bizhang_-obav/src/modules/px4iofirmware/controls.c

/****************************************************************************
 *
 *   Copyright (c) 2012-2014 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.
 *
 ****************************************************************************/

/**
 * @file controls.c
 *
 * R/C inputs and servo outputs.
 */

#include <px4_config.h>
#include <stdbool.h>

#include <drivers/drv_hrt.h>
#include <drivers/drv_rc_input.h>
#include <systemlib/perf_counter.h>
#include <systemlib/ppm_decode.h>
#include <rc/st24.h>
#include <rc/sumd.h>
#include <rc/sbus.h>
#include <rc/dsm.h>

#include "px4io.h"

#define RC_CHANNEL_HIGH_THRESH		5000	/* 75% threshold */
#define RC_CHANNEL_LOW_THRESH		-8000	/* 10% threshold */

static bool	ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
static bool	dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool *sumd_updated);

static perf_counter_t c_gather_dsm;
static perf_counter_t c_gather_sbus;
static perf_counter_t c_gather_ppm;

static int _dsm_fd = -1;
int _sbus_fd = -1;

static uint16_t rc_value_override = 0;

#ifdef ADC_RSSI
static unsigned _rssi_adc_counts = 0;
#endif

bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool *sumd_updated)
{
	perf_begin(c_gather_dsm);
	uint8_t n_bytes = 0;
	uint8_t *bytes;
	bool dsm_11_bit;
	*dsm_updated = dsm_input(_dsm_fd, r_raw_rc_values, &r_raw_rc_count, &dsm_11_bit, &n_bytes, &bytes,
				 PX4IO_RC_INPUT_CHANNELS);

	if (*dsm_updated) {

		if (dsm_11_bit) {
			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11;

		} else {
			r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
		}

		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);

	}

	perf_end(c_gather_dsm);

	/* get data from FD and attempt to parse with DSM and ST24 libs */
	uint8_t st24_rssi, lost_count;
	uint16_t st24_channel_count = 0;

	*st24_updated = false;

	for (unsigned i = 0; i < n_bytes; i++) {
		/* set updated flag if one complete packet was parsed */
		st24_rssi = RC_INPUT_RSSI_MAX;
		*st24_updated |= (OK == st24_decode(bytes[i], &st24_rssi, &lost_count,
						    &st24_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS));
	}

	if (*st24_updated && lost_count == 0) {

		/* ensure ADC RSSI is disabled */
		r_setup_features &= ~(PX4IO_P_SETUP_FEATURES_ADC_RSSI);

		*rssi = st24_rssi;
		r_raw_rc_count = st24_channel_count;

		PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_ST24);
		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
	}


	/* get data from FD and attempt to parse with SUMD libs */
	uint8_t sumd_rssi, sumd_rx_count;
	uint16_t sumd_channel_count = 0;
	bool sumd_failsafe_state;

	*sumd_updated = false;

	for (unsigned i = 0; i < n_bytes; i++) {
		/* set updated flag if one complete packet was parsed */
		sumd_rssi = RC_INPUT_RSSI_MAX;
		*sumd_updated |= (OK == sumd_decode(bytes[i], &sumd_rssi, &sumd_rx_count,
						    &sumd_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS, &sumd_failsafe_state));
	}

	if (*sumd_updated) {

		/* not setting RSSI since SUMD does not provide one */
		r_raw_rc_count = sumd_channel_count;

		PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_SUMD);
		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);

		if (sumd_failsafe_state) {
			r_raw_rc_flags |= (PX4IO_P_RAW_RC_FLAGS_FAILSAFE);

		} else {
			r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
		}
	}

	return (*dsm_updated | *st24_updated | *sumd_updated);
}

void
controls_init(void)
{
	/* no channels */
	r_raw_rc_count = 0;
	system_state.rc_channels_timestamp_received = 0;
	system_state.rc_channels_timestamp_valid = 0;

	/* DSM input (USART1) */
	_dsm_fd = dsm_init("/dev/ttyS0");

	/* S.bus input (USART3) */
	_sbus_fd = sbus_init("/dev/ttyS2", false);

