int test_mixer(int argc, char *argv[])
{
warnx("testing mixer");
char *filename = "/etc/mixers/IO_pass.mix";
if (argc > 1)
filename = argv[1];
warnx("loading: %s", filename);
char buf[2048];
load_mixer_file(filename, &buf[0], sizeof(buf));
unsigned loaded = strlen(buf);
warnx("loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded);
/* load the mixer in chunks, like
* in the case of a remote load,
* e.g. on PX4IO.
*/
unsigned nused = 0;
const unsigned chunk_size = 64;
MixerGroup mixer_group(mixer_callback, 0);
/* load at once test */
unsigned xx = loaded;
mixer_group.load_from_buf(&buf[0], xx);
warnx("complete buffer load: loaded %u mixers", mixer_group.count());
if (mixer_group.count() != 8)
return 1;
unsigned empty_load = 2;
char empty_buf[2];
empty_buf[0] = ' ';
empty_buf[1] = '\0';
mixer_group.reset();
mixer_group.load_from_buf(&empty_buf[0], empty_load);
warnx("empty buffer load: loaded %u mixers, used: %u", mixer_group.count(), empty_load);
if (empty_load != 0)
return 1;
/* FIRST mark the mixer as invalid */
bool mixer_ok = false;
/* THEN actually delete it */
mixer_group.reset();
char mixer_text[256]; /* large enough for one mixer */
unsigned mixer_text_length = 0;
unsigned transmitted = 0;
warnx("transmitted: %d, loaded: %d", transmitted, loaded);
while (transmitted < loaded) {
unsigned text_length = (loaded - transmitted > chunk_size) ? chunk_size : loaded - transmitted;
/* check for overflow - this would be really fatal */
if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
bool mixer_ok = false;
return 1;
}
/* append mixer text and nul-terminate */
memcpy(&mixer_text[mixer_text_length], &buf[transmitted], text_length);
mixer_text_length += text_length;
mixer_text[mixer_text_length] = '\0';
warnx("buflen %u, text:\n\"%s\"", mixer_text_length, &mixer_text[0]);
/* process the text buffer, adding new mixers as their descriptions can be parsed */
unsigned resid = mixer_text_length;
mixer_group.load_from_buf(&mixer_text[0], resid);
/* if anything was parsed */
if (resid != mixer_text_length) {
/* only set mixer ok if no residual is left over */
if (resid == 0) {
mixer_ok = true;
} else {
/* not yet reached the end of the mixer, set as not ok */
mixer_ok = false;
}
warnx("used %u", mixer_text_length - resid);
/* copy any leftover text to the base of the buffer for re-use */
if (resid > 0)
memcpy(&mixer_text[0], &mixer_text[mixer_text_length - resid], resid);
mixer_text_length = resid;
}
transmitted += text_length;
}
warnx("chunked load: loaded %u mixers", mixer_group.count());
if (mixer_group.count() != 8)
return 1;
/* execute the mixer */
float outputs[output_max];
unsigned mixed;
const int jmax = 5;
pwm_limit_init(&pwm_limit);
should_arm = true;
/* run through arming phase */
for (int i = 0; i < output_max; i++) {
actuator_controls[i] = 0.1f;
r_page_servo_disarmed[i] = PWM_LOWEST_MIN;
r_page_servo_control_min[i] = PWM_DEFAULT_MIN;
r_page_servo_control_max[i] = PWM_DEFAULT_MAX;
}
warnx("ARMING TEST: STARTING RAMP");
unsigned sleep_quantum_us = 10000;
hrt_abstime starttime = hrt_absolute_time();
unsigned sleepcount = 0;
while (hrt_elapsed_time(&starttime) < INIT_TIME_US + RAMP_TIME_US) {
/* mix */
mixed = mixer_group.mix(&outputs[0], output_max);
pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
for (int i = 0; i < mixed; i++)
{
/* check mixed outputs to be zero during init phase */
if (hrt_elapsed_time(&starttime) < INIT_TIME_US &&
r_page_servos[i] != r_page_servo_disarmed[i]) {
warnx("disarmed servo value mismatch");
return 1;
}
if (hrt_elapsed_time(&starttime) >= INIT_TIME_US &&
r_page_servos[i] + 1 <= r_page_servo_disarmed[i]) {
warnx("ramp servo value mismatch");
return 1;
}
//printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, outputs_unlimited[i], outputs[i], (int)r_page_servos[i]);
}
usleep(sleep_quantum_us);
sleepcount++;
if (sleepcount % 10 == 0) {
printf(".");
fflush(stdout);
}
}
printf("\n");
warnx("ARMING TEST: NORMAL OPERATION");
for (int j = -jmax; j <= jmax; j++) {
for (int i = 0; i < output_max; i++) {
actuator_controls[i] = j/10.0f + 0.1f * i;
r_page_servo_disarmed[i] = PWM_LOWEST_MIN;
r_page_servo_control_min[i] = PWM_DEFAULT_MIN;
r_page_servo_control_max[i] = PWM_DEFAULT_MAX;
}
/* mix */
mixed = mixer_group.mix(&outputs[0], output_max);
pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
warnx("mixed %d outputs (max %d)", mixed, output_max);
for (int i = 0; i < mixed; i++)
{
servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f;
if (fabsf(servo_predicted[i] - r_page_servos[i]) > 2) {
printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, outputs[i], servo_predicted[i], (int)r_page_servos[i]);
warnx("mixer violated predicted value");
return 1;
}
}
}
warnx("ARMING TEST: DISARMING");
starttime = hrt_absolute_time();
sleepcount = 0;
should_arm = false;
while (hrt_elapsed_time(&starttime) < 600000) {
/* mix */
mixed = mixer_group.mix(&outputs[0], output_max);
pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
for (int i = 0; i < mixed; i++)
{
