Merged with master

1 files changed, 553 insertions, 0 deletions

diff --git a/src/drivers/md25/md25.cpp b/src/drivers/md25/md25.cpp
new file mode 100644
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+++ b/src/drivers/md25/md25.cpp
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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
+ *
+ */
+
+#include "md25.hpp"
+#include <poll.h>
+#include <stdio.h>
+
+#include <systemlib/err.h>
+#include <arch/board/board.h>
+
+// registers
+enum {
+	// RW: read/write
+	// R: read
+	REG_SPEED1_RW = 0,
+	REG_SPEED2_RW,
+	REG_ENC1A_R,
+	REG_ENC1B_R,
+	REG_ENC1C_R,
+	REG_ENC1D_R,
+	REG_ENC2A_R,
+	REG_ENC2B_R,
+	REG_ENC2C_R,
+	REG_ENC2D_R,
+	REG_BATTERY_VOLTS_R,
+	REG_MOTOR1_CURRENT_R,
+	REG_MOTOR2_CURRENT_R,
+	REG_SW_VERSION_R,
+	REG_ACCEL_RATE_RW,
+	REG_MODE_RW,
+	REG_COMMAND_RW,
+};
+
+MD25::MD25(const char *deviceName, int bus,
+	   uint16_t address, uint32_t speed) :
+	I2C("MD25", deviceName, bus, address, speed),
+	_controlPoll(),
+	_actuators(NULL, ORB_ID(actuator_controls_0), 20),
+	_version(0),
+	_motor1Speed(0),
+	_motor2Speed(0),
+	_revolutions1(0),
+	_revolutions2(0),
+	_batteryVoltage(0),
+	_motor1Current(0),
+	_motor2Current(0),
+	_motorAccel(0),
+	_mode(MODE_UNSIGNED_SPEED),
+	_command(CMD_RESET_ENCODERS)
+{
+	// setup control polling
+	_controlPoll.fd = _actuators.getHandle();
+	_controlPoll.events = POLLIN;
+
+	// if initialization fails raise an error, unless
+	// probing
+	int ret = I2C::init();
+
+	if (ret != OK) {
+		warnc(ret, "I2C::init failed for bus: %d address: %d\n", bus, address);
+	}
+
+	// setup default settings, reset encoders
+	setMotor1Speed(0);
+	setMotor2Speed(0);
+	resetEncoders();
+	_setMode(MD25::MODE_UNSIGNED_SPEED);
+	setSpeedRegulation(true);
+	setTimeout(true);
+}
+
+MD25::~MD25()
+{
+}
+
+int MD25::readData()
+{
+	uint8_t sendBuf[1];
+	sendBuf[0] = REG_SPEED1_RW;
+	uint8_t recvBuf[17];
+	int ret = transfer(sendBuf, sizeof(sendBuf),
+			   recvBuf, sizeof(recvBuf));
+
+	if (ret == OK) {
+		_version = recvBuf[REG_SW_VERSION_R];
+		_motor1Speed = _uint8ToNorm(recvBuf[REG_SPEED1_RW]);
+		_motor2Speed = _uint8ToNorm(recvBuf[REG_SPEED2_RW]);
+		_revolutions1 = -int32_t((recvBuf[REG_ENC1A_R] << 24) +
+					 (recvBuf[REG_ENC1B_R] << 16) +
+					 (recvBuf[REG_ENC1C_R] << 8)  +
+					 recvBuf[REG_ENC1D_R]) / 360.0;
+		_revolutions2 = -int32_t((recvBuf[REG_ENC2A_R] << 24) +
+					 (recvBuf[REG_ENC2B_R] << 16) +
+					 (recvBuf[REG_ENC2C_R] << 8)  +
+					 recvBuf[REG_ENC2D_R]) / 360.0;
+		_batteryVoltage = recvBuf[REG_BATTERY_VOLTS_R] / 10.0;
+		_motor1Current = recvBuf[REG_MOTOR1_CURRENT_R] / 10.0;
+		_motor2Current = recvBuf[REG_MOTOR2_CURRENT_R] / 10.0;
+		_motorAccel = recvBuf[REG_ACCEL_RATE_RW];
+		_mode = e_mode(recvBuf[REG_MODE_RW]);
+		_command = e_cmd(recvBuf[REG_COMMAND_RW]);
+	}
+
+	return ret;
+}
+
+void MD25::status(char *string, size_t n)
+{
+	snprintf(string, n,
+		 "version:\t%10d\n" \
+		 "motor 1 speed:\t%10.2f\n" \
+		 "motor 2 speed:\t%10.2f\n" \