	/* default to a 1:1 input map, all enabled */
	for (unsigned i = 0; i < PX4IO_RC_INPUT_CHANNELS; i++) {
		unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;

		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS]    = 0;
		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_MIN]        = 1000;
		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_CENTER]     = 1500;
		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_MAX]        = 2000;
		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_DEADZONE]   = 30;
		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_ASSIGNMENT] = i;
		r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS]    = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
	}

	c_gather_dsm = perf_alloc(PC_ELAPSED, "c_gather_dsm");
	c_gather_sbus = perf_alloc(PC_ELAPSED, "c_gather_sbus");
	c_gather_ppm = perf_alloc(PC_ELAPSED, "c_gather_ppm");
}

void
controls_tick()
{

	/*
	 * Gather R/C control inputs from supported sources.
	 *
	 * Note that if you're silly enough to connect more than
	 * one control input source, they're going to fight each
	 * other.  Don't do that.
	 */

	/* receive signal strenght indicator (RSSI). 0 = no connection, 255: perfect connection */
	uint16_t rssi = 0;

#ifdef ADC_RSSI

	if (r_setup_features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) {
		unsigned counts = adc_measure(ADC_RSSI);

		if (counts != 0xffff) {
			/* low pass*/
			_rssi_adc_counts = (_rssi_adc_counts * 0.998f) + (counts * 0.002f);
			/* use 1:1 scaling on 3.3V, 12-Bit ADC input */
			unsigned mV = _rssi_adc_counts * 3300 / 4095;
			/* scale to 0..100 (RC_INPUT_RSSI_MAX == 100) */
			rssi = (mV * RC_INPUT_RSSI_MAX / 3300);

			if (rssi > RC_INPUT_RSSI_MAX) {
				rssi = RC_INPUT_RSSI_MAX;
			}
		}
	}

#endif

	/* zero RSSI if signal is lost */
	if (!(r_raw_rc_flags & (PX4IO_P_RAW_RC_FLAGS_RC_OK))) {
		rssi = 0;
	}

	perf_begin(c_gather_dsm);
	bool dsm_updated, st24_updated, sumd_updated;
	(void)dsm_port_input(&rssi, &dsm_updated, &st24_updated, &sumd_updated);

	if (dsm_updated) {
		PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_DSM);
	}

	if (st24_updated) {
		PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_ST24);
	}

	if (sumd_updated) {
		PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_SUMD);
	}

	perf_end(c_gather_dsm);

	perf_begin(c_gather_sbus);

	bool sbus_failsafe, sbus_frame_drop;
	bool sbus_updated = sbus_input(_sbus_fd, r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop,
				       PX4IO_RC_INPUT_CHANNELS);

	if (sbus_updated) {
		PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_SBUS);

		unsigned sbus_rssi = RC_INPUT_RSSI_MAX;

		if (sbus_frame_drop) {
			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FRAME_DROP;
			sbus_rssi = RC_INPUT_RSSI_MAX / 2;

		} else {
			r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
		}

		if (sbus_failsafe) {
			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE;

		} else {
			r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
		}

		/* set RSSI to an emulated value if ADC RSSI is off */
		if (!(r_setup_features & PX4IO_P_SETUP_FEATURES_ADC_RSSI)) {
			rssi = sbus_rssi;
		}

	}

	perf_end(c_gather_sbus);

	/*
	 * XXX each S.bus frame will cause a PPM decoder interrupt
	 * storm (lots of edges).  It might be sensible to actually
	 * disable the PPM decoder completely if we have S.bus signal.
	 */
	perf_begin(c_gather_ppm);
	bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_raw_rc_input[PX4IO_P_RAW_RC_DATA]);

	if (ppm_updated) {

		PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_PPM);
		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
	}

	perf_end(c_gather_ppm);

	/* limit number of channels to allowable data size */
	if (r_raw_rc_count > PX4IO_RC_INPUT_CHANNELS) {
		r_raw_rc_count = PX4IO_RC_INPUT_CHANNELS;
	}

	/* store RSSI */
	r_page_raw_rc_input[PX4IO_P_RAW_RC_NRSSI] = rssi;

