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264 lines
8.7 KiB
264 lines
8.7 KiB
/**************************************************************************** |
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* servo_cal.c |
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* |
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* Copyright (C) 2012 Nils Wenzler. All rights reserved. |
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* Authors: Nils Wenzler <wenzlern@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 NuttX 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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* Included Files |
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****************************************************************************/ |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <arch/board/drv_pwm_servo.h> |
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#include <fcntl.h> |
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#include "calibration.h" |
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/**************************************************************************** |
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* Defines |
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****************************************************************************/ |
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/**************************************************************************** |
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* Private Data |
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****************************************************************************/ |
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//Store the values here before writing them to global_data_rc_channels |
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uint16_t max_values_servo[PWM_SERVO_MAX_CHANNELS]; |
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uint16_t min_values_servo[PWM_SERVO_MAX_CHANNELS]; |
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uint16_t mid_values_servo[PWM_SERVO_MAX_CHANNELS]; |
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// Servo loop thread |
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pthread_t servo_calib_thread; |
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/**************************************************************************** |
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* Private Functions |
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****************************************************************************/ |
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/**This sets the middle values |
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*/ |
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uint8_t set_mid_s(void) |
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{ |
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if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { |
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uint8_t i; |
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for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) { |
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if (i == global_data_rc_channels->function[ROLL] || |
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i == global_data_rc_channels->function[YAW] || |
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i == global_data_rc_channels->function[PITCH]) { |
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mid_values_servo[i] = global_data_rc_channels->chan[i].raw; |
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} else { |
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mid_values_servo[i] = (max_values_servo[i] + min_values_servo[i]) / 2; |
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} |
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} |
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global_data_unlock(&global_data_rc_channels->access_conf); |
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return 0; |
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} else |
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return -1; |
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} |
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/**This gets all current values and writes them to min or max |
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*/ |
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uint8_t get_value_s(void) |
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{ |
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if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) { |
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uint8_t i; |
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for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) { |
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//see if the value is bigger or smaller than 1500 (roughly neutral) |
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//and write to the appropriate array |
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if (global_data_rc_channels->chan[i].raw != 0 && |
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global_data_rc_channels->chan[i].raw < 1500) { |
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min_values_servo[i] = global_data_rc_channels->chan[i].raw; |
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} else if (global_data_rc_channels->chan[i].raw != 0 && |
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global_data_rc_channels->chan[i].raw > 1500) { |
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max_values_servo[i] = global_data_rc_channels->chan[i].raw; |
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} else { |
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max_values_servo[i] = 0; |
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min_values_servo[i] = 0; |
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} |
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} |
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global_data_unlock(&global_data_rc_channels->access_conf); |
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return 0; |
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} else |
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return -1; |
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} |
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void write_data_s(void) |
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{ |
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// global_data_lock(&global_data_rc_channels->access_conf); |
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// uint8_t i; |
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// for(i=0; i < NR_CHANNELS; i++){ |
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// //Write the data to global_data_rc_channels (if not 0) |
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// if(mid_values_servo[i]!=0 && min_values_servo[i]!=0 && max_values_servo[i]!=0){ |
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// global_data_rc_channels->chan[i].scaling_factor = |
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// 10000/((max_values_servo[i] - min_values_servo[i])/2); |
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// |
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// global_data_rc_channels->chan[i].mid = mid_values_servo[i]; |
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// } |
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// |
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// printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n", |
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// i, |
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// global_data_rc_channels->function_name[global_data_rc_channels->function[i]], |
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// min_values_servo[i], max_values_servo[i], |
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// global_data_rc_channels->chan[i].scaling_factor, |
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// global_data_rc_channels->chan[i].mid); |
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// } |
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// global_data_unlock(&global_data_rc_channels->access_conf); |
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//Write to the Parameter storage |
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global_data_lock(&global_data_parameter_storage->access_conf); |
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global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MIN] = min_values_servo[0]; |
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global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MIN] = min_values_servo[1]; |
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global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MIN] = min_values_servo[2]; |
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global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MIN] = min_values_servo[3]; |
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global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MAX] = max_values_servo[0]; |
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global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MAX] = max_values_servo[1]; |
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global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MAX] = max_values_servo[2]; |
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global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MAX] = max_values_servo[3]; |
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global_data_parameter_storage->pm.param_values[PARAM_SERVO1_TRIM] = mid_values_servo[0]; |
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global_data_parameter_storage->pm.param_values[PARAM_SERVO2_TRIM] = mid_values_servo[1]; |
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global_data_parameter_storage->pm.param_values[PARAM_SERVO3_TRIM] = mid_values_servo[2]; |
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global_data_parameter_storage->pm.param_values[PARAM_SERVO4_TRIM] = mid_values_servo[3]; |
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global_data_unlock(&global_data_parameter_storage->access_conf); |
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usleep(3e6); |
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uint8_t i; |
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for (i = 0; i < NR_CHANNELS; i++) { |
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printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n", |
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i, |
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min_values_servo[i], max_values_servo[i], |
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global_data_rc_channels->chan[i].scaling_factor, |
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global_data_rc_channels->chan[i].mid); |
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} |
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} |
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static void *servo_loop(void *arg) |
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{ |
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// Set thread name |
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prctl(1, "calibration servo", getpid()); |
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// initialize servos |
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int fd; |
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servo_position_t data[PWM_SERVO_MAX_CHANNELS]; |
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fd = open("/dev/pwm_servo", O_RDWR); |
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if (fd < 0) { |
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printf("failed opening /dev/pwm_servo\n"); |
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} |
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ioctl(fd, PWM_SERVO_ARM, 0); |
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while (1) { |
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int i; |
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for (i = 0; i < 4; i++) { |
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data[i] = global_data_rc_channels->chan[global_data_rc_channels->function[THROTTLE]].raw; |
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} |
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int result = write(fd, &data, sizeof(data)); |
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if (result != sizeof(data)) { |
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printf("failed bulk-reading channel values\n"); |
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} |
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// 5Hz loop |
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usleep(200000); |
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} |
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return NULL; |
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} |
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/**************************************************************************** |
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* Public Functions |
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****************************************************************************/ |
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int servo_cal(int argc, char *argv[]) |
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{ |
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// pthread_attr_t servo_loop_attr; |
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// pthread_attr_init(&servo_loop_attr); |
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// pthread_attr_setstacksize(&servo_loop_attr, 1024); |
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pthread_create(&servo_calib_thread, NULL, servo_loop, NULL); |
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pthread_join(servo_calib_thread, NULL); |
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printf("The servo calibration routine assumes you already did the channel\n"); |
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printf("assignment with 'calibration channels'\n"); |
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printf("This routine chooses the minimum, maximum and middle\n"); |
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printf("value for each channel separately. The ROLL, PITCH and YAW function\n"); |
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printf("get their middle value from the RC direct, for the rest it is\n"); |
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printf("calculated out of the min and max values.\n"); |
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press_enter(); |
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printf("Hold both sticks in lower left corner and continue\n "); |
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press_enter(); |
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usleep(500000); |
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while (get_value_s()); |
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printf("Hold both sticks in upper right corner and continue\n"); |
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press_enter(); |
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usleep(500000); |
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while (get_value_s()); |
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printf("Set the trim to 0 and leave the sticks in the neutral position\n"); |
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press_enter(); |
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//Loop until successfull |
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while (set_mid_s()); |
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//write the values to global_data_rc_channels |
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write_data_s(); |
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return 0; |
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} |
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