drivers/servo_gimbal: Added servo gimbal

3 files changed, 577 insertions, 0 deletions

diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index 577140f05..224385df1 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -43,6 +43,7 @@ MODULES		+= drivers/frsky_telemetry
 MODULES		+= modules/sensors
 MODULES		+= drivers/mkblctrl
 MODULES		+= drivers/px4flow
+MODULES		+= drivers/servo_gimbal
 
 #
 # System commands
diff --git a/src/drivers/servo_gimbal/gimbal.cpp b/src/drivers/servo_gimbal/gimbal.cpp
new file mode 100644
index 000000000..01a1712a2
--- /dev/null
+++ b/src/drivers/servo_gimbal/gimbal.cpp
@@ -0,0 +1,534 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014, 2015 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 gimbal.cpp
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Driver to control a gimbal - relies on input via telemetry or RC
+ * and output via the standardized control group #2 and a mixer.
+ */
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+#include <termios.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/clock.h>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_range_finder.h>
+#include <drivers/device/device.h>
+#include <drivers/device/ringbuffer.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_command.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/vehicle_attitude.h>
+
+#include <board_config.h>
+
+/* Configuration Constants */
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+#ifndef CONFIG_SCHED_WORKQUEUE
+# error This requires CONFIG_SCHED_WORKQUEUE.
+#endif
+
+#define GIMBAL_DEVICE_PATH	"/dev/gimbal"
+
+#define GIMBAL_UPDATE_INTERVAL (50 * 1000)
+
+#define GIMBALIOCATTCOMPENSATE	1
+
+class Gimbal : public device::CDev
+{
+public:
+	Gimbal();
+	virtual ~Gimbal();
+
+	virtual int 			init();
+
+	virtual ssize_t			read(struct file *filp, char *buffer, size_t buflen);
+	virtual int			ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	/**
+	* Diagnostics - print some basic information about the driver.
+	*/
+	void				print_info();
+
+protected:
+	virtual int			probe();
+
+private:
+	float				_min_distance;
+	float				_max_distance;
+	work_s				_work;
+	int				_vehicle_command_sub;
+	int				_att_sub;
+
+	bool				_attitude_compensation;
+	bool				_initialized;
+
+	orb_advert_t			_actuator_controls_2_topic;
+
+	perf_counter_t			_sample_perf;
+	perf_counter_t			_comms_errors;
+	perf_counter_t			_buffer_overflows;
+
+	/**
+	* Initialise the automatic measurement state machine and start it.
+	*
+	* @note This function is called at open and error time.  It might make sense
+	*       to make it more aggressive about resetting the bus in case of errors.
+	*/
+	void				start();
+
+	/**
+	* Stop the automatic measurement state machine.
+	*/
+	void				stop();
+
+	/**
+	* Perform a poll cycle; collect from the previous measurement
+	* and start a new one.
+	*/
+	void				cycle();
+
+	/**
+	* Static trampoline from the workq context; because we don't have a
+	* generic workq wrapper yet.
+	*
+	* @param arg		Instance pointer for the driver that is polling.
+	*/
+	static void			cycle_trampoline(void *arg);
+
+
+};
+
+/*
+ * Driver 'main' command.
+ */
+extern "C" __EXPORT int gimbal_main(int argc, char *argv[]);
+
+Gimbal::Gimbal() :
+	CDev("Gimbal", GIMBAL_DEVICE_PATH),
+	_vehicle_command_sub(-1),
+	_att_sub(-1),
+	_attitude_compensation(false),
+	_initialized(false),
+	_actuator_controls_2_topic(-1),
+	_sample_perf(perf_alloc(PC_ELAPSED, "gimbal_read")),
+	_comms_errors(perf_alloc(PC_COUNT, "gimbal_comms_errors")),
+	_buffer_overflows(perf_alloc(PC_COUNT, "gimbal_buffer_overflows"))
+{
+	// disable debug() calls
+	_debug_enabled = false;
+
+	// work_cancel in the dtor will explode if we don't do this...
