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Commit fd7d4156 authored by Daniel Agar's avatar Daniel Agar
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delete pwm_out_rc_in

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cmake/configs/qurt_sdflight_default.cmake
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− 1
View file @ fd7d4156
......@@ -74,7 +74,6 @@ set(config_module_list
# PX4 drivers
#
drivers/gps
drivers/pwm_out_rc_in
drivers/spektrum_rc
drivers/qshell/qurt
drivers/snapdragon_pwm_out
......
cmake/configs/qurt_sdflight_legacy.cmake
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View file @ fd7d4156
......@@ -70,7 +70,6 @@ set(config_module_list
# PX4 drivers
#
drivers/gps
drivers/pwm_out_rc_in
drivers/spektrum_rc
drivers/qshell/qurt
......
src/drivers/pwm_out_rc_in/CMakeLists.txt deleted 100644 → 0
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− 45
View file @ bb35f75b
############################################################################
#
# Copyright (c) 2015-2016 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE drivers__pwm_out_rc_in
MAIN pwm_out_rc_in
INCLUDES
${PX4_SOURCE_DIR}/mavlink/include/mavlink
COMPILE_FLAGS
-DMAVLINK_COMM_NUM_BUFFERS=1
SRCS
pwm_out_rc_in.cpp
DEPENDS
platforms__common
)
src/drivers/pwm_out_rc_in/pwm_out_rc_in.cpp deleted 100644 → 0
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View file @ bb35f75b
/****************************************************************************
*
* Copyright (c) 2015-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <stdint.h>
#include <px4_tasks.h>
#include <px4_getopt.h>
#include <px4_posix.h>
#include <errno.h>
#include <uORB/uORB.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/input_rc.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
#include <lib/mixer/mixer.h>
#include <lib/mixer/mixer_multirotor_normalized.generated.h>
#include <systemlib/param/param.h>
#include <systemlib/pwm_limit/pwm_limit.h>
#include <dev_fs_lib_serial.h>
#include <v2.0/checksum.h>
#include <v2.0/mavlink_types.h>
#include <v2.0/common/mavlink.h>
/*
* This driver is supposed to run on Snapdragon. It sends actuator_controls (PWM)
* to a Pixhawk/Pixfalcon/Pixracer over UART (mavlink) and receives RC input.
*/
namespace pwm_out_rc_in
{
static const uint8_t mavlink_message_lengths[256] = MAVLINK_MESSAGE_LENGTHS;
static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
volatile bool _task_should_exit = false; // flag indicating if pwm_out_rc_in task should exit
static char _device[32] = {};
static bool _is_running = false; // flag indicating if pwm_out_rc_in app is running
static px4_task_t _task_handle = -1; // handle to the task main thread
// subscriptions
int _controls_sub;
int _armed_sub;
int _fd;
// filenames
// /dev/fs/ is mapped to /usr/share/data/adsp/
static const char *MIXER_FILENAME = "/dev/fs/quad_x.main.mix";
// publications
orb_advert_t _outputs_pub = nullptr;
orb_advert_t _rc_pub = nullptr;
// topic structures
actuator_controls_s _controls;
actuator_outputs_s _outputs;
actuator_armed_s _armed;
input_rc_s _rc;
pwm_limit_t _pwm_limit;
// esc parameters
int32_t _pwm_disarmed;
int32_t _pwm_min;
int32_t _pwm_max;
MultirotorMixer *_mixer = nullptr;
void usage();
void start(const char *device);
void stop();
void send_outputs_mavlink(const uint16_t *pwm, const unsigned num_pwm);
void serial_callback(void *context, char *buffer, size_t num_bytes);
void handle_message(mavlink_message_t *rc_message);
void task_main_trampoline(int argc, char *argv[]);
void task_main(int argc, char *argv[]);
/* mixer initialization */
int initialize_mixer(const char *mixer_filename);
int mixer_control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input);
int mixer_control_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input)
{
const actuator_controls_s *controls = (actuator_controls_s *)handle;
input = controls[control_group].control[control_index];
return 0;
}
int initialize_mixer(const char *mixer_filename)
