Daniel Agar
3 years ago
39 changed files with 0 additions and 475 deletions
@ -1,42 +0,0 @@
@@ -1,42 +0,0 @@
|
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############################################################################ |
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# |
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# Copyright (c) 2015 PX4 Development Team. All rights reserved. |
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# |
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# Redistribution and use in source and binary forms, with or without |
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# modification, are permitted provided that the following conditions |
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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name PX4 nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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# |
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############################################################################ |
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px4_add_module( |
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MODULE systemcmds__esc_calib |
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MAIN esc_calib |
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STACK_MAIN 4096 |
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COMPILE_FLAGS |
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SRCS |
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esc_calib.cpp |
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DEPENDS |
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) |
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@ -1,5 +0,0 @@
@@ -1,5 +0,0 @@
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menuconfig SYSTEMCMDS_ESC_CALIB |
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bool "esc_calib" |
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default n |
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---help--- |
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Enable support for esc_calib |
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@ -1,392 +0,0 @@
@@ -1,392 +0,0 @@
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/****************************************************************************
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* |
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* Copyright (C) 2013 PX4 Development Team. All rights reserved. |
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* Author: Julian Oes <joes@student.ethz.ch> |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file esc_calib.c |
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*/ |
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#include <px4_platform_common/px4_config.h> |
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#include <px4_platform_common/getopt.h> |
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#include <px4_platform_common/module.h> |
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#include <px4_platform_common/defines.h> |
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#include <px4_platform_common/log.h> |
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|
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <string.h> |
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#include <stdbool.h> |
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#include <unistd.h> |
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#include <fcntl.h> |
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#include <poll.h> |
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#include <sys/mount.h> |
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#include <sys/ioctl.h> |
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#include <sys/stat.h> |
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#include "drivers/drv_pwm_output.h" |
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#include <uORB/topics/actuator_controls.h> |
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static void usage(const char *reason) |
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{ |
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if (reason != nullptr) { |
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PX4_ERR("%s", reason); |
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} |
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PRINT_MODULE_DESCRIPTION("Tool for ESC calibration\n" |
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"\n" |
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"Calibration procedure (running the command will guide you through it):\n" |
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"- Remove props, power off the ESC's\n" |
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"- Stop attitude and rate controllers: mc_rate_control stop, fw_att_control stop\n" |
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"- Make sure safety is off\n" |
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"- Run this command\n" |
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); |
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PRINT_MODULE_USAGE_NAME_SIMPLE("esc_calib", "command"); |
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PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/pwm_output0", "<file:dev>", "Select PWM output device", true); |
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PRINT_MODULE_USAGE_PARAM_INT('l', 1000, 0, 3000, "Low PWM value in us", true); |
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PRINT_MODULE_USAGE_PARAM_INT('h', 2000, 0, 3000, "High PWM value in us", true); |
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PRINT_MODULE_USAGE_PARAM_STRING('c', nullptr, nullptr, |
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"select channels in the form: 1234 (1 digit per channel, 1=first)", true); |
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PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 4096, "Select channels via bitmask (eg. 0xF, 3)", true); |
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PRINT_MODULE_USAGE_PARAM_FLAG('a', "Select all channels", true); |
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} |
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extern "C" __EXPORT int esc_calib_main(int argc, char *argv[]) |
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{ |
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const char *dev = PWM_OUTPUT0_DEVICE_PATH; |
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char *ep; |
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int ch; |
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int ret; |
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char c; |
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unsigned max_channels = 0; |
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uint32_t set_mask = 0; |
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unsigned long channels; |
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unsigned single_ch = 0; |
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uint16_t pwm_high = PWM_DEFAULT_MAX; |
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uint16_t pwm_low = PWM_DEFAULT_MIN; |
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struct pollfd fds; |
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fds.fd = 0; /* stdin */ |
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fds.events = POLLIN; |
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if (argc < 2) { |
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usage("no channels provided"); |
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return 1; |
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} |
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int myoptind = 1; |
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const char *myoptarg = nullptr; |
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while ((ch = px4_getopt(argc, argv, "d:c:m:al:h:", &myoptind, &myoptarg)) != EOF) { |
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switch (ch) { |
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case 'd': |
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dev = myoptarg; |
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break; |
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case 'c': |
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/* Read in channels supplied as one int and convert to mask: 1234 -> 0xF */ |
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channels = strtoul(myoptarg, &ep, 0); |
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while ((single_ch = channels % 10)) { |
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set_mask |= 1 << (single_ch - 1); |
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channels /= 10; |
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} |
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break; |
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case 'm': |
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/* Read in mask directly */ |
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set_mask = strtoul(myoptarg, &ep, 0); |
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if (*ep != '\0') { |
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usage("bad set_mask value"); |
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return 1; |
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} |
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break; |
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case 'a': |
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/* Choose all channels */ |
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for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; i++) { |
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set_mask |= 1 << i; |
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} |
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break; |
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case 'l': |
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/* Read in custom low value */ |
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pwm_low = strtoul(myoptarg, &ep, 0); |
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if (*ep != '\0' |
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#if PWM_LOWEST_MIN > 0 |
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|| pwm_low < PWM_LOWEST_MIN |
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#endif |
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|| pwm_low > PWM_HIGHEST_MIN) { |
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usage("low PWM invalid"); |
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return 1; |
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} |
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break; |
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case 'h': |
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/* Read in custom high value */ |
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pwm_high = strtoul(myoptarg, &ep, 0); |
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if (*ep != '\0' || pwm_high > PWM_HIGHEST_MAX || pwm_high < PWM_LOWEST_MAX) { |
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usage("high PWM invalid"); |
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return 1; |
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} |
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break; |
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default: |
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usage(nullptr); |
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return 1; |
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} |
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} |
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if (set_mask == 0) { |
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usage("no channels chosen"); |
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return 1; |
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} |