/* check mixed outputs to be zero during init phase */
if (r_page_servos[i] != r_page_servo_disarmed[i]) {
warnx("disarmed servo value mismatch");
return 1;
}
//printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, outputs_unlimited[i], outputs[i], (int)r_page_servos[i]);
}
usleep(sleep_quantum_us);
sleepcount++;
if (sleepcount % 10 == 0) {
printf(".");
fflush(stdout);
}
}
printf("\n");
warnx("ARMING TEST: REARMING: STARTING RAMP");
starttime = hrt_absolute_time();
sleepcount = 0;
should_arm = true;
while (hrt_elapsed_time(&starttime) < 600000 + RAMP_TIME_US) {
/* mix */
mixed = mixer_group.mix(&outputs[0], output_max);
pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
for (int i = 0; i < mixed; i++)
{
/* predict value */
servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f;
/* check ramp */
if (hrt_elapsed_time(&starttime) < RAMP_TIME_US &&
(r_page_servos[i] + 1 <= r_page_servo_disarmed[i] ||
r_page_servos[i] > servo_predicted[i])) {
warnx("ramp servo value mismatch");
return 1;
}
/* check post ramp phase */
if (hrt_elapsed_time(&starttime) > RAMP_TIME_US &&
fabsf(servo_predicted[i] - r_page_servos[i]) > 2) {
printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, outputs[i], servo_predicted[i], (int)r_page_servos[i]);
warnx("mixer violated predicted value");
return 1;
}
//printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, outputs_unlimited[i], outputs[i], (int)r_page_servos[i]);
}
usleep(sleep_quantum_us);
sleepcount++;
if (sleepcount % 10 == 0) {
printf(".");
fflush(stdout);
}
}
printf("\n");
/* load multirotor at once test */
mixer_group.reset();
if (argc > 2)
filename = argv[2];
else
filename = "/etc/mixers/FMU_quad_w.mix";
load_mixer_file(filename, &buf[0], sizeof(buf));
loaded = strlen(buf);
warnx("loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded);
unsigned mc_loaded = loaded;
mixer_group.load_from_buf(&buf[0], mc_loaded);
warnx("complete buffer load: loaded %u mixers", mixer_group.count());
if (mixer_group.count() != 5) {
warnx("FAIL: Quad W mixer load failed");
return 1;
}
warnx("SUCCESS: No errors in mixer test");
}
int
user_start(int argc, char *argv[])
{
/* run C++ ctors before we go any further */
up_cxxinitialize();
/* reset all to zero */
memset(&system_state, 0, sizeof(system_state));
/* configure the high-resolution time/callout interface */
hrt_init();
/* calculate our fw CRC so FMU can decide if we need to update */
calculate_fw_crc();
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
#ifdef CONFIG_ARCH_DMA
hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
#endif
/* print some startup info */
lowsyslog("\nPX4IO: starting\n");
/* default all the LEDs to off while we start */
LED_AMBER(false);
LED_BLUE(false);
LED_SAFETY(false);
#ifdef GPIO_LED4
LED_RING(false);
#endif
/* turn on servo power (if supported) */
#ifdef POWER_SERVO
POWER_SERVO(true);
#endif
/* turn off S.Bus out (if supported) */
#ifdef ENABLE_SBUS_OUT
ENABLE_SBUS_OUT(false);
#endif
/* start the safety switch handler */
safety_init();
/* configure the first 8 PWM outputs (i.e. all of them) */
up_pwm_servo_init(0xff);
/* initialise the control inputs */
controls_init();
/* set up the ADC */
adc_init();
/* start the FMU interface */
interface_init();
/* add a performance counter for mixing */
perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix");
/* add a performance counter for controls */
perf_counter_t controls_perf = perf_alloc(PC_ELAPSED, "controls");
/* and one for measuring the loop rate */
perf_counter_t loop_perf = perf_alloc(PC_INTERVAL, "loop");
struct mallinfo minfo = mallinfo();
lowsyslog("MEM: free %u, largest %u\n", minfo.mxordblk, minfo.fordblks);
/* initialize PWM limit lib */
pwm_limit_init(&pwm_limit);
/*
* P O L I C E L I G H T S
*
* Not enough memory, lock down.
*
* We might need to allocate mixers later, and this will
* ensure that a developer doing a change will notice
* that he just burned the remaining RAM with static
* allocations. We don't want him to be able to
* get past that point. This needs to be clearly
* documented in the dev guide.
*
*/
if (minfo.mxordblk < 600) {
lowsyslog("ERR: not enough MEM");
bool phase = false;
while (true) {
if (phase) {
LED_AMBER(true);
LED_BLUE(false);
} else {
LED_AMBER(false);
LED_BLUE(true);
}
up_udelay(250000);
phase = !phase;
}
}
/* Start the failsafe led init */
failsafe_led_init();
/*
* Run everything in a tight loop.
*/
uint64_t last_debug_time = 0;
uint64_t last_heartbeat_time = 0;
for (;;) {
/* track the rate at which the loop is running */
perf_count(loop_perf);
/* kick the mixer */
perf_begin(mixer_perf);
mixer_tick();
perf_end(mixer_perf);
/* kick the control inputs */
perf_begin(controls_perf);
controls_tick();
perf_end(controls_perf);
if ((hrt_absolute_time() - last_heartbeat_time) > 250 * 1000) {
last_heartbeat_time = hrt_absolute_time();
heartbeat_blink();
}
ring_blink();
check_reboot();
/* check for debug activity (default: none) */
show_debug_messages();
/* post debug state at ~1Hz - this is via an auxiliary serial port
* DEFAULTS TO OFF!
