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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 12:43:33 +08:00
Added functionality to enable PWM output for stupid ESCs even when safety is not off, arming button functionality remains as is
This commit is contained in:
Julian Oes
@@ -63,6 +63,7 @@ extern "C" {
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* Time that the ESCs need to initialize
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*/
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#define ESC_INIT_TIME_US 1000000
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#define ESC_RAMP_TIME_US 2000000
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/* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */
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#define ROLL 0
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@@ -73,10 +74,17 @@ extern "C" {
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/* current servo arm/disarm state */
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static bool mixer_servos_armed = false;
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static bool should_arm = false;
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static bool should_always_enable_pwm = false;
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static uint64_t esc_init_time;
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static bool esc_init_active = false;
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static bool esc_init_done = false;
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enum esc_state_e {
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ESC_OFF,
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ESC_INIT,
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ESC_RAMP,
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ESC_ON
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};
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static esc_state_e esc_state;
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/* selected control values and count for mixing */
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enum mixer_source {
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@@ -175,18 +183,48 @@ mixer_tick(void)
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float outputs[IO_SERVO_COUNT];
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unsigned mixed;
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/* after arming, some ESCs need an initalization period, count the time from here */
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if (mixer_servos_armed && !esc_init_done && !esc_init_active) {
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esc_init_time = hrt_absolute_time();
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esc_init_active = true;
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uint16_t ramp_promille;
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/* update esc init state, but only if we are truely armed and not just PWM enabled */
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if (mixer_servos_armed && should_arm) {
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switch (esc_state) {
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/* after arming, some ESCs need an initalization period, count the time from here */
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case ESC_OFF:
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esc_init_time = hrt_absolute_time();
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esc_state = ESC_INIT;
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break;
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/* after waiting long enough for the ESC initialization, we can start with the ramp to start the ESCs */
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case ESC_INIT:
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if (hrt_elapsed_time(&esc_init_time) > ESC_INIT_TIME_US) {
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esc_state = ESC_RAMP;
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}
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break;
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/* then ramp until the min speed is reached */
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case ESC_RAMP:
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if (hrt_elapsed_time(&esc_init_time) > (ESC_INIT_TIME_US + ESC_RAMP_TIME_US)) {
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esc_state = ESC_ON;
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}
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break;
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case ESC_ON:
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default:
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break;
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}
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} else {
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esc_state = ESC_OFF;
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}
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/* after waiting long enough for the ESC initialization, we can disable the ESC initialization phase */
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if (!esc_init_done && esc_init_active && mixer_servos_armed && (hrt_elapsed_time(&esc_init_time) > ESC_INIT_TIME_US)) {
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esc_init_active = false;
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esc_init_done = true;
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/* do the calculations during the ramp for all at once */
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if(esc_state == ESC_RAMP) {
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ramp_promille = (1000*(hrt_elapsed_time(&esc_init_time)-ESC_INIT_TIME_US))/ESC_RAMP_TIME_US;
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}
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/* mix */
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mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT);
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@@ -196,21 +234,27 @@ mixer_tick(void)
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/* save actuator values for FMU readback */
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r_page_actuators[i] = FLOAT_TO_REG(outputs[i]);
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/* XXX maybe this check for an armed FMU could be achieved a little less messy */
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if (source == MIX_FMU && !(r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)) {
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r_page_servos[i] = r_page_servo_failsafe[i];
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}
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/* during ESC initialization, use low PWM */
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else if (esc_init_active) {
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r_page_servos[i] = (outputs[i] * 600 + 1500);
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/* afterwards use min and max values */
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} else {
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r_page_servos[i] = (outputs[i]
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* (r_page_servo_control_max[i] - r_page_servo_control_min[i])/2
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+ (r_page_servo_control_max[i] + r_page_servo_control_min[i])/2);
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}
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switch (esc_state) {
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case ESC_INIT:
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r_page_servos[i] = (outputs[i] * 600 + 1500);
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break;
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case ESC_RAMP:
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r_page_servos[i] = (outputs[i]
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* (ramp_promille*r_page_servo_control_max[i] + (1000-ramp_promille)*2100 - ramp_promille*r_page_servo_control_min[i] - (1000-ramp_promille)*900)/2/1000
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+ (ramp_promille*r_page_servo_control_max[i] + (1000-ramp_promille)*2100 + ramp_promille*r_page_servo_control_min[i] + (1000-ramp_promille)*900)/2/1000);
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break;
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case ESC_ON:
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r_page_servos[i] = (outputs[i]
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* (r_page_servo_control_max[i] - r_page_servo_control_min[i])/2
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+ (r_page_servo_control_max[i] + r_page_servo_control_min[i])/2);
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break;
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case ESC_OFF:
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default:
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break;
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}
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}
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for (unsigned i = mixed; i < IO_SERVO_COUNT; i++)
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r_page_servos[i] = 0;
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@@ -225,36 +269,43 @@ mixer_tick(void)
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* XXX correct behaviour for failsafe may require an additional case
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* here.
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*/
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bool should_arm = (
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should_arm = (
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/* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) &&
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/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
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/* and either FMU is armed */ ( ( (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
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/* and there is valid input via direct PWM or mixer */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK))) ||
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/* or failsafe was set manually */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) )
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/* and IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
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/* and FMU is armed */ ( (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
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/* and there is valid input via direct PWM or mixer */ ((r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) ||
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/* or failsafe was set manually */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ) )
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);
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should_always_enable_pwm = (r_setup_arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE)
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&& (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
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&& (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK);
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if (should_arm && !mixer_servos_armed) {
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if ((should_arm || should_always_enable_pwm) && !mixer_servos_armed) {
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/* need to arm, but not armed */
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up_pwm_servo_arm(true);
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mixer_servos_armed = true;
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r_status_flags |= PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED;
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isr_debug(5, "> armed");
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isr_debug(5, "> PWM enabled");
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} else if (!should_arm && mixer_servos_armed) {
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} else if ((!should_arm && !should_always_enable_pwm) && mixer_servos_armed) {
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/* armed but need to disarm */
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up_pwm_servo_arm(false);
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mixer_servos_armed = false;
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r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED);
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isr_debug(5, "> disarmed");
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isr_debug(5, "> PWM disabled");
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esc_init_active = false; }
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}
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if (mixer_servos_armed) {
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if (mixer_servos_armed && should_arm) {
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/* update the servo outputs. */
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for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
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up_pwm_servo_set(i, r_page_servos[i]);
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} else if (mixer_servos_armed && should_always_enable_pwm) {
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/* set the idle servo outputs. */
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for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
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up_pwm_servo_set(i, r_page_servo_idle[i]);
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}
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}
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