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if (pwm_low > pwm_high) { |
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usage("low pwm is higher than high pwm"); |
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return 1; |
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} |
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/* make sure no other source is publishing control values now */ |
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struct actuator_controls_s actuators; |
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int act_sub = orb_subscribe(ORB_ID(actuator_controls_0)); |
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/* clear changed flag */ |
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orb_copy(ORB_ID(actuator_controls_0), act_sub, &actuators); |
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/* wait 50 ms */ |
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px4_usleep(50000); |
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/* now expect nothing changed on that topic */ |
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bool orb_updated; |
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orb_check(act_sub, &orb_updated); |
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if (orb_updated) { |
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PX4_ERR("ABORTING! Attitude control still active. Please ensure to shut down all controllers:\n" |
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"\tmc_rate_control stop\n" |
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"\tfw_att_control stop\n"); |
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return 1; |
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} |
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printf("\nATTENTION, please remove or fix propellers before starting calibration!\n" |
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"\n" |
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"Make sure\n" |
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"\t - that the ESCs are not powered\n" |
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"\t - that safety is off (two short blinks)\n" |
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"\t - that the controllers are stopped\n" |
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"\n" |
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"Do you want to start calibration now: y or n?\n"); |
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/* wait for user input */ |
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while (1) { |
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ret = poll(&fds, 1, 0); |
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if (ret > 0) { |
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if (read(0, &c, 1) <= 0) { |
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printf("ESC calibration read error\n"); |
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return 0; |
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} |
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if (c == 'y' || c == 'Y') { |
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break; |
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} else if (c == 0x03 || c == 0x63 || c == 'q') { |
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printf("ESC calibration exited\n"); |
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return 0; |
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} else if (c == 'n' || c == 'N') { |
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printf("ESC calibration aborted\n"); |
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return 0; |
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} else { |
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printf("Unknown input, ESC calibration aborted\n"); |
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return 0; |
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} |
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} |
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/* rate limit to ~ 20 Hz */ |
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px4_usleep(50000); |
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} |
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/* open for ioctl only */ |
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int fd = open(dev, 0); |
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if (fd < 0) { |
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PX4_ERR("can't open %s", dev); |
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return 1; |
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} |
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/* get number of channels available on the device */ |
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ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&max_channels); |
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if (ret != OK) { |
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PX4_ERR("PWM_SERVO_GET_COUNT"); |
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goto cleanup; |
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} |
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/* tell IO/FMU that its ok to disable its safety with the switch */ |
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ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0); |
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if (ret != OK) { |
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PX4_ERR("PWM_SERVO_SET_ARM_OK"); |
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goto cleanup; |
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} |
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/* tell IO/FMU that the system is armed (it will output values if safety is off) */ |
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ret = ioctl(fd, PWM_SERVO_ARM, 0); |
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if (ret != OK) { |
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PX4_ERR("PWM_SERVO_ARM"); |
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goto cleanup; |
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} |
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printf("Outputs armed"); |
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/* wait for user confirmation */ |
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printf("\nHigh PWM set: %d\n" |
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"\n" |
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"Connect battery now and hit ENTER after the ESCs confirm the first calibration step\n" |
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"\n", pwm_high); |
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fflush(stdout); |
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while (1) { |
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/* set max PWM */ |
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for (unsigned i = 0; i < max_channels; i++) { |
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if (set_mask & 1 << i) { |
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ret = ioctl(fd, PWM_SERVO_SET(i), pwm_high); |
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if (ret != OK) { |
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PX4_ERR("PWM_SERVO_SET(%d), value: %d", i, pwm_high); |
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goto cleanup; |
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} |
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} |
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} |
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ret = poll(&fds, 1, 0); |
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if (ret > 0) { |
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if (read(0, &c, 1) <= 0) { |
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printf("ESC calibration read error\n"); |
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goto done; |
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} |
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if (c == 13) { |
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break; |
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} else if (c == 0x03 || c == 0x63 || c == 'q') { |
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printf("ESC calibration exited"); |
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goto done; |
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} |
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} |
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/* rate limit to ~ 20 Hz */ |
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px4_usleep(50000); |
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} |
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printf("Low PWM set: %d\n" |
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"\n" |
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"Hit ENTER when finished\n" |
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"\n", pwm_low); |
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while (1) { |
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/* set disarmed PWM */ |
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for (unsigned i = 0; i < max_channels; i++) { |
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if (set_mask & 1 << i) { |
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ret = ioctl(fd, PWM_SERVO_SET(i), pwm_low); |
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if (ret != OK) { |
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PX4_ERR("PWM_SERVO_SET(%d), value: %d", i, pwm_low); |
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goto cleanup; |
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} |
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} |
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} |
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ret = poll(&fds, 1, 0); |
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if (ret > 0) { |
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if (read(0, &c, 1) <= 0) { |
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printf("ESC calibration read error\n"); |
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goto done; |
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} |
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if (c == 13) { |
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break; |
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} else if (c == 0x03 || c == 0x63 || c == 'q') { |
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printf("ESC calibration exited\n"); |
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goto done; |
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} |
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} |
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/* rate limit to ~ 20 Hz */ |
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px4_usleep(50000); |
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} |
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/* disarm */ |
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ret = ioctl(fd, PWM_SERVO_DISARM, 0); |
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if (ret != OK) { |
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PX4_ERR("PWM_SERVO_DISARM"); |
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goto cleanup; |
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} |
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printf("Outputs disarmed"); |
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printf("ESC calibration finished\n"); |
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done: |
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close(fd); |
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return 0; |
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cleanup: |
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close(fd); |
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return 1; |
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} |
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