*/
if (hrt_absolute_time() - last_debug_time > (1000 * 1000)) {
isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x m=%u",
(unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG],
(unsigned)r_status_flags,
(unsigned)r_setup_arming,
(unsigned)r_setup_features,
(unsigned)mallinfo().mxordblk);
last_debug_time = hrt_absolute_time();
}
}
}
/**
* Main loop function
*/
void
PCA9685::i2cpwm()
{
if (_mode == IOX_MODE_TEST_OUT) {
setPin(0, PCA9685_PWMCENTER);
_should_run = true;
} else if (_mode == IOX_MODE_OFF) {
_should_run = false;
} else {
if (!_mode_on_initialized) {
// Init PWM limits
pwm_limit_init(&_pwm_limit);
// Get arming state
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
/* Subscribe to actuator groups */
subscribe();
/* set the uorb update interval lower than the driver pwm interval */
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; ++i) {
orb_set_interval(_control_subs[i], 1000.0f / PCA9685_PWMFREQ - 5);
}
_mode_on_initialized = true;
}
/* check if anything updated */
int ret = ::poll(_poll_fds, _poll_fds_num, 0);
if (ret < 0) {
DEVICE_LOG("poll error %d", errno);
} else if (ret == 0) {
// warnx("no PWM: failsafe");
} else {
/* get controls for required topics */
unsigned poll_id = 0;
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
if (_poll_fds[poll_id].revents & POLLIN) {
orb_copy(_control_topics[i], _control_subs[i], &_controls[i]);
}
}
poll_id++;
}
if (_mixers != nullptr) {
size_t num_outputs = actuator_outputs_s::NUM_ACTUATOR_OUTPUTS;
// do mixing
num_outputs = _mixers->mix(_outputs, num_outputs, NULL);
// disable unused ports by setting their output to NaN
for (size_t i = 0; i < sizeof(_outputs) / sizeof(_outputs[0]); i++) {
if (i >= num_outputs) {
_outputs[i] = NAN_VALUE;
}
}
// Finally, write servo values to motors
for (int i = 0; i < num_outputs; i++) {
uint16_t new_value = PCA9685_PWMCENTER +
(_outputs[i] * M_PI_F * PCA9685_SCALE);
// DEVICE_DEBUG("%d: current: %u, new %u, control %.2f", i, _current_values[i], new_value,
// (double)_controls[1].control[i]);
if (isfinite(new_value) &&
new_value >= PCA9685_PWMMIN &&
new_value <= PCA9685_PWMMAX) {
setPin(i, new_value);
_rates[i] = new_value;
}
}
}
}
bool updated;
// Update Arming state
orb_check(_armed_sub, &updated);
if (updated) {
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
bool set_armed = (_armed.armed || _armed.prearmed) && !_armed.lockdown;
if (_servo_armed != set_armed) {
_servo_armed = set_armed;
}
}
// Update AUX controls update
// orb_check(_actuator_controls_sub, &updated);
// if (updated) {
// size_t num_outputs = actuator_outputs_s::NUM_ACTUATOR_OUTPUTS;
//
// // Get updated actuator
// // Only update actuator 1 for now
// orb_copy(ORB_ID(actuator_controls_1), _actuator_controls_sub, &_controls[1]);
//
//
// }
_should_run = true;
}
// check if any activity remains, else stop
if (!_should_run) {
_running = false;
return;
}
// re-queue ourselves to run again later
_running = true;
work_queue(LPWORK, &_work, (worker_t)&PCA9685::i2cpwm_trampoline, this, _i2cpwm_interval);
}
void
PX4FMU::task_main()
{
/* force a reset of the update rate */
_current_update_rate = 0;
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
_param_sub = orb_subscribe(ORB_ID(parameter_update));
/* advertise the mixed control outputs */
actuator_outputs_s outputs;
memset(&outputs, 0, sizeof(outputs));
#ifdef HRT_PPM_CHANNEL
// rc input, published to ORB
struct rc_input_values rc_in;
orb_advert_t to_input_rc = 0;
memset(&rc_in, 0, sizeof(rc_in));
rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM;
#endif
/* initialize PWM limit lib */
pwm_limit_init(&_pwm_limit);
update_pwm_rev_mask();
/* loop until killed */
while (!_task_should_exit) {
if (_groups_subscribed != _groups_required) {
subscribe();
_groups_subscribed = _groups_required;
/* force setting update rate */
_current_update_rate = 0;
}
/*
* Adjust actuator topic update rate to keep up with
* the highest servo update rate configured.
*
* We always mix at max rate; some channels may update slower.
*/
unsigned max_rate = (_pwm_default_rate > _pwm_alt_rate) ? _pwm_default_rate : _pwm_alt_rate;
if (_current_update_rate != max_rate) {
_current_update_rate = max_rate;
int update_rate_in_ms = int(1000 / _current_update_rate);
/* reject faster than 500 Hz updates */
if (update_rate_in_ms < 2) {
update_rate_in_ms = 2;
}
/* reject slower than 10 Hz updates */
if (update_rate_in_ms > 100) {
update_rate_in_ms = 100;
}
debug("adjusted actuator update interval to %ums", update_rate_in_ms);
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
orb_set_interval(_control_subs[i], update_rate_in_ms);
}
}
// set to current max rate, even if we are actually checking slower/faster
_current_update_rate = max_rate;
}
/* sleep waiting for data, stopping to check for PPM
* input at 50Hz */
int ret = ::poll(_poll_fds, _poll_fds_num, CONTROL_INPUT_DROP_LIMIT_MS);
/* this would be bad... */
if (ret < 0) {
log("poll error %d", errno);
continue;
} else if (ret == 0) {
/* timeout: no control data, switch to failsafe values */
// warnx("no PWM: failsafe");
} else {
/* get controls for required topics */
unsigned poll_id = 0;
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
if (_poll_fds[poll_id].revents & POLLIN) {
orb_copy(_control_topics[i], _control_subs[i], &_controls[i]);
}
poll_id++;
}
}
/* can we mix? */
if (_mixers != nullptr) {
unsigned num_outputs;
switch (_mode) {
case MODE_2PWM:
num_outputs = 2;
break;
case MODE_4PWM:
num_outputs = 4;
break;
case MODE_6PWM:
num_outputs = 6;
break;
case MODE_8PWM:
num_outputs = 8;
break;
default:
num_outputs = 0;
break;
}
/* do mixing */
outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs, NULL);
outputs.timestamp = hrt_absolute_time();
/* iterate actuators */
for (unsigned i = 0; i < num_outputs; i++) {
/* last resort: catch NaN and INF */
if ((i >= outputs.noutputs) ||
!isfinite(outputs.output[i])) {
/*
* Value is NaN, INF or out of band - set to the minimum value.
* This will be clearly visible on the servo status and will limit the risk of accidentally
* spinning motors. It would be deadly in flight.
