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332 lines
10 KiB
332 lines
10 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 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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/** |
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* @file controls.c |
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* |
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* R/C inputs and servo outputs. |
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*/ |
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#include <nuttx/config.h> |
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#include <stdbool.h> |
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#include <drivers/drv_hrt.h> |
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#include <systemlib/perf_counter.h> |
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#include <systemlib/ppm_decode.h> |
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#include "px4io.h" |
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#define RC_FAILSAFE_TIMEOUT 2000000 /**< two seconds failsafe timeout */ |
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#define RC_CHANNEL_HIGH_THRESH 5000 |
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#define RC_CHANNEL_LOW_THRESH -5000 |
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static bool ppm_input(uint16_t *values, uint16_t *num_values); |
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static perf_counter_t c_gather_dsm; |
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static perf_counter_t c_gather_sbus; |
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static perf_counter_t c_gather_ppm; |
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void |
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controls_init(void) |
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{ |
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/* DSM input */ |
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dsm_init("/dev/ttyS0"); |
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/* S.bus input */ |
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sbus_init("/dev/ttyS2"); |
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/* default to a 1:1 input map, all enabled */ |
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for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) { |
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unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i; |
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r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = 0; |
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r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_MIN] = 1000; |
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r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_CENTER] = 1500; |
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r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_MAX] = 2000; |
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r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_DEADZONE] = 30; |
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r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_ASSIGNMENT] = i; |
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r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; |
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} |
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c_gather_dsm = perf_alloc(PC_ELAPSED, "c_gather_dsm"); |
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c_gather_sbus = perf_alloc(PC_ELAPSED, "c_gather_sbus"); |
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c_gather_ppm = perf_alloc(PC_ELAPSED, "c_gather_ppm"); |
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} |
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void |
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controls_tick() { |
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/* |
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* Gather R/C control inputs from supported sources. |
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* |
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* Note that if you're silly enough to connect more than |
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* one control input source, they're going to fight each |
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* other. Don't do that. |
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*/ |
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perf_begin(c_gather_dsm); |
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bool dsm_updated = dsm_input(r_raw_rc_values, &r_raw_rc_count); |
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if (dsm_updated) |
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r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; |
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perf_end(c_gather_dsm); |
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perf_begin(c_gather_sbus); |
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bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count); |
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if (sbus_updated) |
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r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS; |
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perf_end(c_gather_sbus); |
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/* |
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* XXX each S.bus frame will cause a PPM decoder interrupt |
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* storm (lots of edges). It might be sensible to actually |
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* disable the PPM decoder completely if we have S.bus signal. |
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*/ |
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perf_begin(c_gather_ppm); |
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bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count); |
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if (ppm_updated) |
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r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM; |
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perf_end(c_gather_ppm); |
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ASSERT(r_raw_rc_count <= MAX_CONTROL_CHANNELS); |
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/* |
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* In some cases we may have received a frame, but input has still |
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* been lost. |
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*/ |
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bool rc_input_lost = false; |
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/* |
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* If we received a new frame from any of the RC sources, process it. |
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*/ |
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if (dsm_updated || sbus_updated || ppm_updated) { |
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/* update RC-received timestamp */ |
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system_state.rc_channels_timestamp = hrt_absolute_time(); |
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/* record a bitmask of channels assigned */ |
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unsigned assigned_channels = 0; |
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/* map raw inputs to mapped inputs */ |
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/* XXX mapping should be atomic relative to protocol */ |
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for (unsigned i = 0; i < r_raw_rc_count; i++) { |
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/* map the input channel */ |
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uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE]; |
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if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { |
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uint16_t raw = r_raw_rc_values[i]; |
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int16_t scaled; |
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/* |
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* 1) Constrain to min/max values, as later processing depends on bounds. |
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*/ |
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if (raw < conf[PX4IO_P_RC_CONFIG_MIN]) |
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raw = conf[PX4IO_P_RC_CONFIG_MIN]; |
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if (raw > conf[PX4IO_P_RC_CONFIG_MAX]) |
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raw = conf[PX4IO_P_RC_CONFIG_MAX]; |
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/* |
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* 2) Scale around the mid point differently for lower and upper range. |
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* |
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* This is necessary as they don't share the same endpoints and slope. |
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* |
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* First normalize to 0..1 range with correct sign (below or above center), |
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* then scale to 20000 range (if center is an actual center, -10000..10000, |
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* if parameters only support half range, scale to 10000 range, e.g. if |
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* center == min 0..10000, if center == max -10000..0). |
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* |
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* As the min and max bounds were enforced in step 1), division by zero |
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* cannot occur, as for the case of center == min or center == max the if |
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* statement is mutually exclusive with the arithmetic NaN case. |
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* |
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* DO NOT REMOVE OR ALTER STEP 1! |
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*/ |
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if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) { |
