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/****************************************************************************
*
* 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 controls.c
*
* R/C inputs and servo outputs.
*/
#include <nuttx/config.h>
#include <stdbool.h>
#include <poll.h>
#include <drivers/drv_hrt.h>
#include <systemlib/perf_counter.h>
#include <systemlib/ppm_decode.h>
//#define DEBUG
#include "px4io.h"
#define RC_FAILSAFE_TIMEOUT 2000000 /**< two seconds failsafe timeout */
#define RC_CHANNEL_HIGH_THRESH 5000
#define RC_CHANNEL_LOW_THRESH -5000
static bool ppm_input(uint16_t *values, uint16_t *num_values);
void
controls_main(void)
{
struct pollfd fds[2];
/* DSM input */
fds[0].fd = dsm_init("/dev/ttyS0");
fds[0].events = POLLIN;
/* S.bus input */
fds[1].fd = sbus_init("/dev/ttyS2");
fds[1].events = POLLIN;
ASSERT(fds[0].fd >= 0);
ASSERT(fds[1].fd >= 0);
/* default to a 1:1 input map, all enabled */
for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = 0;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_MIN] = 1000;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_CENTER] = 1500;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_MAX] = 2000;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_DEADZONE] = 30;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_ASSIGNMENT] = i;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
}
for (;;) {
/* run this loop at ~100Hz */
int result = poll(fds, 2, 10);
ASSERT(result >= 0);
/*
* Gather R/C control inputs from supported sources.
*
* Note that if you're silly enough to connect more than
* one control input source, they're going to fight each
* other. Don't do that.
*/
bool dsm_updated = dsm_input(r_raw_rc_values, &r_raw_rc_count);
if (dsm_updated)
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM;
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count);
if (sbus_updated)
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
/*
* XXX each S.bus frame will cause a PPM decoder interrupt
* storm (lots of edges). It might be sensible to actually
* disable the PPM decoder completely if we have S.bus signal.
*/
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
if (ppm_updated)
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
ASSERT(r_raw_rc_count <= MAX_CONTROL_CHANNELS);
/*
* In some cases we may have received a frame, but input has still
* been lost.
*/
bool rc_input_lost = false;
/*
* If we received a new frame from any of the RC sources, process it.
*/
if (dsm_updated || sbus_updated || ppm_updated) {
/* update RC-received timestamp */
system_state.rc_channels_timestamp = hrt_absolute_time();
/* record a bitmask of channels assigned */
unsigned assigned_channels = 0;
/* map raw inputs to mapped inputs */
/* XXX mapping should be atomic relative to protocol */
for (unsigned i = 0; i < r_raw_rc_count; i++) {
/* map the input channel */
uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE];
if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
uint16_t raw = r_raw_rc_values[i];
/* implement the deadzone */
if (raw < conf[PX4IO_P_RC_CONFIG_CENTER]) {
raw += conf[PX4IO_P_RC_CONFIG_DEADZONE];
if (raw > conf[PX4IO_P_RC_CONFIG_CENTER])
raw = conf[PX4IO_P_RC_CONFIG_CENTER];
}
if (raw > conf[PX4IO_P_RC_CONFIG_CENTER]) {
raw -= conf[PX4IO_P_RC_CONFIG_DEADZONE];
if (raw < conf[PX4IO_P_RC_CONFIG_CENTER])
raw = conf[PX4IO_P_RC_CONFIG_CENTER];
}
/* constrain to min/max values */
if (raw < conf[PX4IO_P_RC_CONFIG_MIN])
raw = conf[PX4IO_P_RC_CONFIG_MIN];
if (raw > conf[PX4IO_P_RC_CONFIG_MAX])
raw = conf[PX4IO_P_RC_CONFIG_MAX];
int16_t scaled = raw;
/* adjust to zero-relative (-500..500) */
scaled -= 1500;
/* scale to fixed-point representation (-10000..10000) */
scaled *= 20;
ASSERT(scaled >= -15000);
ASSERT(scaled <= 15000);
if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE)
scaled = -scaled;
/* and update the scaled/mapped version */
unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
ASSERT(mapped < MAX_CONTROL_CHANNELS);
r_rc_values[mapped] = SIGNED_TO_REG(scaled);
assigned_channels |= (1 << mapped);
}
}
/* set un-assigned controls to zero */
for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) {
if (!(assigned_channels & (1 << i)))
r_rc_values[i] = 0;
}
/*
* If we got an update with zero channels, treat it as
* a loss of input.
*
* This might happen if a protocol-based receiver returns an update
* that contains no channels that we have mapped.
*/
if (assigned_channels == 0)
rc_input_lost = true;
/*
* Export the valid channel bitmap
*/
r_rc_valid = assigned_channels;
}
/*
* If we haven't seen any new control data in 200ms, assume we
* have lost input.
*/
if ((hrt_absolute_time() - system_state.rc_channels_timestamp) > 200000) {
rc_input_lost = true;
/* clear the input-kind flags here */
r_status_flags &= ~(
PX4IO_P_STATUS_FLAGS_RC_PPM |
PX4IO_P_STATUS_FLAGS_RC_DSM |
PX4IO_P_STATUS_FLAGS_RC_SBUS);
}
/*
* Handle losing RC input
*/
if (rc_input_lost) {
/* Clear the RC input status flag, clear manual override flag */
r_status_flags &= ~(
PX4IO_P_STATUS_FLAGS_OVERRIDE |
PX4IO_P_STATUS_FLAGS_RC_OK);
/* Set the RC_LOST alarm */
r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST;
/* Mark the arrays as empty */
r_raw_rc_count = 0;
r_rc_valid = 0;
}
/*
* Check for manual override.
*
* The OVERRIDE_OK feature must be set, and we must have R/C input.
* Override is enabled if either the hardcoded channel / value combination
* is selected, or the AP has requested it.
*/
if ((r_setup_features & PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) {
bool override = false;
/*
* Check mapped channel 5; if the value is 'high' then the pilot has
* requested override.
*
* XXX This should be configurable.
*/
if ((r_rc_valid & (1 << 4)) && (r_rc_values[4] > RC_CHANNEL_HIGH_THRESH))
override = true;
/*
* Check for an explicit manual override request from the AP.
*/
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) &&
(r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE))
override = true;
if (override) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
/* mix new RC input control values to servos */
if (dsm_updated | sbus_updated | ppm_updated)
mixer_tick();
} else {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
}
}
}
}
static bool
ppm_input(uint16_t *values, uint16_t *num_values)
{
bool result = false;
/* avoid racing with PPM updates */
irqstate_t state = irqsave();
/*
* If we have received a new PPM frame within the last 200ms, accept it
* and then invalidate it.
*/
if ((hrt_absolute_time() - ppm_last_valid_decode) < 200000) {
/* PPM data exists, copy it */
*num_values = ppm_decoded_channels;
if (*num_values > MAX_CONTROL_CHANNELS)
*num_values = MAX_CONTROL_CHANNELS;
for (unsigned i = 0; i < *num_values; i++)
values[i] = ppm_buffer[i];
/* clear validity */
ppm_last_valid_decode = 0;
/* good if we got any channels */
result = (*num_values > 0);
}
irqrestore(state);
return result;
}
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