*/
outputs.output[i] = -1.0f;
}
}
uint16_t pwm_limited[num_outputs];
/* the PWM limit call takes care of out of band errors and constrains */
pwm_limit_calc(_servo_armed, num_outputs, _reverse_pwm_mask, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
/* output to the servos */
for (unsigned i = 0; i < num_outputs; i++) {
up_pwm_servo_set(i, pwm_limited[i]);
}
/* publish mixed control outputs */
if (_outputs_pub != nullptr) {
_outputs_pub = orb_advertise_multi(ORB_ID(actuator_outputs), &outputs, &_actuator_output_topic_instance, ORB_PRIO_DEFAULT);
} else {
orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &outputs);
}
}
}
/* check arming state */
bool updated = false;
orb_check(_armed_sub, &updated);
if (updated) {
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
/* update the armed status and check that we're not locked down */
bool set_armed = _armed.armed && !_armed.lockdown;
if (_servo_armed != set_armed)
_servo_armed = set_armed;
/* update PWM status if armed or if disarmed PWM values are set */
bool pwm_on = (_armed.armed || _num_disarmed_set > 0);
if (_pwm_on != pwm_on) {
_pwm_on = pwm_on;
up_pwm_servo_arm(pwm_on);
}
}
orb_check(_param_sub, &updated);
if (updated) {
parameter_update_s pupdate;
orb_copy(ORB_ID(parameter_update), _param_sub, &pupdate);
update_pwm_rev_mask();
}
#ifdef HRT_PPM_CHANNEL
// see if we have new PPM input data
if (ppm_last_valid_decode != rc_in.timestamp_last_signal) {
// we have a new PPM frame. Publish it.
rc_in.channel_count = ppm_decoded_channels;
if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) {
rc_in.channel_count = RC_INPUT_MAX_CHANNELS;
}
for (uint8_t i = 0; i < rc_in.channel_count; i++) {
rc_in.values[i] = ppm_buffer[i];
}
rc_in.timestamp_publication = ppm_last_valid_decode;
rc_in.timestamp_last_signal = ppm_last_valid_decode;
rc_in.rc_ppm_frame_length = ppm_frame_length;
rc_in.rssi = RC_INPUT_RSSI_MAX;
rc_in.rc_failsafe = false;
rc_in.rc_lost = false;
rc_in.rc_lost_frame_count = 0;
rc_in.rc_total_frame_count = 0;
/* lazily advertise on first publication */
if (to_input_rc == 0) {
to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_in);
} else {
orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in);
}
}
#endif
}
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
::close(_control_subs[i]);
_control_subs[i] = -1;
}
}
::close(_armed_sub);
::close(_param_sub);
/* make sure servos are off */
up_pwm_servo_deinit();
log("stopping");
/* note - someone else is responsible for restoring the GPIO config */
/* tell the dtor that we are exiting */
_task = -1;
_exit(0);
}
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 /* not used */, NULL);
/* 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;
// TODO FIXME: these should probably be params
const uint16_t disarmed_pwm[4] = {900, 900, 900, 900};
const uint16_t min_pwm[4] = {1230, 1230, 1230, 1230};
const uint16_t max_pwm[4] = {1900, 1900, 1900, 1900};
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;
}
int
user_start(int argc, char *argv[])
{
/* configure the first 8 PWM outputs (i.e. all of them) */
up_pwm_servo_init(0xff);
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
/* run C++ ctors before we go any further */
up_cxxinitialize();
# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
# endif
#else
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
#endif
/* reset all to zero */
memset(&system_state, 0, sizeof(system_state));
/* configure the high-resolution time/callout interface */
hrt_init();
/* calculate our fw CRC so FMU can decide if we need to update */
calculate_fw_crc();
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
#ifdef CONFIG_ARCH_DMA
hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
#endif
/* print some startup info */
syslog(LOG_INFO, "\nPX4IO: starting\n");
/* default all the LEDs to off while we start */
LED_AMBER(false);
LED_BLUE(false);
LED_SAFETY(false);
#ifdef GPIO_LED4
LED_RING(false);
#endif
/* turn on servo power (if supported) */
#ifdef POWER_SERVO
POWER_SERVO(true);
#endif
/* turn off S.Bus out (if supported) */
#ifdef ENABLE_SBUS_OUT
ENABLE_SBUS_OUT(false);
#endif
/* start the safety switch handler */
safety_init();
/* initialise the control inputs */
controls_init();
/* set up the ADC */
adc_init();
/* start the FMU interface */
interface_init();
/* add a performance counter for mixing */
perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix");
/* add a performance counter for controls */
perf_counter_t controls_perf = perf_alloc(PC_ELAPSED, "controls");
/* and one for measuring the loop rate */
perf_counter_t loop_perf = perf_alloc(PC_INTERVAL, "loop");
struct mallinfo minfo = mallinfo();
r_page_status[PX4IO_P_STATUS_FREEMEM] = minfo.mxordblk;
syslog(LOG_INFO, "MEM: free %u, largest %u\n", minfo.mxordblk, minfo.fordblks);
/* initialize PWM limit lib */
pwm_limit_init(&pwm_limit);
/*
* P O L I C E L I G H T S
*
* Not enough memory, lock down.
*
* We might need to allocate mixers later, and this will
* ensure that a developer doing a change will notice
* that he just burned the remaining RAM with static
* allocations. We don't want him to be able to
* get past that point. This needs to be clearly
* documented in the dev guide.
*
*/
if (minfo.mxordblk < 600) {
syslog(LOG_ERR, "ERR: not enough MEM");
bool phase = false;
while (true) {
if (phase) {
LED_AMBER(true);
LED_BLUE(false);
} else {
LED_AMBER(false);
LED_BLUE(true);
}
up_udelay(250000);
phase = !phase;
}
}
/* Start the failsafe led init */
failsafe_led_init();
/*
* Run everything in a tight loop.
*/
uint64_t last_debug_time = 0;
uint64_t last_heartbeat_time = 0;
uint64_t last_loop_time = 0;
for (;;) {
dt = (hrt_absolute_time() - last_loop_time) / 1000000.0f;
last_loop_time = hrt_absolute_time();
if (dt < 0.0001f) {
dt = 0.0001f;
} else if (dt > 0.02f) {
dt = 0.02f;
}
/* track the rate at which the loop is running */
perf_count(loop_perf);
/* kick the mixer */
perf_begin(mixer_perf);
mixer_tick();
perf_end(mixer_perf);
/* kick the control inputs */
perf_begin(controls_perf);
controls_tick();
perf_end(controls_perf);
/* some boards such as Pixhawk 2.1 made
the unfortunate choice to combine the blue led channel with
the IMU heater. We need a software hack to fix the hardware hack
by allowing to disable the LED / heater.
