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https://bitbucket.org/librepilot/librepilot.git
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c3732bad93
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3028 ebee16cc-31ac-478f-84a7-5cbb03baadba
510 lines
14 KiB
C
510 lines
14 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup ActuatorModule Actuator Module
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* @brief Compute servo/motor settings based on @ref ActuatorDesired "desired actuator positions" and aircraft type.
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* This is where all the mixing of channels is computed.
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* @{
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*
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* @file actuator.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Actuator module. Drives the actuators (servos, motors etc).
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "openpilot.h"
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#include "actuator.h"
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#include "actuatorsettings.h"
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#include "systemsettings.h"
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#include "actuatordesired.h"
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#include "actuatorcommand.h"
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#include "manualcontrolcommand.h"
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#include "mixersettings.h"
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#include "mixerstatus.h"
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// Private constants
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#define MAX_QUEUE_SIZE 2
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#if defined(PIOS_ACTUATOR_STACK_SIZE)
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#define STACK_SIZE_BYTES PIOS_ACTUATOR_STACK_SIZE
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#else
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#define STACK_SIZE_BYTES 1312
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#endif
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#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
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#define FAILSAFE_TIMEOUT_MS 100
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#define MAX_MIX_ACTUATORS ACTUATORCOMMAND_CHANNEL_NUMELEM
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// Private types
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// Private variables
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static xQueueHandle queue;
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static xTaskHandle taskHandle;
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static float lastResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
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static float lastFilteredResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
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static float filterAccumulator[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
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// Private functions
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static void actuatorTask(void* parameters);
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static void actuator_update_rate(UAVObjEvent *);
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static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral);
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static void setFailsafe();
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static float MixerCurve(const float throttle, const float* curve);
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static bool set_channel(uint8_t mixer_channel, uint16_t value);
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float ProcessMixer(const int index, const float curve1, const float curve2,
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MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
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const float period);
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//this structure is equivalent to the UAVObjects for one mixer.
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typedef struct {
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uint8_t type;
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int8_t matrix[5];
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} __attribute__((packed)) Mixer_t;
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/**
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* @brief Module initialization
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* @return 0
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*/
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int32_t ActuatorInitialize()
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{
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// Create object queue
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queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
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// Listen for ExampleObject1 updates
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ActuatorDesiredConnectQueue(queue);
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// If settings change, update the output rate
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ActuatorSettingsConnectCallback(actuator_update_rate);
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// Start main task
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xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_ACTUATOR, taskHandle);
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PIOS_WDG_RegisterFlag(PIOS_WDG_ACTUATOR);
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return 0;
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}
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/**
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* @brief Main Actuator module task
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*
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* Universal matrix based mixer for VTOL, helis and fixed wing.
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* Converts desired roll,pitch,yaw and throttle to servo/ESC outputs.
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*
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* Because of how the Throttle ranges from 0 to 1, the motors should too!
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*
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* Note this code depends on the UAVObjects for the mixers being all being the same
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* and in sequence. If you change the object definition, make sure you check the code!
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*
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* @return -1 if error, 0 if success
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*/
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static void actuatorTask(void* parameters)
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{
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UAVObjEvent ev;
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portTickType lastSysTime;
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portTickType thisSysTime;
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float dT = 0.0f;
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ActuatorCommandData command;
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ActuatorSettingsData settings;
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SystemSettingsData sysSettings;
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MixerSettingsData mixerSettings;
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ActuatorDesiredData desired;
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MixerStatusData mixerStatus;
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ManualControlCommandData manualControl;
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ActuatorSettingsGet(&settings);
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PIOS_Servo_SetHz(&settings.ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
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float * status = (float *)&mixerStatus; //access status objects as an array of floats
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// Go to the neutral (failsafe) values until an ActuatorDesired update is received
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setFailsafe();
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// Main task loop
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lastSysTime = xTaskGetTickCount();
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while (1)
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{
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PIOS_WDG_UpdateFlag(PIOS_WDG_ACTUATOR);
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// Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe
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if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
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{
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setFailsafe();
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continue;
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}
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// Check how long since last update
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thisSysTime = xTaskGetTickCount();
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if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
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dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
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lastSysTime = thisSysTime;
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ManualControlCommandGet(&manualControl);
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SystemSettingsGet(&sysSettings);
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MixerStatusGet(&mixerStatus);
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MixerSettingsGet (&mixerSettings);
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ActuatorDesiredGet(&desired);
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ActuatorCommandGet(&command);
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ActuatorSettingsGet(&settings);
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int nMixers = 0;
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Mixer_t * mixers = (Mixer_t *)&mixerSettings.Mixer1Type;
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for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
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{
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if(mixers[ct].type != MIXERSETTINGS_MIXER1TYPE_DISABLED)
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{
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nMixers ++;
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}
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}
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if(nMixers < 2) //Nothing can fly with less than two mixers.
