esc_calibration.cpp

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/**
 * @file esc_calibration.cpp
 *
 * Definition of esc calibration
 *
 * @author Roman Bapst <roman@px4.io>
 */

#include "esc_calibration.h"
#include "calibration_messages.h"
#include "calibration_routines.h"

#include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_output.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/time.h>
#include <systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/battery_status.h>

using namespace time_literals;

int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s *armed)
{
    int return_code = PX4_OK;

#if defined(__PX4_POSIX_OCPOC) || defined(__PX4_POSIX_BBBLUE)
    hrt_abstime timeout_start = 0;
    hrt_abstime timeout_wait = 60_s;
    armed->in_esc_calibration_mode = true;
    calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "begin esc");
    timeout_start = hrt_absolute_time();

    while (true) {
        if (hrt_absolute_time() - timeout_start > timeout_wait) {
            break;

        } else {
            px4_usleep(50000);
        }
    }

    armed->in_esc_calibration_mode = false;
    calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "end esc");

    if (return_code == OK) {
        calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "esc");
    }

    return return_code;

#else
    int fd = -1;
    bool    batt_connected = true;  // for safety resons assume battery is connected, will be cleared below if not the case
    hrt_abstime timeout_start = 0;

    calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, "esc");

    uORB::SubscriptionData<battery_status_s> batt_sub{ORB_ID(battery_status)};
    const battery_status_s &battery = batt_sub.get();

    batt_sub.update();

    if (battery.timestamp == 0) {
        calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "battery unavailable");
        return_code = PX4_ERROR;
        goto Out;
    }

    // Make sure battery is disconnected
    // battery is not connected if the connected flag is not set and we have a recent battery measurement
    batt_sub.update();

    if (!battery.connected && (hrt_elapsed_time(&battery.timestamp) < 500_ms)) {
        batt_connected = false;
    }

    if (batt_connected) {
        calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Disconnect battery and try again");
        return_code = PX4_ERROR;
        goto Out;
    }

    armed->in_esc_calibration_mode = true;

    fd = px4_open(PWM_OUTPUT0_DEVICE_PATH, 0);

    if (fd < 0) {
        calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Can't open PWM device");
        return_code = PX4_ERROR;
        goto Out;
    }

    /* tell IO/FMU that its ok to disable its safety with the switch */
    if (px4_ioctl(fd, PWM_SERVO_SET_ARM_OK, 0) != PX4_OK) {
        calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Unable to disable safety switch");
        return_code = PX4_ERROR;
        goto Out;
    }

    /* tell IO/FMU that the system is armed (it will output values if safety is off) */
    if (px4_ioctl(fd, PWM_SERVO_ARM, 0) != PX4_OK) {
        calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Unable to arm system");
        return_code = PX4_ERROR;
        goto Out;
    }

    /* tell IO to switch off safety without using the safety switch */
    if (px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0) != PX4_OK) {
        calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Unable to force safety off");
        return_code = PX4_ERROR;
        goto Out;
    }

    calibration_log_info(mavlink_log_pub, "[cal] Connect battery now");

    timeout_start = hrt_absolute_time();

    while (true) {
        // We are either waiting for the user to connect the battery. Or we are waiting to let the PWM
        // sit high.
        static constexpr hrt_abstime battery_connect_wait_timeout{20_s};
        static constexpr hrt_abstime pwm_high_timeout{3_s};
        hrt_abstime timeout_wait = batt_connected ? pwm_high_timeout : battery_connect_wait_timeout;

        if (hrt_elapsed_time(&timeout_start) > timeout_wait) {
            if (!batt_connected) {
                calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Timeout waiting for battery");
                return_code = PX4_ERROR;
                goto Out;
            }

            // PWM was high long enough
            break;
        }

        if (!batt_connected) {
            if (batt_sub.update()) {
                if (battery.connected) {
                    // Battery is connected, signal to user and start waiting again
                    batt_connected = true;
                    timeout_start = hrt_absolute_time();
                    calibration_log_info(mavlink_log_pub, "[cal] Battery connected");
                }
            }
        }

        px4_usleep(50_ms);
    }

Out:

    if (fd != -1) {
        if (px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_ON, 0) != PX4_OK) {
            calibration_log_info(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Safety switch still off");
        }

        if (px4_ioctl(fd, PWM_SERVO_DISARM, 0) != PX4_OK) {
            calibration_log_info(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Servos still armed");
        }

        if (px4_ioctl(fd, PWM_SERVO_CLEAR_ARM_OK, 0) != PX4_OK) {
            calibration_log_info(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Safety switch still deactivated");
        }

        px4_close(fd);
    }

    armed->in_esc_calibration_mode = false;

    if (return_code == PX4_OK) {
        calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "esc");
    }

    return return_code;
#endif
}