{
char buf[2048];
size_t buflen = sizeof(buf);
PX4_INFO("Trying to initialize mixer from config file %s", mixer_filename);
int fd_load = ::open(mixer_filename, O_RDONLY);
if (fd_load != -1) {
int nRead = ::read(fd_load, buf, buflen);
close(fd_load);
if (nRead > 0) {
_mixer = MultirotorMixer::from_text(mixer_control_callback, (uintptr_t)&_controls, buf, buflen);
if (_mixer != nullptr) {
PX4_INFO("Successfully initialized mixer from config file");
return 0;
} else {
PX4_ERR("Unable to parse from mixer config file");
return -1;
}
} else {
PX4_WARN("Unable to read from mixer config file");
return -2;
}
} else {
PX4_WARN("No mixer config file found, using default mixer.");
/* Mixer file loading failed, fall back to default mixer configuration for
* QUAD_X airframe. */
float roll_scale = 1;
float pitch_scale = 1;
float yaw_scale = 1;
float deadband = 0;
_mixer = new MultirotorMixer(mixer_control_callback, (uintptr_t)&_controls,
MultirotorGeometry::QUAD_X,
roll_scale, pitch_scale, yaw_scale, deadband);
if (_mixer == nullptr) {
PX4_ERR("Mixer initialization failed");
return -1;
}
return 0;
}
}
int uart_initialize(const char *device)
{
_fd = ::open(device, O_RDWR | O_NONBLOCK);
if (_fd == -1) {
PX4_ERR("Failed to open UART.");
return -1;
}
struct dspal_serial_ioctl_data_rate rate;
rate.bit_rate = DSPAL_SIO_BITRATE_921600;
int ret = ioctl(_fd, SERIAL_IOCTL_SET_DATA_RATE, (void *)&rate);
if (ret != 0) {
PX4_ERR("Failed to set UART bitrate.");
return -2;
}
struct dspal_serial_ioctl_receive_data_callback callback;
callback.rx_data_callback_func_ptr = serial_callback;
ret = ioctl(_fd, SERIAL_IOCTL_SET_RECEIVE_DATA_CALLBACK, (void *)&callback);
if (ret != 0) {
PX4_ERR("Failed to setup UART flow control options.");
return -3;
}
return 0;
}
int uart_deinitialize()
{
return close(_fd);
}
// send actuator controls message to Pixhawk
void send_outputs_mavlink(const uint16_t *pwm, const unsigned num_pwm)
{
// Fill up to number of outputs.
mavlink_actuator_control_target_t controls_message;
for (unsigned i = 0; i < num_pwm && i < actuator_controls_s::NUM_ACTUATOR_CONTROLS; ++i) {
controls_message.controls[i] = pwm[i];
}
// And the rest with NAN.
for (unsigned i = _outputs.noutputs; (i < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS)
&& (i < actuator_controls_s::NUM_ACTUATOR_CONTROLS); ++i) {
controls_message.controls[i] = NAN;
}
controls_message.time_usec = _controls.timestamp;
const uint8_t msgid = MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET;
const uint8_t component_ID = 0;
const uint8_t payload_len = mavlink_message_lengths[msgid];
const unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
/* header */
buf[0] = MAVLINK_STX;
buf[1] = payload_len;
// TODO FIXME: no idea which numbers should be here.
buf[2] = 100;
buf[3] = 0;
buf[4] = component_ID;
buf[5] = msgid;
/* payload */
memcpy(&buf[MAVLINK_NUM_HEADER_BYTES], (const void *)&controls_message, payload_len);
/* checksum */
uint16_t checksum;
crc_init(&checksum);
crc_accumulate_buffer(&checksum, (const char *) &buf[1], MAVLINK_CORE_HEADER_LEN + payload_len);
crc_accumulate(mavlink_message_crcs[msgid], &checksum);
buf[MAVLINK_NUM_HEADER_BYTES + payload_len] = (uint8_t)(checksum & 0xFF);
buf[MAVLINK_NUM_HEADER_BYTES + payload_len + 1] = (uint8_t)(checksum >> 8);
int ret = ::write(_fd, &buf[0], packet_len);
//static unsigned counter = 0;
//if (counter++ % 250 == 0) {
// PX4_INFO("send motor controls %d bytes %.2f %.2f %.2f %.2f",
// ret,
// controls_message.controls[0],
// controls_message.controls[1],
// controls_message.controls[2],
// controls_message.controls[3]);
//}
if (ret < 1) {
PX4_WARN("Failed sending rc mavlink message, ret: %d, errno: %d", ret, errno);
}
}
void serial_callback(void *context, char *buffer, size_t num_bytes)
{
mavlink_status_t serial_status = {};
if (num_bytes > 0) {
mavlink_message_t msg;
for (size_t i = 0; i < num_bytes; ++i) {
// The MAVLink app doesn't use the internal buffer functions
// and hence the first port can be used here.
