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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Rough in the new mixer path for PX4IO.
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px4dev
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/****************************************************************************
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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 mixer.cpp
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*
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* Control channel input/output mixer and failsafe.
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*/
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#include <nuttx/config.h>
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#include <nuttx/arch.h>
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#include <sys/types.h>
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#include <stdbool.h>
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#include <string.h>
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#include <assert.h>
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#include <errno.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <drivers/drv_pwm_output.h>
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#include <systemlib/mixer/mixer.h>
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extern "C" {
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#include "px4io.h"
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}
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/*
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* Count of periodic calls in which we have no FMU input.
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*/
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static unsigned fmu_input_drops;
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#define FMU_INPUT_DROP_LIMIT 20
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/* current servo arm/disarm state */
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bool mixer_servos_armed = false;
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/* selected control values and count for mixing */
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static uint16_t *control_values;
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static int control_count;
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static int mixer_callback(uintptr_t handle,
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uint8_t control_group,
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uint8_t control_index,
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float &control);
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static MixerGroup mixer_group(mixer_callback, 0);
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void
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mixer_tick(void)
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{
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bool should_arm;
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/*
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* Decide which set of inputs we're using.
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*/
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if (system_state.mixer_use_fmu) {
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/* we have recent control data from the FMU */
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control_count = PX4IO_OUTPUT_CHANNELS;
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control_values = &system_state.fmu_channel_data[0];
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/* check that we are receiving fresh data from the FMU */
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if (!system_state.fmu_data_received) {
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fmu_input_drops++;
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/* too many frames without FMU input, time to go to failsafe */
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if (fmu_input_drops >= FMU_INPUT_DROP_LIMIT) {
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system_state.mixer_use_fmu = false;
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}
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} else {
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fmu_input_drops = 0;
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system_state.fmu_data_received = false;
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}
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} else if (system_state.rc_channels > 0) {
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/* we have control data from an R/C input */
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control_count = system_state.rc_channels;
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control_values = &system_state.rc_channel_data[0];
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} else {
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/* we have no control input */
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/* XXX builtin failsafe would activate here */
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control_count = 0;
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}
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/*
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* Run the mixers if we have any control data at all.
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*/
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if (control_count > 0) {
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float outputs[IO_SERVO_COUNT];
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unsigned mixed;
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/* mix */
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mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT);
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/* scale to PWM and update the servo outputs as required */
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for (unsigned i = 0; i < IO_SERVO_COUNT; i++) {
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if (i < mixed) {
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/* scale to servo output */
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system_state.servos[i] = (outputs[i] * 1000.0f) + 1000;
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} else {
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/* set to zero to inhibit PWM pulse output */
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system_state.servos[i] = 0;
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}
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/*
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* If we are armed, update the servo output.
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*/
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if (system_state.armed && system_state.arm_ok)
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up_pwm_servo_set(i, system_state.servos[i]);
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}
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}
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/*
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* Decide whether the servos should be armed right now.
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*/
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should_arm = system_state.armed && system_state.arm_ok && (control_count > 0);
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if (should_arm && !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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} else if (!should_arm && 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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}
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}
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static int
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mixer_callback(uintptr_t handle,
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uint8_t control_group,
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uint8_t control_index,
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float &control)
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{
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/* if the control index refers to an input that's not valid, we can't return it */
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if (control_index >= control_count)
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return -1;
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/* scale from current PWM units (1000-2000) to mixer input values */
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/* XXX this presents some ugly problems w.r.t failsafe and R/C input scaling that have to be addressed */
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control = ((float)control_values[control_index] - 1000.0f) / 1000.0f;
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return 0;
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}
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void
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mixer_handle_text(const void *buffer, size_t length)
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{
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static char mixer_text[256];
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static unsigned mixer_text_length = 0;
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px4io_mixdata *msg = (px4io_mixdata *)buffer;
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if (length < sizeof(px4io_mixdata))
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return;
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unsigned text_length = length - sizeof(px4io_mixdata);
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switch (msg->action) {
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case F2I_MIXER_ACTION_RESET:
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mixer_group.reset();
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mixer_text_length = 0;
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/* FALLTHROUGH */
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case F2I_MIXER_ACTION_APPEND:
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/* check for overflow - this is really fatal */
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if ((mixer_text_length + text_length + 1) > sizeof(mixer_text))
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return;
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/* append mixer text and nul-terminate */
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memcpy(&mixer_text[mixer_text_length], msg->text, text_length);
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mixer_text_length += text_length;
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mixer_text[mixer_text_length] = '\0';
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/* process the text buffer, adding new mixers as their descriptions can be parsed */
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char *end = &mixer_text[mixer_text_length];
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mixer_group.load_from_buf(&mixer_text[0], mixer_text_length);
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/* copy any leftover text to the base of the buffer for re-use */
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if (mixer_text_length > 0)
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memcpy(&mixer_text[0], end - mixer_text_length, mixer_text_length);
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break;
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}
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}
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