diff options
Diffstat (limited to 'src/drivers/px4fmu/fmu.cpp')
-rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 185 |
1 files changed, 160 insertions, 25 deletions
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index b1dd55dd7..8e9e8103f 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -59,11 +59,12 @@ #include <drivers/drv_gpio.h> #include <drivers/drv_hrt.h> -# include <board_config.h> +#include <board_config.h> #include <systemlib/systemlib.h> #include <systemlib/err.h> #include <systemlib/mixer/mixer.h> +#include <systemlib/pwm_limit/pwm_limit.h> #include <drivers/drv_mixer.h> #include <drivers/drv_rc_input.h> @@ -72,7 +73,7 @@ #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_armed.h> -#include <systemlib/err.h> + #ifdef HRT_PPM_CHANNEL # include <systemlib/ppm_decode.h> #endif @@ -100,7 +101,7 @@ public: int set_pwm_alt_channels(uint32_t channels); private: - static const unsigned _max_actuators = 4; + static const unsigned _max_actuators = 6; Mode _mode; unsigned _pwm_default_rate; @@ -117,11 +118,18 @@ private: volatile bool _task_should_exit; bool _armed; + bool _pwm_on; MixerGroup *_mixers; actuator_controls_s _controls; + pwm_limit_t _pwm_limit; + uint16_t _disarmed_pwm[_max_actuators]; + uint16_t _min_pwm[_max_actuators]; + uint16_t _max_pwm[_max_actuators]; + unsigned _num_disarmed_set; + static void task_main_trampoline(int argc, char *argv[]); void task_main() __attribute__((noreturn)); @@ -203,7 +211,12 @@ PX4FMU::PX4FMU() : _primary_pwm_device(false), _task_should_exit(false), _armed(false), - _mixers(nullptr) + _pwm_on(false), + _mixers(nullptr), + _disarmed_pwm({0}), + _min_pwm({PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN}), + _max_pwm({PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX}), + _num_disarmed_set(0) { _debug_enabled = true; } @@ -457,6 +470,9 @@ PX4FMU::task_main() rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM; #endif + /* initialize PWM limit lib */ + pwm_limit_init(&_pwm_limit); + log("starting"); /* loop until killed */ @@ -530,32 +546,35 @@ PX4FMU::task_main() outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs); outputs.timestamp = hrt_absolute_time(); - // XXX output actual limited values - memcpy(&controls_effective, &_controls, sizeof(controls_effective)); - - orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective); - /* iterate actuators */ for (unsigned i = 0; i < num_outputs; i++) { - /* last resort: catch NaN, INF and out-of-band errors */ - if (i < outputs.noutputs && - isfinite(outputs.output[i]) && - outputs.output[i] >= -1.0f && - outputs.output[i] <= 1.0f) { - /* scale for PWM output 900 - 2100us */ - outputs.output[i] = 1500 + (600 * outputs.output[i]); - } else { + if (i >= outputs.noutputs || + !isfinite(outputs.output[i]) || + outputs.output[i] < -1.0f || + outputs.output[i] > 1.0f) { /* * Value is NaN, INF or out of band - set to the minimum value. * This will be clearly visible on the servo status and will limit the risk of accidentally * spinning motors. It would be deadly in flight. */ - outputs.output[i] = 900; + outputs.output[i] = -1.0f; } + } + + uint16_t pwm_limited[num_outputs]; + + pwm_limit_calc(_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit); + + /* output actual limited values */ + for (unsigned i = 0; i < num_outputs; i++) { + controls_effective.control_effective[i] = (float)pwm_limited[i]; + } + orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective); - /* output to the servo */ - up_pwm_servo_set(i, outputs.output[i]); + /* output to the servos */ + for (unsigned i = 0; i < num_outputs; i++) { + up_pwm_servo_set(i, pwm_limited[i]); } /* and publish for anyone that cares to see */ @@ -570,11 +589,16 @@ PX4FMU::task_main() /* get new value */ orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &aa); - /* update PWM servo armed status if armed and not locked down */ + /* update the armed status and check that we're not locked down */ bool