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scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])); |
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} else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { |
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scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN])); |
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} else { |
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/* in the configured dead zone, output zero */ |
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scaled = 0; |
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} |
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/* invert channel if requested */ |
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if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) |
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scaled = -scaled; |
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/* and update the scaled/mapped version */ |
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unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; |
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ASSERT(mapped < MAX_CONTROL_CHANNELS); |
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/* invert channel if pitch - pulling the lever down means pitching up by convention */ |
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if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ |
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scaled = -scaled; |
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r_rc_values[mapped] = SIGNED_TO_REG(scaled); |
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assigned_channels |= (1 << mapped); |
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} |
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} |
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/* set un-assigned controls to zero */ |
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for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) { |
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if (!(assigned_channels & (1 << i))) |
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r_rc_values[i] = 0; |
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} |
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/* |
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* If we got an update with zero channels, treat it as |
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* a loss of input. |
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* |
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* This might happen if a protocol-based receiver returns an update |
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* that contains no channels that we have mapped. |
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*/ |
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if (assigned_channels == 0) { |
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rc_input_lost = true; |
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} else { |
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/* set RC OK flag and clear RC lost alarm */ |
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r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK; |
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r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_RC_LOST; |
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} |
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/* |
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* Export the valid channel bitmap |
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*/ |
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r_rc_valid = assigned_channels; |
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} |
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/* |
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* If we haven't seen any new control data in 200ms, assume we |
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* have lost input. |
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*/ |
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if (hrt_elapsed_time(&system_state.rc_channels_timestamp) > 200000) { |
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rc_input_lost = true; |
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/* clear the input-kind flags here */ |
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r_status_flags &= ~( |
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PX4IO_P_STATUS_FLAGS_RC_PPM | |
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PX4IO_P_STATUS_FLAGS_RC_DSM | |
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PX4IO_P_STATUS_FLAGS_RC_SBUS); |
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} |
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/* |
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* Handle losing RC input |
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*/ |
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if (rc_input_lost) { |
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/* Clear the RC input status flag, clear manual override flag */ |
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r_status_flags &= ~( |
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PX4IO_P_STATUS_FLAGS_OVERRIDE | |
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PX4IO_P_STATUS_FLAGS_RC_OK); |
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/* Set the RC_LOST alarm */ |
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r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST; |
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/* Mark the arrays as empty */ |
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r_raw_rc_count = 0; |
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r_rc_valid = 0; |
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} |
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/* |
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* Check for manual override. |
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* |
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* The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we |
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* must have R/C input. |
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* Override is enabled if either the hardcoded channel / value combination |
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* is selected, or the AP has requested it. |
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*/ |
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if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) && |
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(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) { |
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bool override = false; |
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/* |
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* Check mapped channel 5 (can be any remote channel, |
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* depends on RC_MAP_OVER parameter); |
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* If the value is 'high' then the pilot has |
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* requested override. |
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* |
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*/ |
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if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(r_rc_values[4]) > RC_CHANNEL_HIGH_THRESH)) |
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override = true; |
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if (override) { |
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r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE; |
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/* mix new RC input control values to servos */ |
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if (dsm_updated || sbus_updated || ppm_updated) |
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mixer_tick(); |
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} else { |
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r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE; |
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} |
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} |
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} |
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static bool |
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ppm_input(uint16_t *values, uint16_t *num_values) |
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{ |
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bool result = false; |
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/* avoid racing with PPM updates */ |
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irqstate_t state = irqsave(); |
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/* |
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* If we have received a new PPM frame within the last 200ms, accept it |
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* and then invalidate it. |
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*/ |
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if (hrt_elapsed_time(&ppm_last_valid_decode) < 200000) { |
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/* PPM data exists, copy it */ |
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*num_values = ppm_decoded_channels; |
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if (*num_values > MAX_CONTROL_CHANNELS) |
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*num_values = MAX_CONTROL_CHANNELS; |
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for (unsigned i = 0; i < *num_values; i++) |
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values[i] = ppm_buffer[i]; |
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/* clear validity */ |
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ppm_last_valid_decode = 0; |
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/* good if we got any channels */ |
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result = (*num_values > 0); |
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} |
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irqrestore(state); |
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return result; |
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}
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