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{
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AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_WARNING);
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setFailsafe(); // So that channels like PWM buzzer keep working
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continue;
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}
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AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
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bool armed = manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE;
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armed &= desired.Throttle > 0.00; //zero throttle stops the motors
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float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1);
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float curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2);
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for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
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{
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if(mixers[ct].type != MIXERSETTINGS_MIXER1TYPE_DISABLED)
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{
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status[ct] = ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, dT);
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if(!armed &&
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mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
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{
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command.Channel[ct] = settings.ChannelMin[ct]; //force zero throttle
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filterAccumulator[ct] = 0;
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lastResult[ct] = 0;
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}else
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{
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// For motors when armed keep above neutral
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if((mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) && (status[ct] < 0))
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status[ct] = 0;
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command.Channel[ct] = scaleChannel(status[ct],
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settings.ChannelMax[ct],
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settings.ChannelMin[ct],
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settings.ChannelNeutral[ct]);
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}
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}
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}
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MixerStatusSet(&mixerStatus);
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// Store update time
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command.UpdateTime = 1000*dT;
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if(1000*dT > command.MaxUpdateTime)
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command.MaxUpdateTime = 1000*dT;
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// Update output object
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ActuatorCommandSet(&command);
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// Update in case read only (eg. during servo configuration)
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ActuatorCommandGet(&command);
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// Update servo outputs
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bool success = true;
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for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
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{
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success &= set_channel(n, command.Channel[n]);
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}
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if(!success) {
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command.NumFailedUpdates++;
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ActuatorCommandSet(&command);
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AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
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}
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}
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}
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/**
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*Process mixing for one actuator
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*/
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float ProcessMixer(const int index, const float curve1, const float curve2,
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MixerSettingsData* mixerSettings, ActuatorDesiredData* desired, const float period)
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{
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Mixer_t * mixers = (Mixer_t *)&mixerSettings->Mixer1Type; //pointer to array of mixers in UAVObjects
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Mixer_t * mixer = &mixers[index];
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float result = ((mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE1] / 128.0f) * curve1) +
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((mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE2] / 128.0f) * curve2) +
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((mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_ROLL] / 128.0f) * desired->Roll) +
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((mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_PITCH] / 128.0f) * desired->Pitch) +
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((mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_YAW] / 128.0f) * desired->Yaw);
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if(mixer->type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
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{
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if(result < 0) //idle throttle
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{
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result = 0;
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}
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//feed forward
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float accumulator = filterAccumulator[index];
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accumulator += (result - lastResult[index]) * mixerSettings->FeedForward;
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lastResult[index] = result;
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result += accumulator;
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if(period !=0)
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{
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if(accumulator > 0)
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{
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float filter = mixerSettings->AccelTime / period;
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if(filter <1)
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{
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filter = 1;
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}
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accumulator -= accumulator / filter;
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}else
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{
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float filter = mixerSettings->DecelTime / period;
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if(filter <1)
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{
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filter = 1;
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}
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accumulator -= accumulator / filter;
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}
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}
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filterAccumulator[index] = accumulator;
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result += accumulator;
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//acceleration limit
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float dt = result - lastFilteredResult[index];
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float maxDt = mixerSettings->MaxAccel * period;
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if(dt > maxDt) //we are accelerating too hard
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{
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result = lastFilteredResult[index] + maxDt;
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}
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lastFilteredResult[index] = result;
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}
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return(result);
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}
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/**
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*Interpolate a throttle curve. Throttle input should be in the range 0 to 1.
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*Output is in the range 0 to 1.