set_armed = aa.armed && !aa.lockdown; - if (set_armed != _armed) { + if (_armed != set_armed) _armed = set_armed; - up_pwm_servo_arm(set_armed); + + /* update PWM status if armed or if disarmed PWM values are set */ + bool pwm_on = (aa.armed || _num_disarmed_set > 0); + if (_pwm_on != pwm_on) { + _pwm_on = pwm_on; + up_pwm_servo_arm(pwm_on); } } @@ -685,14 +709,125 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) up_pwm_servo_arm(false); break; + case PWM_SERVO_GET_DEFAULT_UPDATE_RATE: + *(uint32_t *)arg = _pwm_default_rate; + break; + case PWM_SERVO_SET_UPDATE_RATE: ret = set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, arg); break; - case PWM_SERVO_SELECT_UPDATE_RATE: + case PWM_SERVO_GET_UPDATE_RATE: + *(uint32_t *)arg = _pwm_alt_rate; + break; + + case PWM_SERVO_SET_SELECT_UPDATE_RATE: ret = set_pwm_rate(arg, _pwm_default_rate, _pwm_alt_rate); break; + case PWM_SERVO_GET_SELECT_UPDATE_RATE: + *(uint32_t *)arg = _pwm_alt_rate_channels; + break; + + case PWM_SERVO_SET_DISARMED_PWM: { + struct pwm_output_values *pwm = (struct pwm_output_values*)arg; + /* discard if too many values are sent */ + if (pwm->channel_count > _max_actuators) { + ret = -EINVAL; + break; + } + for (unsigned i = 0; i < pwm->channel_count; i++) { + if (pwm->values[i] == 0) { + /* ignore 0 */ + } else if (pwm->values[i] > PWM_MAX) { + _disarmed_pwm[i] = PWM_MAX; + } else if (pwm->values[i] < PWM_MIN) { + _disarmed_pwm[i] = PWM_MIN; + } else { + _disarmed_pwm[i] = pwm->values[i]; + } + } + + /* + * update the counter + * this is needed to decide if disarmed PWM output should be turned on or not + */ + _num_disarmed_set = 0; + for (unsigned i = 0; i < _max_actuators; i++) { + if (_disarmed_pwm[i] > 0) + _num_disarmed_set++; + } + break; + } + case PWM_SERVO_GET_DISARMED_PWM: { + struct pwm_output_values *pwm = (struct pwm_output_values*)arg; + for (unsigned i = 0; i < _max_actuators; i++) { + pwm->values[i] = _disarmed_pwm[i]; + } + pwm->channel_count = _max_actuators; + break; + } + + case PWM_SERVO_SET_MIN_PWM: { + struct pwm_output_values* pwm = (struct pwm_output_values*)arg; + /* discard if too many values are sent */ + if (pwm->channel_count > _max_actuators) { + ret = -EINVAL; + break; + } + for (unsigned i = 0; i < pwm->channel_count; i++) { + if (pwm->values[i] == 0) { + /* ignore 0 */ + } else if (pwm->values[i] > PWM_HIGHEST_MIN) { + _min_pwm[i] = PWM_HIGHEST_MIN; + } else if (pwm->values[i] < PWM_MIN) { + _min_pwm[i] = PWM_MIN; + } else { + _min_pwm[i] = pwm->values[i]; + } + } + break; + } + case PWM_SERVO_GET_MIN_PWM: { + struct pwm_output_values *pwm = (struct pwm_output_values*)arg; + for (unsigned i = 0; i < _max_actuators; i++) { + pwm->values[i] = _min_pwm[i]; + } + pwm->channel_count = _max_actuators; + arg = (unsigned long)&pwm; + break; + } + + case PWM_SERVO_SET_MAX_PWM: { + struct pwm_output_values* pwm = (struct pwm_output_values*)arg; + /* discard if too many values are sent */ + if (pwm->channel_count > _max_actuators) { + ret = -EINVAL; + break; + } + for (unsigned i = 0; i < pwm->channel_count; i++) { + if (pwm->values[i] == 0) { + /* ignore 0 */ + } else if (pwm->values[i] < PWM_LOWEST_MAX) { + _max_pwm[i] = PWM_LOWEST_MAX; + } else if (pwm->values[i] > PWM_MAX) { + _max_pwm[i] = PWM_MAX; + } else { + _max_pwm[i] = pwm->values[i]; + } + } + break; + } + case PWM_SERVO_GET_MAX_PWM: { + struct pwm_output_values *pwm = (struct pwm_output_values*)arg; + for (unsigned i = 0; i < _max_actuators; i++) { + pwm->values[i] = _max_pwm[i]; + } + pwm->channel_count = _max_actuators; + arg = (unsigned long)&pwm; + break; + } + case PWM_SERVO_SET(5): case PWM_SERVO_SET(4): if (_mode < MODE_6PWM) { @@ -1136,7 +1271,7 @@ test(void) } } else { // and use write interface for the other direction - int ret = write(fd, servos, sizeof(servos)); + ret = write(fd, servos, sizeof(servos)); if (ret != (int)sizeof(servos)) err(1, "error writing PWM servo data, wrote %u got %d", sizeof(servos), ret); } |