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esc_calib: get disarmed/max values from PWM device, more informative output

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This commit is contained in:
Anton Babushkin
2013-10-22 22:21:10 +02:00
parent 70ec68ffd0
commit 342a7bf55b
1 changed files with 72 additions and 43 deletions
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src/systemcmds/esc_calib/esc_calib.c
+72 -43
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@@ -72,12 +72,13 @@ usage(const char *reason)
{
if (reason != NULL)
warnx("%s", reason);
errx(1,
"usage:\n"
"esc_calib [-d <device>] <channels>\n"
" <device> PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n"
" <channels> Provide channels (e.g.: 1 2 3 4)\n"
);
errx(1,
"usage:\n"
"esc_calib [-d <device>] <channels>\n"
" <device> PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n"
" <channels> Provide channels (e.g.: 1 2 3 4)\n"
);
}
@@ -98,12 +99,12 @@ esc_calib_main(int argc, char *argv[])
if (argc < 2)
usage(NULL);
while ((ch = getopt(argc-1, argv, "d:")) != EOF) {
while ((ch = getopt(argc - 1, argv, "d:")) != EOF) {
switch (ch) {
case 'd':
dev = optarg;
argc-=2;
argc -= 2;
break;
default:
@@ -111,7 +112,7 @@ esc_calib_main(int argc, char *argv[])
}
}
if(argc < 2) {
if (argc < 2) {
usage("no channels provided");
}
@@ -122,121 +123,149 @@ esc_calib_main(int argc, char *argv[])
if (*ep == '\0') {
if (channel_number > MAX_CHANNELS || channel_number <= 0) {
err(1, "invalid channel number: %d", channel_number);
} else {
channels_selected[channel_number-1] = true;
channels_selected[channel_number - 1] = true;
}
}
}
printf("\nATTENTION, please remove or fix propellers before starting calibration!\n"
"\n"
"Make sure\n"
"\t - that the ESCs are not powered\n"
"\t - that safety is off (two short blinks)\n"
"\t - that the controllers are stopped\n"
"\n"
"Do you want to start calibration now: y or n?\n");
"\n"
"Make sure\n"
"\t - that the ESCs are not powered\n"
"\t - that safety is off (two short blinks)\n"
"\t - that the controllers are stopped\n"
"\n"
"Do you want to start calibration now: y or n?\n");
/* wait for user input */
while (1) {
ret = poll(&fds, 1, 0);
if (ret > 0) {
read(0, &c, 1);
if (c == 'y' || c == 'Y') {
break;
} else if (c == 0x03 || c == 0x63 || c == 'q') {
printf("ESC calibration exited\n");
exit(0);
} else if (c == 'n' || c == 'N') {
printf("ESC calibration aborted\n");
exit(0);
} else {
printf("Unknown input, ESC calibration aborted\n");
exit(0);
}
}
}
/* rate limit to ~ 20 Hz */
usleep(50000);
}
/* open for ioctl only */
int fd = open(dev, 0);
if (fd < 0)
err(1, "can't open %s", dev);
/* Wait for user confirmation */
printf("\nHigh PWM set\n"
"\n"
"Connect battery now and hit ENTER after the ESCs confirm the first calibration step\n"
"\n");
/* get max PWM value setting */
uint16_t pwm_max = 0;
ret = ioctl(fd, PWM_SERVO_GET_MAX_PWM, &pwm_max);
if (ret != OK)
err(1, "PWM_SERVO_GET_MAX_PWM");
/* get disarmed PWM value setting */
uint16_t pwm_disarmed = 0;
ret = ioctl(fd, PWM_SERVO_GET_DISARMED_PWM, &pwm_disarmed);
if (ret != OK)
err(1, "PWM_SERVO_GET_DISARMED_PWM");
/* wait for user confirmation */
printf("\nHigh PWM set: %d\n"
"\n"
"Connect battery now and hit ENTER after the ESCs confirm the first calibration step\n"
"\n", pwm_max);
fflush(stdout);
while (1) {
/* set max PWM */
for (unsigned i = 0; i < MAX_CHANNELS; i++) {
if (channels_selected[i]) {
ret = ioctl(fd, PWM_SERVO_SET(i), pwm_max);
/* First set high PWM */
for (unsigned i = 0; i<MAX_CHANNELS; i++) {
if(channels_selected[i]) {
ret = ioctl(fd, PWM_SERVO_SET(i), 2100);
if (ret != OK)
err(1, "PWM_SERVO_SET(%d)", i);
}
}
ret = poll(&fds, 1, 0);
if (ret > 0) {
read(0, &c, 1);
if (c == 13) {
break;
} else if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("ESC calibration exited");
exit(0);
}
}
/* rate limit to ~ 20 Hz */
usleep(50000);
}
/* we don't need any more user input */
printf("Low PWM set, hit ENTER when finished\n"
"\n");
printf("Low PWM set: %d\n"
"\n"
"Hit ENTER when finished\n"
"\n", pwm_disarmed);
while (1) {
/* Then set low PWM */
for (unsigned i = 0; i<MAX_CHANNELS; i++) {
if(channels_selected[i]) {
ret = ioctl(fd, PWM_SERVO_SET(i), 900);
/* set disarmed PWM */
for (unsigned i = 0; i < MAX_CHANNELS; i++) {
if (channels_selected[i]) {
ret = ioctl(fd, PWM_SERVO_SET(i), pwm_disarmed);
if (ret != OK)
err(1, "PWM_SERVO_SET(%d)", i);
}
}
ret = poll(&fds, 1, 0);
if (ret > 0) {
read(0, &c, 1);
if (c == 13) {
break;
} else if (c == 0x03 || c == 0x63 || c == 'q') {
printf("ESC calibration exited\n");
exit(0);
}
}
/* rate limit to ~ 20 Hz */
usleep(50000);
}
printf("ESC calibration finished\n");
exit(0);