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*/
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#define MIXER_CURVE_ENTRIES 5
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static float MixerCurve(const float throttle, const float* curve)
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{
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float scale = throttle * MIXER_CURVE_ENTRIES;
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int idx1 = scale;
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scale -= (float)idx1; //remainder
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if(curve[0] < -1)
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{
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return(throttle);
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}
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if (idx1 < 0)
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{
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idx1 = 0; //clamp to lowest entry in table
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scale = 0;
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}
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int idx2 = idx1 + 1;
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if(idx2 >= MIXER_CURVE_ENTRIES)
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{
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idx2 = MIXER_CURVE_ENTRIES -1; //clamp to highest entry in table
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if(idx1 >= MIXER_CURVE_ENTRIES)
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{
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idx1 = MIXER_CURVE_ENTRIES -1;
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}
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}
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return((curve[idx1] * (1 - scale)) + (curve[idx2] * scale));
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}
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/**
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* Convert channel from -1/+1 to servo pulse duration in microseconds
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*/
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static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral)
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{
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int16_t valueScaled;
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// Scale
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if ( value >= 0.0)
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{
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valueScaled = (int16_t)(value*((float)(max-neutral))) + neutral;
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}
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else
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{
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valueScaled = (int16_t)(value*((float)(neutral-min))) + neutral;
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}
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if (max>min)
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{
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if( valueScaled > max ) valueScaled = max;
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if( valueScaled < min ) valueScaled = min;
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}
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else
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{
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if( valueScaled < max ) valueScaled = max;
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if( valueScaled > min ) valueScaled = min;
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}
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return valueScaled;
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}
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/**
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* Set actuator output to the neutral values (failsafe)
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*/
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static void setFailsafe()
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{
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ActuatorCommandData command;
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ActuatorSettingsData settings;
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ActuatorCommandGet(&command);
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ActuatorSettingsGet(&settings);
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MixerSettingsData mixerSettings;
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MixerSettingsGet (&mixerSettings);
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Mixer_t * mixers = (Mixer_t *)&mixerSettings.Mixer1Type; //pointer to array of mixers in UAVObjects
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// Reset ActuatorCommand to safe values
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for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
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{
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if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
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{
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command.Channel[n] = settings.ChannelMin[n];
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}
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else
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{
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command.Channel[n] = settings.ChannelNeutral[n];
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}
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}
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// Set alarm
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AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
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// Update servo outputs
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for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
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{
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set_channel(n, command.Channel[n]);
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}
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// Update output object
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ActuatorCommandSet(&command);
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}
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/**
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* @brief Update the servo update rate
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*/
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static void actuator_update_rate(UAVObjEvent * ev)
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{
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ActuatorSettingsData settings;
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if ( ev->obj == ActuatorSettingsHandle() ) {
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ActuatorSettingsGet(&settings);
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PIOS_Servo_SetHz(&settings.ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
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}
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}
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#define ALARM_SEQ 0b11110110110000 // pause, short, short, short, long
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#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
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static bool set_channel(uint8_t mixer_channel, uint16_t value) {
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return true;
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}
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#else
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static bool set_channel(uint8_t mixer_channel, uint16_t value) {
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ActuatorSettingsData settings;
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ActuatorSettingsGet(&settings);
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switch(settings.ChannelType[mixer_channel]) {
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case ACTUATORSETTINGS_CHANNELTYPE_PWMALARMBUZZER: {
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// This is for buzzers that take a PWM input
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bool buzz = false;
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static portTickType lastSysTime = 0;
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static uint32_t alarm_seq_state = 0;
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portTickType thisSysTime = xTaskGetTickCount();
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portTickType dT = 0;
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// For now, only look at the battery alarm, because functions like AlarmsHasCritical() can block for some time; to be discussed
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if (AlarmsGet(SYSTEMALARMS_ALARM_BATTERY) > SYSTEMALARMS_ALARM_WARNING) {
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if(thisSysTime > lastSysTime)
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dT = thisSysTime - lastSysTime;
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buzz = (alarm_seq_state&1); // Buzz when the LS bit is 1
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if (dT > 80) {
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// Go to next bit in alarm_seq_state
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alarm_seq_state >>= 1;
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if (alarm_seq_state == 0)
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alarm_seq_state = ALARM_SEQ; // All done, re-init alarm_seq_state
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lastSysTime = thisSysTime;
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}
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}
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PIOS_Servo_Set( settings.ChannelAddr[mixer_channel],
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buzz?settings.ChannelMax[mixer_channel]:settings.ChannelMin[mixer_channel]);
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return true;
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}
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case ACTUATORSETTINGS_CHANNELTYPE_PWM:
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PIOS_Servo_Set(settings.ChannelAddr[mixer_channel], value);
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return true;
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#if defined(PIOS_INCLUDE_I2C_ESC)
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case ACTUATORSETTINGS_CHANNELTYPE_MK:
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{
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ManualControlCommandData manual;
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ManualControlCommandGet(&manual);
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/* Unfortunately MK controller take forever to start so keep */
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/* them spinning when armed */
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if(manual.Armed)
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value = (value < 0) ? 1 : value;
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else
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value = 0;
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return PIOS_SetMKSpeed(settings.ChannelAddr[mixer_channel],value);
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break;
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}
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case ACTUATORSETTINGS_CHANNELTYPE_ASTEC4:
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return PIOS_SetAstec4Speed(settings.ChannelAddr[mixer_channel],value);
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break;
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#endif
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default:
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return false;
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}
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return false;
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}
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#endif
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/**
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* @}
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* @}
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*/
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