+	memset(&_work, 0, sizeof(_work));
+}
+
+Gimbal::~Gimbal()
+{
+	/* make sure we are truly inactive */
+	stop();
+
+	::close(_actuator_controls_2_topic);
+	::close(_vehicle_command_sub);
+}
+
+int
+Gimbal::init()
+{
+	int ret = ERROR;
+
+	/* do regular cdev init */
+	if (CDev::init() != OK) {
+		goto out;
+	}
+
+	start();
+	ret = OK;
+
+out:
+	return ret;
+}
+
+int
+Gimbal::probe()
+{
+	return OK;
+}
+
+int
+Gimbal::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+
+	case GIMBALIOCATTCOMPENSATE:
+		_attitude_compensation = (arg != 0);
+		return OK;
+
+	default:
+		/* give it to the superclass */
+		return CDev::ioctl(filp, cmd, arg);
+	}
+}
+
+ssize_t
+Gimbal::read(struct file *filp, char *buffer, size_t buflen)
+{
+	return 0;
+}
+
+void
+Gimbal::start()
+{
+
+	/* schedule a cycle to start things */
+	work_queue(LPWORK, &_work, (worker_t)&Gimbal::cycle_trampoline, this, 1);
+}
+
+void
+Gimbal::stop()
+{
+	work_cancel(LPWORK, &_work);
+}
+
+void
+Gimbal::cycle_trampoline(void *arg)
+{
+	Gimbal *dev = static_cast<Gimbal *>(arg);
+
+	dev->cycle();
+}
+
+void
+Gimbal::cycle()
+{
+
+	if (!_initialized) {
+		/* get a subscription handle on the vehicle command topic */
+		_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
+
+		/* get a publication handle on actuator output topic */
+		struct actuator_controls_s zero_report;
+		memset(&zero_report, 0, sizeof(zero_report));
+		zero_report.timestamp = hrt_absolute_time();
+		_actuator_controls_2_topic = orb_advertise(ORB_ID(actuator_controls_2), &zero_report);
+
+		if (_actuator_controls_2_topic < 0) {
+			warnx("advert err");
+		}
+
+		_initialized = true;
+	}
+
+	bool	updated = false;
+
+	perf_begin(_sample_perf);
+
+	float roll = 0.0f;
+	float pitch = 0.0f;
+
+
+	if (_attitude_compensation) {
+		if (_att_sub < 0) {
+			_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+		}
+
+		vehicle_attitude_s att;
+
+		orb_copy(ORB_ID(vehicle_attitude), _att_sub, &att);
+
+		roll = -att.roll;
+		pitch = -att.pitch;
+
+		updated = true;
+
+	}
+
+	struct vehicle_command_s cmd;
+
+	bool cmd_updated;
+
+	orb_check(_vehicle_command_sub, &cmd_updated);
+
+	if (cmd_updated) {
+
+		orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
+
+		//debug("cmd: %d, param1: %8.4f param2: %8.4f", (double)cmd.command, (double)cmd.param1, (double)cmd.param2);
+
+		if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && cmd.param7 == 2) {
+
+			/* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */
+			roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1;
+			pitch += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param2;
+
+			updated = true;
+
+		}
+
+		// XXX change this to the real quaternion command
+		if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT && cmd.param7 == 2) {
+
+			/* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */
+			roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1;
+			pitch += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param2;
+
+			updated = true;
+
+		}
+	}
+
+	if (updated) {
+
+		struct actuator_controls_s controls;
+
+		/* fill in the final control values */
+		controls.timestamp = hrt_absolute_time();
+		controls.control[0] = roll;
+		controls.control[1] = pitch;
+
+		/* publish it */
+		orb_publish(ORB_ID(actuator_controls_2), _actuator_controls_2_topic, &controls);
+
+	}
+
+	/* notify anyone waiting for data */
+	poll_notify(POLLIN);
+
+	perf_end(_sample_perf);
+
+	/* schedule a fresh cycle call when the measurement is done */
+	work_queue(LPWORK,
+		   &_work,
+		   (worker_t)&Gimbal::cycle_trampoline,
+		   this,
+		   USEC2TICK(GIMBAL_UPDATE_INTERVAL));
+}
+
+void
+Gimbal::print_info()
+{
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_comms_errors);
+	perf_print_counter(_buffer_overflows);
+}
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace gimbal
+{
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+const int ERROR = -1;
+
+Gimbal	*g_dev;
+
+void	start();
+void	stop();
+void	test();
+void	reset();
+void	info();
+
+/**
+ * Start the driver.
