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/****************************************************************************
* 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;
}
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