	/*
	 * In some cases we may have received a frame, but input has still
	 * been lost.
	 */
	bool rc_input_lost = false;

	/*
	 * If we received a new frame from any of the RC sources, process it.
	 */
	if (dsm_updated || sbus_updated || ppm_updated || st24_updated || sumd_updated) {

		/* record a bitmask of channels assigned */
		unsigned assigned_channels = 0;

		/* update RC-received timestamp */
		system_state.rc_channels_timestamp_received = hrt_absolute_time();

		/* update RC-received timestamp */
		system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received;

		/* map raw inputs to mapped inputs */
		/* XXX mapping should be atomic relative to protocol */
		for (unsigned i = 0; i < r_raw_rc_count; i++) {

			/* map the input channel */
			uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE];

			if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {

				uint16_t raw = r_raw_rc_values[i];

				int16_t scaled;

				/*
				 * 1) Constrain to min/max values, as later processing depends on bounds.
				 */
				if (raw < conf[PX4IO_P_RC_CONFIG_MIN]) {
					raw = conf[PX4IO_P_RC_CONFIG_MIN];
				}

				if (raw > conf[PX4IO_P_RC_CONFIG_MAX]) {
					raw = conf[PX4IO_P_RC_CONFIG_MAX];
				}

				/*
				 * 2) Scale around the mid point differently for lower and upper range.
				 *
				 * This is necessary as they don't share the same endpoints and slope.
				 *
				 * First normalize to 0..1 range with correct sign (below or above center),
				 * then scale to 20000 range (if center is an actual center, -10000..10000,
				 * if parameters only support half range, scale to 10000 range, e.g. if
				 * center == min 0..10000, if center == max -10000..0).
				 *
				 * As the min and max bounds were enforced in step 1), division by zero
				 * cannot occur, as for the case of center == min or center == max the if
				 * statement is mutually exclusive with the arithmetic NaN case.
				 *
				 * DO NOT REMOVE OR ALTER STEP 1!
				 */
				if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
					scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(
								     conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));

				} else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
					scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(
								     conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));

				} else {
					/* in the configured dead zone, output zero */
					scaled = 0;
				}

				/* invert channel if requested */
				if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) {
					scaled = -scaled;
				}

				/* and update the scaled/mapped version */
				unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];

				if (mapped < PX4IO_CONTROL_CHANNELS) {

					/* invert channel if pitch - pulling the lever down means pitching up by convention */
					if (mapped == 1) {
						/* roll, pitch, yaw, throttle, override is the standard order */
						scaled = -scaled;
					}

					if (mapped == 3 && r_setup_rc_thr_failsafe) {
						/* throttle failsafe detection */
						if (((raw < conf[PX4IO_P_RC_CONFIG_MIN]) && (raw < r_setup_rc_thr_failsafe)) ||
						    ((raw > conf[PX4IO_P_RC_CONFIG_MAX]) && (raw > r_setup_rc_thr_failsafe))) {
							r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE;

						} else {
							r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
						}
					}

					r_rc_values[mapped] = SIGNED_TO_REG(scaled);
					assigned_channels |= (1 << mapped);

				} else if (mapped == PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH) {
					/* pick out override channel, indicated by special mapping */
					rc_value_override = SIGNED_TO_REG(scaled);
				}
			}
		}

		/* set un-assigned controls to zero */
		for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) {
			if (!(assigned_channels & (1 << i))) {
				r_rc_values[i] = 0;
			}
		}

		/* set RC OK flag, as we got an update */
		PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_OK);
		r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_OK;

		/* if we have enough channels (5) to control the vehicle, the mapping is ok */
		if (assigned_channels > 4) {
			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK;

		} else {
			r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK);
		}

		/*
		 * Export the valid channel bitmap
		 */
		r_rc_valid = assigned_channels;
	}

	/*
	 * If we haven't seen any new control data in 200ms, assume we
	 * have lost input.
	 */
	if (!rc_input_lost && hrt_elapsed_time(&system_state.rc_channels_timestamp_received) > 200000) {
		rc_input_lost = true;