+ */
+void
+start()
+{
+	if (g_dev != nullptr) {
+		errx(1, "already started");
+	}
+
+	/* create the driver */
+	g_dev = new Gimbal();
+
+	if (g_dev == nullptr) {
+		goto fail;
+	}
+
+	if (OK != g_dev->init()) {
+		goto fail;
+	}
+
+	exit(0);
+
+fail:
+
+	if (g_dev != nullptr) {
+		delete g_dev;
+		g_dev = nullptr;
+	}
+
+	errx(1, "driver start failed");
+}
+
+/**
+ * Stop the driver
+ */
+void stop()
+{
+	if (g_dev != nullptr) {
+		delete g_dev;
+		g_dev = nullptr;
+
+	} else {
+		errx(1, "driver not running");
+	}
+
+	exit(0);
+}
+
+/**
+ * Perform some basic functional tests on the driver;
+ * make sure we can collect data from the sensor in polled
+ * and automatic modes.
+ */
+void
+test()
+{
+	int fd = open(GIMBAL_DEVICE_PATH, O_RDONLY);
+
+	if (ioctl(fd, GIMBALIOCATTCOMPENSATE, 1) < 0) {
+		err(1, "failed enabling compensation");
+	}
+
+	errx(0, "PASS");
+}
+
+/**
+ * Reset the driver.
+ */
+void
+reset()
+{
+	int fd = open(GIMBAL_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0) {
+		err(1, "failed ");
+	}
+
+	// if (ioctl(fd, GIMBALIOCATTCOMPENSATE, 1) < 0) {
+	// 	err(1, "failed enabling compensation");
+	// }
+
+	exit(0);
+}
+
+/**
+ * Print a little info about the driver.
+ */
+void
+info()
+{
+	if (g_dev == nullptr) {
+		errx(1, "driver not running");
+	}
+
+	printf("state @ %p\n", g_dev);
+	g_dev->print_info();
+
+	exit(0);
+}
+
+} // namespace
+
+int
+gimbal_main(int argc, char *argv[])
+{
+	/*
+	 * Start/load the driver.
+	 */
+	if (!strcmp(argv[1], "start")) {
+		gimbal::start();
+	}
+
+	/*
+	 * Stop the driver
+	 */
+	if (!strcmp(argv[1], "stop")) {
+		gimbal::stop();
+	}
+
+	/*
+	 * Test the driver/device.
+	 */
+	if (!strcmp(argv[1], "test")) {
+		gimbal::test();
+	}
+
+	/*
+	 * Reset the driver.
+	 */
+	if (!strcmp(argv[1], "reset")) {
+		gimbal::reset();
+	}
+
+	/*
+	 * Print driver information.
+	 */
+	if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
+		gimbal::info();
+	}
+
+	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+}
\ No newline at end of file
diff --git a/src/drivers/servo_gimbal/module.mk b/src/drivers/servo_gimbal/module.mk
new file mode 100644
index 000000000..5699b702a
--- /dev/null
+++ b/src/drivers/servo_gimbal/module.mk
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2014, 2015 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.
+#
+############################################################################
+
+#
+# Makefile to build the gimbal high-level controller
+#
+
+MODULE_COMMAND	= servo_gimbal
+
+SRCS		= gimbal.cpp
+
+MAXOPTIMIZATION = -Os