*/
if (r_page_setup[PX4IO_P_SETUP_THERMAL] == PX4IO_THERMAL_IGNORE) {
/*
blink blue LED at 4Hz in normal operation. When in
override blink 4x faster so the user can clearly see
that override is happening. This helps when
pre-flight testing the override system
*/
uint32_t heartbeat_period_us = 250 * 1000UL;
if (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) {
heartbeat_period_us /= 4;
}
if ((hrt_absolute_time() - last_heartbeat_time) > heartbeat_period_us) {
last_heartbeat_time = hrt_absolute_time();
heartbeat_blink();
}
} else if (r_page_setup[PX4IO_P_SETUP_THERMAL] < PX4IO_THERMAL_FULL) {
/* switch resistive heater off */
LED_BLUE(false);
} else {
/* switch resistive heater hard on */
LED_BLUE(true);
}
update_mem_usage();
ring_blink();
check_reboot();
/* check for debug activity (default: none) */
show_debug_messages();
/* post debug state at ~1Hz - this is via an auxiliary serial port
* DEFAULTS TO OFF!
*/
if (hrt_absolute_time() - last_debug_time > (1000 * 1000)) {
isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x m=%u",
(unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG],
(unsigned)r_status_flags,
(unsigned)r_setup_arming,
(unsigned)r_setup_features,
(unsigned)mallinfo().mxordblk);
last_debug_time = hrt_absolute_time();
}
}
}
bool MixerTest::mixerTest()
{
/*
* PWM limit structure
*/
pwm_limit_t pwm_limit;
bool should_arm = false;
uint16_t r_page_servo_disarmed[output_max];
uint16_t r_page_servo_control_min[output_max];
uint16_t r_page_servo_control_max[output_max];
uint16_t r_page_servos[output_max];
uint16_t servo_predicted[output_max];
int16_t reverse_pwm_mask = 0;
bool load_ok = load_mixer(MIXER_PATH(IO_pass.mix), 8);
if (!load_ok) {
return load_ok;
}
/* execute the mixer */
float outputs[output_max];
unsigned mixed;
const int jmax = 5;
pwm_limit_init(&pwm_limit);
/* run through arming phase */
for (unsigned i = 0; i < output_max; i++) {
actuator_controls[i] = 0.1f;
r_page_servo_disarmed[i] = PWM_MOTOR_OFF;
r_page_servo_control_min[i] = PWM_DEFAULT_MIN;
r_page_servo_control_max[i] = PWM_DEFAULT_MAX;
}
//PX4_INFO("PRE-ARM TEST: DISABLING SAFETY");
/* mix */
should_prearm = true;
mixed = mixer_group.mix(&outputs[0], output_max, nullptr);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
for (unsigned i = 0; i < mixed; i++) {
//fprintf(stderr, "pre-arm:\t %d: out: %8.4f, servo: %d \n", i, (double)outputs[i], (int)r_page_servos[i]);
if (i != actuator_controls_s::INDEX_THROTTLE) {
if (r_page_servos[i] < r_page_servo_control_min[i]) {
warnx("active servo < min");
return false;
}
} else {
if (r_page_servos[i] != r_page_servo_disarmed[i]) {
warnx("throttle output != 0 (this check assumed the IO pass mixer!)");
return false;
}
}
}
should_arm = true;
should_prearm = false;
/* simulate another orb_copy() from actuator controls */
for (unsigned i = 0; i < output_max; i++) {
actuator_controls[i] = 0.1f;
}
//PX4_INFO("ARMING TEST: STARTING RAMP");
unsigned sleep_quantum_us = 10000;
hrt_abstime starttime = hrt_absolute_time();
unsigned sleepcount = 0;
while (hrt_elapsed_time(&starttime) < INIT_TIME_US + RAMP_TIME_US + 2 * sleep_quantum_us) {
/* mix */
mixed = mixer_group.mix(&outputs[0], output_max, nullptr);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
for (unsigned i = 0; i < mixed; i++) {
//fprintf(stderr, "ramp:\t %d: out: %8.4f, servo: %d \n", i, (double)outputs[i], (int)r_page_servos[i]);
/* check mixed outputs to be zero during init phase */
if (hrt_elapsed_time(&starttime) < INIT_TIME_US &&
r_page_servos[i] != r_page_servo_disarmed[i]) {
PX4_ERR("disarmed servo value mismatch: %d vs %d", r_page_servos[i], r_page_servo_disarmed[i]);
return false;
}
if (hrt_elapsed_time(&starttime) >= INIT_TIME_US &&
r_page_servos[i] + 1 <= r_page_servo_disarmed[i]) {
PX4_ERR("ramp servo value mismatch");
return false;
}
}
usleep(sleep_quantum_us);
sleepcount++;
if (sleepcount % 10 == 0) {
fflush(stdout);
}
}
//PX4_INFO("ARMING TEST: NORMAL OPERATION");
for (int j = -jmax; j <= jmax; j++) {
for (unsigned i = 0; i < output_max; i++) {
actuator_controls[i] = j / 10.0f + 0.1f * i;
r_page_servo_disarmed[i] = PWM_LOWEST_MIN;
r_page_servo_control_min[i] = PWM_DEFAULT_MIN;
r_page_servo_control_max[i] = PWM_DEFAULT_MAX;
}
/* mix */
mixed = mixer_group.mix(&outputs[0], output_max, nullptr);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
//fprintf(stderr, "mixed %d outputs (max %d)", mixed, output_max);
for (unsigned i = 0; i < mixed; i++) {
servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f;
if (abs(servo_predicted[i] - r_page_servos[i]) > MIXER_DIFFERENCE_THRESHOLD) {
fprintf(stderr, "\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i],
(int)r_page_servos[i]);
PX4_ERR("mixer violated predicted value");
return false;
}
}
}
//PX4_INFO("ARMING TEST: DISARMING");
starttime = hrt_absolute_time();
sleepcount = 0;
should_arm = false;
while (hrt_elapsed_time(&starttime) < 600000) {
/* mix */
mixed = mixer_group.mix(&outputs[0], output_max, nullptr);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
for (unsigned i = 0; i < mixed; i++) {
//fprintf(stderr, "disarmed:\t %d: out: %8.4f, servo: %d \n", i, (double)outputs[i], (int)r_page_servos[i]);