		/* clear the input-kind flags here */
		PX4_ATOMIC_MODIFY_CLEAR(r_status_flags, (
						PX4IO_P_STATUS_FLAGS_RC_PPM |
						PX4IO_P_STATUS_FLAGS_RC_DSM |
						PX4IO_P_STATUS_FLAGS_RC_SBUS |
						PX4IO_P_STATUS_FLAGS_RC_ST24 |
						PX4IO_P_STATUS_FLAGS_RC_SUMD));

	}

	/*
	 * Handle losing RC input
	 */

	/* if we are in failsafe, clear the override flag */
	if (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) {
		PX4_ATOMIC_MODIFY_CLEAR(r_status_flags, PX4IO_P_STATUS_FLAGS_OVERRIDE);
	}

	/* this kicks in if the receiver is gone, but there is not on failsafe (indicated by separate flag) */
	if (rc_input_lost) {
		/* Clear the RC input status flag, clear manual override flag */
		PX4_ATOMIC_MODIFY_CLEAR(r_status_flags, (
						PX4IO_P_STATUS_FLAGS_OVERRIDE |
						PX4IO_P_STATUS_FLAGS_RC_OK));

		/* flag raw RC as lost */
		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_RC_OK);

		/* Mark all channels as invalid, as we just lost the RX */
		r_rc_valid = 0;

		/* Set raw channel count to zero */
		r_raw_rc_count = 0;

		/* Set the RC_LOST alarm */
		PX4_ATOMIC_MODIFY_OR(r_status_alarms, PX4IO_P_STATUS_ALARMS_RC_LOST);
	}

	/*
	 * Check for manual override.
	 *
	 * Firstly, manual override must be enabled, RC input available and a mixer loaded.
	 */
	if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) &&
	    (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
	    !(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) &&
	    !(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) &&
	    (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {

		bool override = false;

		/*
		 * Check mapped channel 5 (can be any remote channel,
		 * depends on RC_MAP_OVER parameter);
		 * If the value is 'high' then the pilot has
		 * requested override.
		 *
		 */
		if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
		    (REG_TO_SIGNED(rc_value_override) < RC_CHANNEL_LOW_THRESH)) {
			override = true;
		}

		/*
		 * If the FMU is dead then enable override if we have a mixer
		 * and we want to immediately override (instead of using the RC channel
		 * as in the case above.
		 *
		 * Also, do not enter manual override if we asked for termination
		 * failsafe and FMU is lost.
		 */
		if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) &&
		    (r_setup_arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) &&
		    !(r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE)) {
			override = true;
		}

		if (override) {
			PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_OVERRIDE);

		} else {
			PX4_ATOMIC_MODIFY_CLEAR(r_status_flags, PX4IO_P_STATUS_FLAGS_OVERRIDE);
		}

	} else {
		PX4_ATOMIC_MODIFY_CLEAR(r_status_flags, PX4IO_P_STATUS_FLAGS_OVERRIDE);
	}
}

static bool
ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
{
	bool result = false;

	if (!(num_values) || !(values) || !(frame_len)) {
		return result;
	}

	/* avoid racing with PPM updates */
	irqstate_t state = px4_enter_critical_section();

	/*
	 * If we have received a new PPM frame within the last 200ms, accept it
	 * and then invalidate it.
	 */
	if (hrt_elapsed_time(&ppm_last_valid_decode) < 200000) {

		/* PPM data exists, copy it */
		*num_values = ppm_decoded_channels;

		if (*num_values > PX4IO_RC_INPUT_CHANNELS) {
			*num_values = PX4IO_RC_INPUT_CHANNELS;
		}

		for (unsigned i = 0; ((i < *num_values) && (i < PPM_MAX_CHANNELS)); i++) {
			values[i] = ppm_buffer[i];
		}

		/* clear validity */
		ppm_last_valid_decode = 0;

		/* store PPM frame length */
		*frame_len = ppm_frame_length;

		/* good if we got any channels */
		result = (*num_values > 0);
	}

	px4_leave_critical_section(state);

	return result;
}