+	usleep(3e6);
+	uint8_t i;
+
+	for (i = 0; i < NR_CHANNELS; i++) {
+		printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
+		       i,
+		       min_values_servo[i], max_values_servo[i],
+		       global_data_rc_channels->chan[i].scaling_factor,
+		       global_data_rc_channels->chan[i].mid);
+	}
+
+}
+
+static void *servo_loop(void *arg)
+{
+
+	// Set thread name
+	prctl(1, "calibration servo", getpid());
+
+	// initialize servos
+	int fd;
+	servo_position_t data[PWM_SERVO_MAX_CHANNELS];
+
+	fd = open("/dev/pwm_servo", O_RDWR);
+
+	if (fd < 0) {
+		printf("failed opening /dev/pwm_servo\n");
+	}
+
+	ioctl(fd, PWM_SERVO_ARM, 0);
+
+	while (1) {
+		int i;
+
+		for (i = 0; i < 4; i++) {
+			data[i] = global_data_rc_channels->chan[global_data_rc_channels->function[THROTTLE]].raw;
+		}
+
+		int result = write(fd, &data, sizeof(data));
+
+		if (result != sizeof(data)) {
+			printf("failed bulk-reading channel values\n");
+		}
+
+		// 5Hz loop
+		usleep(200000);
+	}
+
+	return NULL;
+}
+
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+int servo_cal(int argc, char *argv[])
+{
+	//	pthread_attr_t servo_loop_attr;
+	//	pthread_attr_init(&servo_loop_attr);
+	//	pthread_attr_setstacksize(&servo_loop_attr, 1024);
+	pthread_create(&servo_calib_thread, NULL, servo_loop, NULL);
+	pthread_join(servo_calib_thread, NULL);
+
+	printf("The servo calibration routine assumes you already did the channel\n");
+	printf("assignment with 'calibration channels'\n");
+	printf("This routine chooses the minimum, maximum and middle\n");
+	printf("value for each channel separately. The ROLL, PITCH and YAW function\n");
+	printf("get their middle value from the RC direct, for the rest it is\n");
+	printf("calculated out of the min and max values.\n");
+	press_enter();
+
+	printf("Hold both sticks in lower left corner and continue\n ");
+	press_enter();
+	usleep(500000);
+
+	while (get_value_s());
+
+	printf("Hold both sticks in upper right corner and continue\n");
+	press_enter();
+	usleep(500000);
+
+	while (get_value_s());
+
+	printf("Set the trim to 0 and leave the sticks in the neutral position\n");
+	press_enter();
+
+	//Loop until successfull
+	while (set_mid_s());
+
+	//write the values to global_data_rc_channels
+	write_data_s();
+
+	return 0;
+
+}
+