if (mavlink_parse_char(MAVLINK_COMM_0, buffer[i], &msg, &serial_status)) {
// have a message, handle it
if (msg.msgid == MAVLINK_MSG_ID_RC_CHANNELS) {
// we should publish but would be great if this works
handle_message(&msg);
}
}
}
} else {
PX4_ERR("error: read callback with no data in the buffer");
}
}
void handle_message(mavlink_message_t *rc_message)
{
mavlink_rc_channels_t rc;
mavlink_msg_rc_channels_decode(rc_message, &rc);
_rc.timestamp = hrt_absolute_time();
_rc.timestamp_last_signal = hrt_absolute_time();
_rc.channel_count = rc.chancount;
_rc.rc_lost = false;
_rc.rssi = rc.rssi;
_rc.values[ 0] = rc.chancount > 0 ? rc.chan1_raw : UINT16_MAX;
_rc.values[ 1] = rc.chancount > 0 ? rc.chan2_raw : UINT16_MAX;
_rc.values[ 2] = rc.chancount > 0 ? rc.chan3_raw : UINT16_MAX;
_rc.values[ 3] = rc.chancount > 0 ? rc.chan4_raw : UINT16_MAX;
_rc.values[ 4] = rc.chancount > 0 ? rc.chan5_raw : UINT16_MAX;
_rc.values[ 5] = rc.chancount > 0 ? rc.chan6_raw : UINT16_MAX;
_rc.values[ 6] = rc.chancount > 0 ? rc.chan7_raw : UINT16_MAX;
_rc.values[ 7] = rc.chancount > 0 ? rc.chan8_raw : UINT16_MAX;
_rc.values[ 8] = rc.chancount > 0 ? rc.chan9_raw : UINT16_MAX;
_rc.values[ 9] = rc.chancount > 0 ? rc.chan10_raw : UINT16_MAX;
_rc.values[10] = rc.chancount > 0 ? rc.chan11_raw : UINT16_MAX;
_rc.values[11] = rc.chancount > 0 ? rc.chan12_raw : UINT16_MAX;
_rc.values[12] = rc.chancount > 0 ? rc.chan13_raw : UINT16_MAX;
_rc.values[13] = rc.chancount > 0 ? rc.chan14_raw : UINT16_MAX;
_rc.values[14] = rc.chancount > 0 ? rc.chan15_raw : UINT16_MAX;
_rc.values[15] = rc.chancount > 0 ? rc.chan16_raw : UINT16_MAX;
_rc.values[16] = rc.chancount > 0 ? rc.chan17_raw : UINT16_MAX;
_rc.values[17] = rc.chancount > 0 ? rc.chan18_raw : UINT16_MAX;
if (_rc_pub != nullptr) {
orb_publish(ORB_ID(input_rc), _rc_pub, &_rc);
} else {
_rc_pub = orb_advertise(ORB_ID(input_rc), &_rc);
}
}
void task_main(int argc, char *argv[])
{
_is_running = true;
if (uart_initialize(_device) < 0) {
PX4_ERR("Failed to initialize UART.");
return;
}
// Subscribe for orb topics
_controls_sub = orb_subscribe(ORB_ID(actuator_controls_0));
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
// Start disarmed
_armed.armed = false;
_armed.prearmed = false;
// Set up poll topic
px4_pollfd_struct_t fds[1];
fds[0].fd = _controls_sub;
fds[0].events = POLLIN;
/* Don't limit poll intervall for now, 250 Hz should be fine. */
//orb_set_interval(_controls_sub, 10);
// Set up mixer
if (initialize_mixer(MIXER_FILENAME) < 0) {
PX4_ERR("Mixer initialization failed.");
return;
}
pwm_limit_init(&_pwm_limit);
// TODO XXX: this is needed otherwise we crash in the callback context.
