diff options
Diffstat (limited to 'src/systemcmds/esc_calib/esc_calib.c')
| -rw-r--r-- | src/systemcmds/esc_calib/esc_calib.c | 250 |
1 files changed, 250 insertions, 0 deletions
diff --git a/src/systemcmds/esc_calib/esc_calib.c b/src/systemcmds/esc_calib/esc_calib.c new file mode 100644 index 000000000..188fa4e37 --- /dev/null +++ b/src/systemcmds/esc_calib/esc_calib.c @@ -0,0 +1,250 @@ +/**************************************************************************** + * + * Copyright (C) 2013 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 esc_calib.c + * + * Tool for ESC calibration + */ + +#include <nuttx/config.h> + +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <stdbool.h> +#include <unistd.h> +#include <fcntl.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" + +static void usage(const char *reason); +__EXPORT int esc_calib_main(int argc, char *argv[]); + +#define MAX_CHANNELS 8 + +static void +usage(const char *reason) +{ + if (reason != NULL) + warnx("%s", reason); + errx(1, + "usage:\n" + "esc_calib [-d <device>] <channels>\n" + " <device> PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n" + " <channels> Provide channels (e.g.: 1 2 3 4)\n" + ); + +} + +int +esc_calib_main(int argc, char *argv[]) +{ + const char *dev = PWM_OUTPUT_DEVICE_PATH; + char *ep; + bool channels_selected[MAX_CHANNELS] = {false}; + int ch; + int ret; + char c; + + if (argc < 2) + usage(NULL); + + while ((ch = getopt(argc, argv, "d:")) != EOF) { + switch (ch) { + + case 'd': + dev = optarg; + argc--; + break; + + default: + usage(NULL); + } + } + + if(argc < 1) { + usage("no channels provided"); + } + + while (--argc) { + const char *arg = argv[argc]; + unsigned channel_number = strtol(arg, &ep, 0); + + if (*ep == '\0') { + if (channel_number > MAX_CHANNELS || channel_number <= 0) { + err(1, "invalid channel number: %d", channel_number); + } else { + channels_selected[channel_number-1] = true; + + } + } + } + + /* Wait for confirmation */ + int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY); + if (!console) + err(1, "failed opening console"); + + warnx("ATTENTION, please remove or fix props before starting calibration!\n" + "\n" + "Also press the arming switch first for safety off\n" + "\n" + "Do you really want to start calibration: y or n?\n"); + + /* wait for user input */ + while (1) { + + if (read(console, &c, 1) == 1) { + if (c == 'y' || c == 'Y') { + + break; + } else if (c == 0x03 || c == 0x63 || c == 'q') { + warnx("ESC calibration exited"); + close(console); + exit(0); + } else if (c == 'n' || c == 'N') { + warnx("ESC calibration aborted"); + close(console); + exit(0); + } else { + warnx("Unknown input, ESC calibration aborted"); + close(console); + 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); + + // XXX arming not necessaire at the moment + // /* Then arm */ + // ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0); + // if (ret != OK) + // err(1, "PWM_SERVO_SET_ARM_OK"); + + // ret = ioctl(fd, PWM_SERVO_ARM, 0); + // if (ret != OK) + // err(1, "PWM_SERVO_ARM"); + + + + + /* Wait for user confirmation */ + warnx("Set high PWM\n" + "Connect battery now and hit ENTER after the ESCs confirm the first calibration step"); + + while (1) { + + /* First set high PWM */ + for (unsigned i = 0; i<MAX_CHANNELS; i++) { + if(channels_selected[i]) { + ret = ioctl(fd, PWM_SERVO_SET(i), 2100); + if (ret != OK) + err(1, "PWM_SERVO_SET(%d)", i); + } + } + + if (read(console, &c, 1) == 1) { + if (c == 13) { + + break; + } else if (c == 0x03 || c == 0x63 || c == 'q') { + warnx("ESC calibration exited"); + close(console); + exit(0); + } + } + /* rate limit to ~ 20 Hz */ + usleep(50000); + } + + /* we don't need any more user input */ + + + warnx("Set low PWM, hit ENTER when finished"); + + while (1) { + + /* Then set low PWM */ + for (unsigned i = 0; i<MAX_CHANNELS; i++) { + if(channels_selected[i]) { + ret = ioctl(fd, PWM_SERVO_SET(i), 900); + if (ret != OK) + err(1, "PWM_SERVO_SET(%d)", i); + } + } + + if (read(console, &c, 1) == 1) { + if (c == 13) { + + break; + } else if (c == 0x03 || c == 0x63 || c == 'q') { + warnx("ESC calibration exited"); + close(console); + exit(0); + } + } + /* rate limit to ~ 20 Hz */ + usleep(50000); + } + + + warnx("ESC calibration finished"); + close(console); + + // XXX disarming not necessaire at the moment + /* Now disarm again */ + // ret = ioctl(fd, PWM_SERVO_DISARM, 0); + + + + exit(0); +}
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