/* check mixed outputs to be zero during init phase */
if (r_page_servos[i] != r_page_servo_disarmed[i]) {
PX4_ERR("disarmed servo value mismatch");
return false;
}
}
usleep(sleep_quantum_us);
sleepcount++;
if (sleepcount % 10 == 0) {
//printf(".");
//fflush(stdout);
}
}
//printf("\n");
//PX4_INFO("ARMING TEST: REARMING: STARTING RAMP");
starttime = hrt_absolute_time();
sleepcount = 0;
should_arm = true;
while (hrt_elapsed_time(&starttime) < 600000 + RAMP_TIME_US) {
/* mix */
mixed = mixer_group.mix(&outputs[0], output_max, nullptr);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
for (unsigned i = 0; i < mixed; i++) {
/* predict value */
servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f;
/* check ramp */
//fprintf(stderr, "ramp:\t %d: out: %8.4f, servo: %d \n", i, (double)outputs[i], (int)r_page_servos[i]);
if (hrt_elapsed_time(&starttime) < RAMP_TIME_US &&
(r_page_servos[i] + 1 <= r_page_servo_disarmed[i] ||
r_page_servos[i] > servo_predicted[i])) {
PX4_ERR("ramp servo value mismatch");
return false;
}
/* check post ramp phase */
if (hrt_elapsed_time(&starttime) > RAMP_TIME_US &&
abs(servo_predicted[i] - r_page_servos[i]) > 2) {
printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]);
PX4_ERR("mixer violated predicted value");
return false;
}
}
usleep(sleep_quantum_us);
sleepcount++;
if (sleepcount % 10 == 0) {
// printf(".");
// fflush(stdout);
}
}
return true;
}
int test_mixer(int argc, char *argv[])
{
/*
* PWM limit structure
*/
pwm_limit_t pwm_limit;
bool should_arm = false;
uint16_t r_page_servo_disarmed[output_max];
uint16_t r_page_servo_control_min[output_max];
uint16_t r_page_servo_control_max[output_max];
uint16_t r_page_servos[output_max];
uint16_t servo_predicted[output_max];
int16_t reverse_pwm_mask = 0;
//PX4_INFO("testing mixer");
#if !defined(CONFIG_ARCH_BOARD_SITL)
const char *filename = "/etc/mixers/IO_pass.mix";
#else
const char *filename = "ROMFS/px4fmu_test/mixers/IO_pass.mix";
#endif
//PX4_INFO("loading: %s", filename);
char buf[2048];
load_mixer_file(filename, &buf[0], sizeof(buf));
unsigned loaded = strlen(buf);
//fprintf(stderr, "loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded);
/* load the mixer in chunks, like
* in the case of a remote load,
* e.g. on PX4IO.
*/
const unsigned chunk_size = 64;
MixerGroup mixer_group(mixer_callback, 0);
/* load at once test */
unsigned xx = loaded;
mixer_group.load_from_buf(&buf[0], xx);
//ASSERT_EQ(mixer_group.count(), 8);
unsigned empty_load = 2;
char empty_buf[2];
empty_buf[0] = ' ';
empty_buf[1] = '\0';
mixer_group.reset();
mixer_group.load_from_buf(&empty_buf[0], empty_load);
//PX4_INFO("empty buffer load: loaded %u mixers, used: %u", mixer_group.count(), empty_load);
//ASSERT_NE(empty_load, 0);
if (empty_load != 0) {
return 1;
}
/* FIRST mark the mixer as invalid */
/* THEN actually delete it */
mixer_group.reset();
char mixer_text[256]; /* large enough for one mixer */
unsigned mixer_text_length = 0;
unsigned transmitted = 0;
//PX4_INFO("transmitted: %d, loaded: %d", transmitted, loaded);
while (transmitted < loaded) {
unsigned text_length = (loaded - transmitted > chunk_size) ? chunk_size : loaded - transmitted;
/* check for overflow - this would be really fatal */
if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
return 1;
}
/* append mixer text and nul-terminate */
memcpy(&mixer_text[mixer_text_length], &buf[transmitted], text_length);
mixer_text_length += text_length;
mixer_text[mixer_text_length] = '\0';
//fprintf(stderr, "buflen %u, text:\n\"%s\"", mixer_text_length, &mixer_text[0]);
/* process the text buffer, adding new mixers as their descriptions can be parsed */
unsigned resid = mixer_text_length;
mixer_group.load_from_buf(&mixer_text[0], resid);
/* if anything was parsed */
if (resid != mixer_text_length) {
//fprintf(stderr, "used %u", mixer_text_length - resid);
/* copy any leftover text to the base of the buffer for re-use */
if (resid > 0) {
memcpy(&mixer_text[0], &mixer_text[mixer_text_length - resid], resid);
}
mixer_text_length = resid;
}
transmitted += text_length;
}
//PX4_INFO("chunked load: loaded %u mixers", mixer_group.count());
if (mixer_group.count() != 8) {
return 1;
}
/* execute the mixer */
float outputs[output_max];
unsigned mixed;
const int jmax = 5;
pwm_limit_init(&pwm_limit);
/* run through arming phase */
for (unsigned i = 0; i < output_max; i++) {
actuator_controls[i] = 0.1f;
r_page_servo_disarmed[i] = PWM_MOTOR_OFF;
r_page_servo_control_min[i] = PWM_DEFAULT_MIN;
r_page_servo_control_max[i] = PWM_DEFAULT_MAX;
}
//PX4_INFO("PRE-ARM TEST: DISABLING SAFETY");
/* mix */
should_prearm = true;
mixed = mixer_group.mix(&outputs[0], output_max, NULL);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
for (unsigned i = 0; i < mixed; i++) {
//fprintf(stderr, "pre-arm:\t %d: out: %8.4f, servo: %d \n", i, (double)outputs[i], (int)r_page_servos[i]);
if (i != actuator_controls_s::INDEX_THROTTLE) {
if (r_page_servos[i] < r_page_servo_control_min[i]) {
warnx("active servo < min");
return 1;
}
} else {
if (r_page_servos[i] != r_page_servo_disarmed[i]) {
warnx("throttle output != 0 (this check assumed the IO pass mixer!)");
