Added MD25 I2C motor controller driver.

1 files changed, 293 insertions, 0 deletions

diff --git a/apps/drivers/md25/MD25.hpp b/apps/drivers/md25/MD25.hpp
new file mode 100644
index 000000000..e77511b16
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+++ b/apps/drivers/md25/MD25.hpp
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+/****************************************************************************
+ *
+ *   Copyright (C) 2013 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 md25.cpp
+ *
+ * Driver for MD25 I2C Motor Driver
+ *
+ * references:
+ * http://www.robot-electronics.co.uk/htm/md25tech.htm
+ * http://www.robot-electronics.co.uk/files/rpi_md25.c
+ *
+ */
+
+#pragma once
+
+#include <poll.h>
+#include <stdio.h>
+#include <controllib/block/UOrbSubscription.hpp>
+#include <uORB/topics/actuator_controls.h>
+#include <drivers/device/i2c.h>
+
+/**
+ * This is a driver for the MD25 motor controller utilizing the I2C interface.
+ */
+class MD25 : public device::I2C
+{
+public:
+
+	/**
+	* modes
+	*
+	* NOTE: this driver assumes we are always
+	* in mode 0!
+	*
+	* seprate speed mode:
+	*  motor speed1 = speed1
+	*  motor speed2 = speed2
+	* turn speed mode:
+	*	motor speed1 = speed1 + speed2
+	*  motor speed2 = speed2 - speed2
+	* unsigned:
+	*  full rev (0), stop(128), full fwd (255)
+	* signed:
+	*  full rev (-127), stop(0), full fwd (128)
+	*
+	* modes numbers:
+	* 0 : unsigned separate (default)
+	* 1 : signed separate
+	* 2 : unsigned turn
+	* 3 : signed turn
+	*/
+	enum e_mode {
+		MODE_UNSIGNED_SPEED = 0,
+		MODE_SIGNED_SPEED,
+		MODE_UNSIGNED_SPEED_TURN,
+		MODE_SIGNED_SPEED_TURN,
+	};
+
+	/** commands */
+	enum e_cmd {
+		CMD_RESET_ENCODERS = 32,
+		CMD_DISABLE_SPEED_REGULATION = 48,
+		CMD_ENABLE_SPEED_REGULATION = 49,
+		CMD_DISABLE_TIMEOUT = 50,
+		CMD_ENABLE_TIMEOUT = 51,
+		CMD_CHANGE_I2C_SEQ_0 = 160,
+		CMD_CHANGE_I2C_SEQ_1 = 170,
+		CMD_CHANGE_I2C_SEQ_2 = 165,
+	};
+
+	/** control channels */
+	enum e_channels {
+		CH_SPEED_LEFT = 0,
+		CH_SPEED_RIGHT
+	};
+
+	/**
+	 * constructor
+	 * @param deviceName the name of the device e.g. "/dev/md25"
+	 * @param bus the I2C bus
+	 * @param address the adddress on the I2C bus
+	 * @param speed the speed of the I2C communication
+	 */
+	MD25(const char *deviceName,
+	     int bus,
+	     uint16_t address,
+	     uint32_t speed = 100000);
+
+	/**
+	 * deconstructor
+	 */
+	virtual ~MD25();
+
+	/**
+	 * @return software version
+	 */
+	uint8_t getVersion();
+
+	/**
+	 * @return speed of motor, normalized (-1, 1)
+	 */
+	float getMotor1Speed();
+
+	/**
+	 * @return speed of motor 2, normalized (-1, 1)
+	 */
+	float getMotor2Speed();
+
+	/**
+	 * @return number of rotations since reset
+	 */
+	float getRevolutions1();
+
+	/**
+	 * @return number of rotations since reset
+	 */
+	float getRevolutions2();
+
+	/**
+	 * @return battery voltage, volts
+	 */
+	float getBatteryVolts();
+
+	/**
+	 * @return motor 1 current, amps
+	 */
+	float getMotor1Current();
+
+	/**
+	 * @return motor 2 current, amps
+	 */
+	float getMotor2Current();
+
+	/**
+	 * @return the motor acceleration
+	 * controls motor speed change (1-10)
+	 * accel rate  | time for full fwd. to full rev.
+	 *  1          | 6.375 s
+	 *  2          | 1.6 s
+	 *  3          | 0.675 s
+	 *  5(default) | 1.275 s
+	 * 10          | 0.65 s
+	 */
+	uint8_t getMotorAccel();
+
+	/**
+	 * @return motor output mode
+	 * */
+	e_mode getMode();
+
+	/**
+	 * @return current command register value
+	 */
+	e_cmd getCommand();
+
+	/**
+	 * resets the encoders
+	 * @return non-zero -> error
+	 * */
+	int resetEncoders();
+
+	/**
+	 * enable/disable speed regulation
+	 * @return non-zero -> error
+	 */
+	int setSpeedRegulation(bool enable);
+
+	/**
+	 * set the timeout for the motors
+	 * enable/disable timeout (motor stop)
+	 * after 2 sec of no i2c messages
+	 * @return non-zero -> error
+	 */
+	int setTimeout(bool enable);
+
+	/**
+	 * sets the device address
+	 * can only be done with one MD25
+	 * on the bus
+	 * @return non-zero -> error
+	 */
+	int setDeviceAddress(uint8_t address);
+
+	/**
+	 * set motor 1 speed
+	 * @param normSpeed normalize speed between -1 and 1
+	 * @return non-zero -> error
+	*/
+	int setMotor1Speed(float normSpeed);
+
+	/**
+	 * set motor 2 speed
+	 * @param normSpeed normalize speed between -1 and 1
+	 * @return non-zero -> error
+	 */
+	int setMotor2Speed(float normSpeed);
+
+	/**
+	 * main update loop that updates MD25 motor
+	 * speeds based on actuator publication
+	 */
+	void update();
+
+	/**
+	 * probe for device
+	 */
+	virtual int probe();
+
+	/**
+	 * search for device
+	 */
+	int search();
+
+	/**
+	 * read data from i2c
+	 */
+	int readData();
+
+	/**
+	 * print status
+	 */
+	void status(char *string, size_t n);
+
+private:
+	/** poll structure for control packets */
+	struct pollfd _controlPoll;
+
+	/** actuator controls subscription */
+	control::UOrbSubscription<actuator_controls_s> _actuators;
+
+	// local copy of data from i2c device
+	uint8_t _version;
+	float _motor1Speed;
+	float _motor2Speed;
+	float _revolutions1;
+	float _revolutions2;
+	float _batteryVoltage;
+	float _motor1Current;
+	float _motor2Current;
+	uint8_t _motorAccel;
+	e_mode _mode;
+	e_cmd _command;
+
+	// private methods
+	int _writeUint8(uint8_t reg, uint8_t value);
+	int _writeInt8(uint8_t reg, int8_t value);
+	float _uint8ToNorm(uint8_t value);
+	uint8_t _normToUint8(float value);
+
+	/**
+	 * set motor control mode,
+	 * this driver assumed we are always in mode 0
+	 * so we don't let the user change the mode
+	 * @return non-zero -> error
+	 */
+	int _setMode(e_mode);
+};
+
+// unit testing
+int md25Test(const char *deviceName, uint8_t bus, uint8_t address);
+
+// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78