mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-15 20:53:34 +08:00
Merge remote-tracking branch 'px4/new_state_machine_drton' into fmuv2_bringup_new_state_machine_drton
Conflicts: src/drivers/blinkm/blinkm.cpp src/drivers/px4io/px4io.cpp src/modules/commander/state_machine_helper.c src/modules/px4iofirmware/protocol.h src/modules/px4iofirmware/registers.c src/modules/systemlib/systemlib.h src/systemcmds/reboot/reboot.c
This commit is contained in:
Julian Oes
@@ -0,0 +1,250 @@
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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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*
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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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* Tool for ESC calibration
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*/
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#include <nuttx/config.h>
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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 <sys/mount.h>
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#include <sys/ioctl.h>
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#include <sys/stat.h>
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#include <nuttx/i2c.h>
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#include <nuttx/mtd.h>
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#include <nuttx/fs/nxffs.h>
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#include <nuttx/fs/ioctl.h>
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#include <arch/board/board.h>
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#include "systemlib/systemlib.h"
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#include "systemlib/err.h"
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#include "drivers/drv_pwm_output.h"
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static void usage(const char *reason);
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__EXPORT int esc_calib_main(int argc, char *argv[]);
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#define MAX_CHANNELS 8
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static void
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usage(const char *reason)
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{
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if (reason != NULL)
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warnx("%s", reason);
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errx(1,
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"usage:\n"
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"esc_calib [-d <device>] <channels>\n"
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" <device> PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n"
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" <channels> Provide channels (e.g.: 1 2 3 4)\n"
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);
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}
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int
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esc_calib_main(int argc, char *argv[])
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{
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const char *dev = PWM_OUTPUT_DEVICE_PATH;
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char *ep;
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bool channels_selected[MAX_CHANNELS] = {false};
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int ch;
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int ret;
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char c;
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if (argc < 2)
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usage(NULL);
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while ((ch = getopt(argc, argv, "d:")) != EOF) {
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switch (ch) {
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case 'd':
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dev = optarg;
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argc--;
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break;
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default:
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usage(NULL);
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}
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}
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if(argc < 1) {
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usage("no channels provided");
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}
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while (--argc) {
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const char *arg = argv[argc];
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unsigned channel_number = strtol(arg, &ep, 0);
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if (*ep == '\0') {
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if (channel_number > MAX_CHANNELS || channel_number <= 0) {
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err(1, "invalid channel number: %d", channel_number);
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} else {
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channels_selected[channel_number-1] = true;
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}
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}
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}
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/* Wait for confirmation */
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int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
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if (!console)
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err(1, "failed opening console");
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warnx("ATTENTION, please remove or fix props before starting calibration!\n"
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"\n"
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"Also press the arming switch first for safety off\n"
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"\n"
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"Do you really want to start calibration: y or n?\n");
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/* wait for user input */
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while (1) {
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if (read(console, &c, 1) == 1) {
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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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warnx("ESC calibration exited");
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close(console);
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exit(0);
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} else if (c == 'n' || c == 'N') {
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warnx("ESC calibration aborted");
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close(console);
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exit(0);
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} else {
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warnx("Unknown input, ESC calibration aborted");
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close(console);
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exit(0);
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}
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}
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/* rate limit to ~ 20 Hz */
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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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err(1, "can't open %s", dev);
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// XXX arming not necessaire at the moment
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// /* Then arm */
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// ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
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// if (ret != OK)
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// err(1, "PWM_SERVO_SET_ARM_OK");
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// ret = ioctl(fd, PWM_SERVO_ARM, 0);
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// if (ret != OK)
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// err(1, "PWM_SERVO_ARM");
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/* Wait for user confirmation */
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warnx("Set high PWM\n"
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"Connect battery now and hit ENTER after the ESCs confirm the first calibration step");
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while (1) {
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/* First set high PWM */
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for (unsigned i = 0; i<MAX_CHANNELS; i++) {
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if(channels_selected[i]) {
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ret = ioctl(fd, PWM_SERVO_SET(i), 2100);
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if (ret != OK)
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err(1, "PWM_SERVO_SET(%d)", i);
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}
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}
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if (read(console, &c, 1) == 1) {
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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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warnx("ESC calibration exited");
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close(console);
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exit(0);
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}
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}
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/* rate limit to ~ 20 Hz */
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usleep(50000);
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}
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/* we don't need any more user input */
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warnx("Set low PWM, hit ENTER when finished");
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while (1) {
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/* Then set low PWM */
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for (unsigned i = 0; i<MAX_CHANNELS; i++) {
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if(channels_selected[i]) {
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ret = ioctl(fd, PWM_SERVO_SET(i), 900);
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if (ret != OK)
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err(1, "PWM_SERVO_SET(%d)", i);
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}
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}
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if (read(console, &c, 1) == 1) {
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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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warnx("ESC calibration exited");
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close(console);
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exit(0);
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}
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}
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/* rate limit to ~ 20 Hz */
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usleep(50000);
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}
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warnx("ESC calibration finished");
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close(console);
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// XXX disarming not necessaire at the moment
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/* Now disarm again */
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// ret = ioctl(fd, PWM_SERVO_DISARM, 0);
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exit(0);
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}
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@@ -0,0 +1,41 @@
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############################################################################
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#
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# Copyright (c) 2012, 2013 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
|
||||
# notice, this list of conditions and the following disclaimer.
|
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# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# 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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# Build the esc_calib tool.
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#
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MODULE_COMMAND = esc_calib
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SRCS = esc_calib.c
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MODULE_STACKSIZE = 4096
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@@ -180,7 +180,8 @@ pwm_main(int argc, char *argv[])
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}
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/* iterate remaining arguments */
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unsigned channel = 0;
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unsigned nchannels = 0;
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unsigned channel[8] = {0};
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while (argc--) {
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const char *arg = argv[0];
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argv++;
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@@ -204,13 +205,15 @@ pwm_main(int argc, char *argv[])
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}
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unsigned pwm_value = strtol(arg, &ep, 0);
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if (*ep == '\0') {
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ret = ioctl(fd, PWM_SERVO_SET(channel), pwm_value);
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if (ret != OK)
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err(1, "PWM_SERVO_SET(%d)", channel);
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channel++;
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if (nchannels > sizeof(channel) / sizeof(channel[0]))
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err(1, "too many pwm values (max %d)", sizeof(channel) / sizeof(channel[0]));
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channel[nchannels] = pwm_value;
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nchannels++;
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continue;
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}
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usage("unrecognised option");
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usage("unrecognized option");
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}
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/* print verbose info */
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@@ -250,5 +253,38 @@ pwm_main(int argc, char *argv[])
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}
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fflush(stdout);
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}
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/* perform PWM output */
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if (nchannels) {
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/* Open console directly to grab CTRL-C signal */
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int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
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if (!console)
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err(1, "failed opening console");
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warnx("Press CTRL-C or 'c' to abort.");
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while (1) {
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for (int i = 0; i < nchannels; i++) {
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ret = ioctl(fd, PWM_SERVO_SET(i), channel[i]);
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if (ret != OK)
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err(1, "PWM_SERVO_SET(%d)", i);
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}
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/* abort on user request */
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char c;
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if (read(console, &c, 1) == 1) {
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if (c == 0x03 || c == 0x63 || c == 'q') {
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warnx("User abort\n");
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close(console);
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exit(0);
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}
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}
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/* rate limit to ~ 20 Hz */
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usleep(50000);
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}
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}
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exit(0);
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}
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