return 1;
}
}
}
should_arm = true;
should_prearm = false;
/* simulate another orb_copy() from actuator controls */
for (unsigned i = 0; i < output_max; i++) {
actuator_controls[i] = 0.1f;
}
//PX4_INFO("ARMING TEST: STARTING RAMP");
unsigned sleep_quantum_us = 10000;
hrt_abstime starttime = hrt_absolute_time();
unsigned sleepcount = 0;
while (hrt_elapsed_time(&starttime) < INIT_TIME_US + RAMP_TIME_US + 2 * sleep_quantum_us) {
/* mix */
mixed = mixer_group.mix(&outputs[0], output_max, NULL);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
for (unsigned i = 0; i < mixed; i++) {
//fprintf(stderr, "ramp:\t %d: out: %8.4f, servo: %d \n", i, (double)outputs[i], (int)r_page_servos[i]);
/* check mixed outputs to be zero during init phase */
if (hrt_elapsed_time(&starttime) < INIT_TIME_US &&
r_page_servos[i] != r_page_servo_disarmed[i]) {
PX4_ERR("disarmed servo value mismatch: %d vs %d", r_page_servos[i], r_page_servo_disarmed[i]);
return 1;
}
if (hrt_elapsed_time(&starttime) >= INIT_TIME_US &&
r_page_servos[i] + 1 <= r_page_servo_disarmed[i]) {
PX4_ERR("ramp servo value mismatch");
return 1;
}
}
usleep(sleep_quantum_us);
sleepcount++;
if (sleepcount % 10 == 0) {
fflush(stdout);
}
}
//PX4_INFO("ARMING TEST: NORMAL OPERATION");
for (int j = -jmax; j <= jmax; j++) {
for (unsigned i = 0; i < output_max; i++) {
actuator_controls[i] = j / 10.0f + 0.1f * i;
r_page_servo_disarmed[i] = PWM_LOWEST_MIN;
r_page_servo_control_min[i] = PWM_DEFAULT_MIN;
r_page_servo_control_max[i] = PWM_DEFAULT_MAX;
}
/* mix */
mixed = mixer_group.mix(&outputs[0], output_max, NULL);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
//fprintf(stderr, "mixed %d outputs (max %d)", mixed, output_max);
for (unsigned i = 0; i < mixed; i++) {
servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f;
if (abs(servo_predicted[i] - r_page_servos[i]) > MIXER_DIFFERENCE_THRESHOLD) {
fprintf(stderr, "\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i],
(int)r_page_servos[i]);
PX4_ERR("mixer violated predicted value");
return 1;
}
}
}
//PX4_INFO("ARMING TEST: DISARMING");
starttime = hrt_absolute_time();
sleepcount = 0;
should_arm = false;
while (hrt_elapsed_time(&starttime) < 600000) {
/* mix */
mixed = mixer_group.mix(&outputs[0], output_max, NULL);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
for (unsigned i = 0; i < mixed; i++) {
//fprintf(stderr, "disarmed:\t %d: out: %8.4f, servo: %d \n", i, (double)outputs[i], (int)r_page_servos[i]);
/* check mixed outputs to be zero during init phase */
if (r_page_servos[i] != r_page_servo_disarmed[i]) {
PX4_ERR("disarmed servo value mismatch");
return 1;
}
}
usleep(sleep_quantum_us);
sleepcount++;
if (sleepcount % 10 == 0) {
//printf(".");
//fflush(stdout);
}
}
//printf("\n");
//PX4_INFO("ARMING TEST: REARMING: STARTING RAMP");
starttime = hrt_absolute_time();
sleepcount = 0;
should_arm = true;
while (hrt_elapsed_time(&starttime) < 600000 + RAMP_TIME_US) {
/* mix */
mixed = mixer_group.mix(&outputs[0], output_max, NULL);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
for (unsigned i = 0; i < mixed; i++) {
/* predict value */
servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f;
/* check ramp */
//fprintf(stderr, "ramp:\t %d: out: %8.4f, servo: %d \n", i, (double)outputs[i], (int)r_page_servos[i]);
if (hrt_elapsed_time(&starttime) < RAMP_TIME_US &&
(r_page_servos[i] + 1 <= r_page_servo_disarmed[i] ||
r_page_servos[i] > servo_predicted[i])) {
PX4_ERR("ramp servo value mismatch");
return 1;
}
/* check post ramp phase */
if (hrt_elapsed_time(&starttime) > RAMP_TIME_US &&
abs(servo_predicted[i] - r_page_servos[i]) > 2) {
printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]);
PX4_ERR("mixer violated predicted value");
return 1;
}
}
usleep(sleep_quantum_us);
sleepcount++;
if (sleepcount % 10 == 0) {
// printf(".");
// fflush(stdout);
}
}
//printf("\n");
/* load multirotor at once test */
mixer_group.reset();
#if !defined(CONFIG_ARCH_BOARD_SITL)
filename = "/etc/mixers/quad_test.mix";
#else
filename = "ROMFS/px4fmu_test/mixers/quad_test.mix";
#endif
load_mixer_file(filename, &buf[0], sizeof(buf));
loaded = strlen(buf);
//fprintf(stderr, "loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded);
unsigned mc_loaded = loaded;
mixer_group.load_from_buf(&buf[0], mc_loaded);
//PX4_INFO("complete buffer load: loaded %u mixers", mixer_group.count());
if (mixer_group.count() != 5) {
PX4_ERR("FAIL: Quad test mixer load failed");
return 1;
}
//PX4_INFO("SUCCESS: No errors in mixer test");
return 0;
}
void
PX4FMU::cycle()
{
if (!_initialized) {
/* force a reset of the update rate */
_current_update_rate = 0;
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
//_param_sub = orb_subscribe(ORB_ID(parameter_update));
/* initialize PWM limit lib */
pwm_limit_init(&_pwm_limit);
update_pwm_rev_mask();
#ifdef RC_SERIAL_PORT
_sbus_fd = sbus_init(RC_SERIAL_PORT, true);
#endif
_initialized = true;
}
if (_groups_subscribed != _groups_required) {
subscribe();
_groups_subscribed = _groups_required;
/* force setting update rate */
_current_update_rate = 0;
}
/*
* Adjust actuator topic update rate to keep up with
* the highest servo update rate configured.