_rc_pub = orb_advertise(ORB_ID(input_rc), &_rc);
// Main loop
while (!_task_should_exit) {
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 10);
/* Timed out, do a periodic check for _task_should_exit. */
if (pret == 0) {
continue;
}
/* This is undesirable but not much we can do. */
if (pret < 0) {
PX4_WARN("poll error %d, %d", pret, errno);
/* sleep a bit before next try */
usleep(100000);
continue;
}
if (fds[0].revents & POLLIN) {
orb_copy(ORB_ID(actuator_controls_0), _controls_sub, &_controls);
_outputs.timestamp = _controls.timestamp;
/* do mixing */
_outputs.noutputs = _mixer->mix(_outputs.output, 0);
/* disable unused ports by setting their output to NaN */
for (size_t i = _outputs.noutputs; i < sizeof(_outputs.output) / sizeof(_outputs.output[0]); i++) {
_outputs.output[i] = NAN;
}
const uint16_t reverse_mask = 0;
uint16_t disarmed_pwm[4];
uint16_t min_pwm[4];
uint16_t max_pwm[4];
uint16_t trim_pwm[4];
for (unsigned int i = 0; i < 4; i++) {
disarmed_pwm[i] = _pwm_disarmed;
min_pwm[i] = _pwm_min;
max_pwm[i] = _pwm_max;
trim_pwm[i] = 0;
}
uint16_t pwm[4];
// TODO FIXME: pre-armed seems broken
pwm_limit_calc(_armed.armed, false/*_armed.prearmed*/, _outputs.noutputs, reverse_mask,
disarmed_pwm, min_pwm, max_pwm, _outputs.output, pwm, &_pwm_limit);
send_outputs_mavlink(pwm, 4);
if (_outputs_pub != nullptr) {
orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_outputs);
} else {
_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs);
}
}
bool updated;
orb_check(_armed_sub, &updated);
if (updated) {
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
}
}
uart_deinitialize();
orb_unsubscribe(_controls_sub);
orb_unsubscribe(_armed_sub);
_is_running = false;
}
void task_main_trampoline(int argc, char *argv[])
{
task_main(argc, argv);
}
void start()
{
ASSERT(_task_handle == -1);
_task_should_exit = false;
/* start the task */
_task_handle = px4_task_spawn_cmd("pwm_out_rc_in_main",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX,
1500,
(px4_main_t)&task_main_trampoline,
nullptr);
if (_task_handle < 0) {
warn("task start failed");
return;
}
}
void stop()
{
_task_should_exit = true;
while (_is_running) {
usleep(200000);
PX4_INFO(".");
}
_task_handle = -1;
}
void usage()
{
PX4_INFO("usage: pwm_out_rc_in start -d /dev/tty-3");
PX4_INFO(" pwm_out_rc_in stop");
PX4_INFO(" pwm_out_rc_in status");
}
} // namespace pwm_out_rc_in
/* driver 'main' command */
extern "C" __EXPORT int pwm_out_rc_in_main(int argc, char *argv[]);
int pwm_out_rc_in_main(int argc, char *argv[])
{
const char *device = nullptr;
int ch;
int myoptind = 1;
const char *myoptarg = nullptr;
char *verb = nullptr;
if (argc >= 2) {
verb = argv[1];
}
while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'd':
device = myoptarg;
strncpy(pwm_out_rc_in::_device, device, strlen(device));
break;
}
}
// gets the parameters for the esc's pwm
param_get(param_find("PWM_DISARMED"), &pwm_out_rc_in::_pwm_disarmed);
param_get(param_find("PWM_MIN"), &pwm_out_rc_in::_pwm_min);
param_get(param_find("PWM_MAX"), &pwm_out_rc_in::_pwm_max);
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start")) {
if (pwm_out_rc_in::_is_running) {
PX4_WARN("pwm_out_rc_in already running");
return 1;
}
// Check on required arguments
if (device == nullptr || strlen(device) == 0) {
pwm_out_rc_in::usage();
return 1;
}
pwm_out_rc_in::start();
}
else if (!strcmp(verb, "stop")) {
if (!pwm_out_rc_in::_is_running) {
PX4_WARN("pwm_out_rc_in is not running");
return 1;
}
pwm_out_rc_in::stop();
}
else if (!strcmp(verb, "status")) {
PX4_WARN("pwm_out_rc_in is %s", pwm_out_rc_in::_is_running ? "running" : "not running");
return 0;
} else {
pwm_out_rc_in::usage();
return 1;
}
return 0;
}
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