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/****************************************************************************
*
* Copyright (c) 2015 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_calibration.cpp
*
* Definition of esc calibration
*
* @author Roman Bapst <bapstr@ethz.ch>
*/
#include "esc_calibration.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <systemlib/err.h>
#include <fcntl.h>
#include <poll.h>
#include "drivers/drv_pwm_output.h"
#include <uORB/topics/battery_status.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/uORB.h>
#include <drivers/drv_hrt.h>
#include <mavlink/mavlink_log.h>
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
int check_if_batt_disconnected(int mavlink_fd) {
struct battery_status_s battery;
memset(&battery,0,sizeof(battery));
int batt_sub = orb_subscribe(ORB_ID(battery_status));
orb_copy(ORB_ID(battery_status), batt_sub, &battery);
if (battery.voltage_filtered_v > 3.0f && !(hrt_absolute_time() - battery.timestamp > 500000)) {
mavlink_log_info(mavlink_fd, "Please disconnect battery and try again!");
return ERROR;
}
return OK;
}
int do_esc_calibration(int mavlink_fd) {
int fd = open(PWM_OUTPUT0_DEVICE_PATH, 0);
int ret;
if(fd < 0) {
err(1,"Can't open %s", PWM_OUTPUT0_DEVICE_PATH);
}
/* tell IO/FMU that its ok to disable its safety with the switch */
ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
if (ret != OK)
err(1, "PWM_SERVO_SET_ARM_OK");
/* tell IO/FMU that the system is armed (it will output values if safety is off) */
ret = ioctl(fd, PWM_SERVO_ARM, 0);
if (ret != OK)
err(1, "PWM_SERVO_ARM");
/* tell IO to switch off safety without using the safety switch */
ret = ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);
if(ret!=0) {
err(1,"PWM_SERVO_SET_FORCE_SAFETY_OFF");
}
mavlink_log_info(mavlink_fd,"Please connect battery now");
struct battery_status_s battery;
memset(&battery,0,sizeof(battery));
int batt_sub = orb_subscribe(ORB_ID(battery_status));
orb_copy(ORB_ID(vehicle_command),batt_sub, &battery);
bool updated = false;
struct vehicle_command_s cmd;
memset(&cmd, 0, sizeof(cmd));
int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
orb_copy(ORB_ID(vehicle_command),cmd_sub, &cmd);
/* wait for one of the following events:
1) user has pressed the button in QGroundControl
2) timeout of 5 seconds is reached
*/
hrt_abstime start_time = hrt_absolute_time();
while(true) {
orb_check(batt_sub,&updated);
if(updated) {
orb_copy(ORB_ID(battery_status), batt_sub, &battery);
}
// user has connected battery
if(battery.voltage_filtered_v > 3.0f) {
orb_check(cmd_sub,&updated);
if(updated) {
orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
}
if((int)(cmd.param7) == 2 && cmd.command == VEHICLE_CMD_PREFLIGHT_CALIBRATION) {
break;
} else if (hrt_absolute_time() - start_time > 5000000) {
// waited for 5 seconds, switch to low pwm
break;
}
}
else {
start_time = hrt_absolute_time();
}
usleep(50000);
}
/* disarm */
ret = ioctl(fd, PWM_SERVO_DISARM, 0);
if (ret != OK)
err(1, "PWM_SERVO_DISARM");
mavlink_log_info(mavlink_fd,"ESC calibration finished");
return OK;
}
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