*
* We always mix at max rate; some channels may update slower.
*/
unsigned max_rate = (_pwm_default_rate > _pwm_alt_rate) ? _pwm_default_rate : _pwm_alt_rate;
if (_current_update_rate != max_rate) {
_current_update_rate = max_rate;
int update_rate_in_ms = int(1000 / _current_update_rate);
/* reject faster than 500 Hz updates */
if (update_rate_in_ms < 2) {
update_rate_in_ms = 2;
}
/* reject slower than 10 Hz updates */
if (update_rate_in_ms > 100) {
update_rate_in_ms = 100;
}
//DEVICE_DEBUG("adjusted actuator update interval to %ums\n", update_rate_in_ms);
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
orb_set_interval(_control_subs[i], update_rate_in_ms);
}
}
// set to current max rate, even if we are actually checking slower/faster
_current_update_rate = max_rate;
}
/* check if anything updated */
//从mkblctrl-blctrl电子模块驱动拿数据，貌似没用到，而且poll里面也在等待定时器导致定时器卡死
int ret = 0;//::poll(_poll_fds, _poll_fds_num, 0);
/* this would be bad... */
if (ret < 0) {
DEVICE_LOG("poll error %d\n", ret);
} else if (ret == 0) {
/* timeout: no control data, switch to failsafe values */
// warnx("no PWM: failsafe\n");
} else {
/* get controls for required topics */
unsigned poll_id = 0;
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
if (_poll_fds[poll_id].revents & POLLIN) {
orb_copy(_control_topics[i], _control_subs[i], &_controls[i]);
}
poll_id++;
}
}
/* can we mix? */
if (_mixers != NULL) {
size_t num_outputs;
switch (_mode) {
case MODE_2PWM:
num_outputs = 2;
break;
case MODE_4PWM:
num_outputs = 4;
break;
case MODE_6PWM:
num_outputs = 6;
break;
case MODE_8PWM:
num_outputs = 8;
break;
default:
num_outputs = 0;
break;
}
/* do mixing */
float outputs[_max_actuators];
num_outputs = _mixers->mix(outputs, num_outputs, NULL);
/* disable unused ports by setting their output to NaN */
for (size_t i = 0; i < sizeof(outputs) / sizeof(outputs[0]); i++) {
if (i >= num_outputs) {
outputs[i] = NAN_VALUE;
}
}
uint16_t pwm_limited[_max_actuators];
/* the PWM limit call takes care of out of band errors, NaN and constrains */
pwm_limit_calc(_servo_armed, arm_nothrottle(), num_outputs, _reverse_pwm_mask, _disarmed_pwm, _min_pwm, _max_pwm,
outputs, pwm_limited, &_pwm_limit);
/* output to the servos */
for (size_t i = 0; i < num_outputs; i++) {
up_pwm_servo_set(i, pwm_limited[i]);
}
publish_pwm_outputs(pwm_limited, num_outputs);
}
}
/* check arming state */
bool updated = false;
orb_check(_armed_sub, &updated);
if (updated) {
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
/* update the armed status and check that we're not locked down */
bool set_armed = (_armed.armed || _armed.prearmed) && !_armed.lockdown;
if (_servo_armed != set_armed) {
_servo_armed = set_armed;
}
/* update PWM status if armed or if disarmed PWM values are set */
bool pwm_on = (set_armed || _num_disarmed_set > 0);
if (_pwm_on != pwm_on) {
_pwm_on = pwm_on;
up_pwm_servo_arm(pwm_on);
}
}
/* TODO:F
orb_check(_param_sub, &updated);
if (updated) {
parameter_update_s pupdate;
orb_copy(ORB_ID(parameter_update), _param_sub, &pupdate);
update_pwm_rev_mask();
}
*/
bool rc_updated = false;
#ifdef RC_SERIAL_PORT
bool sbus_failsafe, sbus_frame_drop;
uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
uint16_t raw_rc_count;
bool sbus_updated = sbus_input(_sbus_fd, &raw_rc_values[0], &raw_rc_count, &sbus_failsafe, &sbus_frame_drop,
input_rc_s::RC_INPUT_MAX_CHANNELS);
if (sbus_updated) {
// we have a new PPM frame. Publish it.
_rc_in.channel_count = raw_rc_count;
if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
}
for (uint8_t i = 0; i < _rc_in.channel_count; i++) {
_rc_in.values[i] = raw_rc_values[i];
// pilot_info("value[%d]=%d\n", i, _rc_in.values[i]);
}
_rc_in.timestamp_publication = hrt_absolute_time();
_rc_in.timestamp_last_signal = _rc_in.timestamp_publication;
_rc_in.rc_ppm_frame_length = 0;
_rc_in.rssi = (!sbus_frame_drop) ? RC_INPUT_RSSI_MAX : 0;
_rc_in.rc_failsafe = false;
_rc_in.rc_lost = false;
_rc_in.rc_lost_frame_count = 0;
_rc_in.rc_total_frame_count = 0;
rc_updated = true;
}
#endif
#ifdef HRT_PPM_CHANNEL
// see if we have new PPM input data
if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal) &&
ppm_decoded_channels > 3) {
// we have a new PPM frame. Publish it.
_rc_in.channel_count = ppm_decoded_channels;
if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
}
for (uint8_t i = 0; i < _rc_in.channel_count; i++) {
_rc_in.values[i] = ppm_buffer[i];
}
_rc_in.timestamp_publication = ppm_last_valid_decode;
_rc_in.timestamp_last_signal = ppm_last_valid_decode;
_rc_in.rc_ppm_frame_length = ppm_frame_length;
_rc_in.rssi = RC_INPUT_RSSI_MAX;
_rc_in.rc_failsafe = false;
_rc_in.rc_lost = false;
_rc_in.rc_lost_frame_count = 0;
_rc_in.rc_total_frame_count = 0;
rc_updated = true;
}
#endif
if (rc_updated) {
/* lazily advertise on first publication */
if (_to_input_rc == NULL) {
_to_input_rc = orb_advertise(ORB_ID(input_rc), &_rc_in);
} else {
orb_publish(ORB_ID(input_rc), _to_input_rc, &_rc_in);
}
}
// xTimerStart(_work, (2/portTICK_PERIOD_MS));
}