+		 "revolutions 1:\t%10.2f\n" \
+		 "revolutions 2:\t%10.2f\n" \
+		 "battery volts :\t%10.2f\n" \
+		 "motor 1 current :\t%10.2f\n" \
+		 "motor 2 current :\t%10.2f\n" \
+		 "motor accel :\t%10d\n" \
+		 "mode :\t%10d\n" \
+		 "command :\t%10d\n",
+		 getVersion(),
+		 double(getMotor1Speed()),
+		 double(getMotor2Speed()),
+		 double(getRevolutions1()),
+		 double(getRevolutions2()),
+		 double(getBatteryVolts()),
+		 double(getMotor1Current()),
+		 double(getMotor2Current()),
+		 getMotorAccel(),
+		 getMode(),
+		 getCommand());
+}
+
+uint8_t MD25::getVersion()
+{
+	return _version;
+}
+
+float MD25::getMotor1Speed()
+{
+	return _motor1Speed;
+}
+
+float MD25::getMotor2Speed()
+{
+	return _motor2Speed;
+}
+
+float MD25::getRevolutions1()
+{
+	return _revolutions1;
+}
+
+float MD25::getRevolutions2()
+{
+	return _revolutions2;
+}
+
+float MD25::getBatteryVolts()
+{
+	return _batteryVoltage;
+}
+
+float MD25::getMotor1Current()
+{
+	return _motor1Current;
+}
+float MD25::getMotor2Current()
+{
+	return _motor2Current;
+}
+
+uint8_t MD25::getMotorAccel()
+{
+	return _motorAccel;
+}
+
+MD25::e_mode MD25::getMode()
+{
+	return _mode;
+}
+
+MD25::e_cmd MD25::getCommand()
+{
+	return _command;
+}
+
+int MD25::resetEncoders()
+{
+	return _writeUint8(REG_COMMAND_RW,
+			   CMD_RESET_ENCODERS);
+}
+
+int MD25::_setMode(e_mode mode)
+{
+	return _writeUint8(REG_MODE_RW,
+			   mode);
+}
+
+int MD25::setSpeedRegulation(bool enable)
+{
+	if (enable) {
+		return _writeUint8(REG_COMMAND_RW,
+				   CMD_ENABLE_SPEED_REGULATION);
+
+	} else {
+		return _writeUint8(REG_COMMAND_RW,
+				   CMD_DISABLE_SPEED_REGULATION);
+	}
+}
+
+int MD25::setTimeout(bool enable)
+{
+	if (enable) {
+		return _writeUint8(REG_COMMAND_RW,
+				   CMD_ENABLE_TIMEOUT);
+
+	} else {
+		return _writeUint8(REG_COMMAND_RW,
+				   CMD_DISABLE_TIMEOUT);
+	}
+}
+
+int MD25::setDeviceAddress(uint8_t address)
+{
+	uint8_t sendBuf[1];
+	sendBuf[0] = CMD_CHANGE_I2C_SEQ_0;
+	int ret = OK;
+	ret = transfer(sendBuf, sizeof(sendBuf),
+		       nullptr, 0);
+
+	if (ret != OK) {
+		warnc(ret, "MD25::setDeviceAddress");
+		return ret;
+	}
+
+	usleep(5000);
+	sendBuf[0] = CMD_CHANGE_I2C_SEQ_1;
+	ret = transfer(sendBuf, sizeof(sendBuf),
+		       nullptr, 0);
+
+	if (ret != OK) {
+		warnc(ret, "MD25::setDeviceAddress");
+		return ret;
+	}
+
+	usleep(5000);
+	sendBuf[0] = CMD_CHANGE_I2C_SEQ_2;
+	ret = transfer(sendBuf, sizeof(sendBuf),
+		       nullptr, 0);
+
+	if (ret != OK) {
+		warnc(ret, "MD25::setDeviceAddress");
+		return ret;
+	}
+
+	return OK;
+}
+
+int MD25::setMotor1Speed(float value)
+{
+	return _writeUint8(REG_SPEED1_RW,
+			   _normToUint8(value));
+}
+
+int MD25::setMotor2Speed(float value)
+{
+	return _writeUint8(REG_SPEED2_RW,
+			   _normToUint8(value));
+}
+
+void MD25::update()
+{
+	// wait for an actuator publication,
+	// check for exit condition every second
+	// note "::poll" is required to distinguish global
+	// poll from member function for driver
+	if (::poll(&_controlPoll, 1, 1000) < 0) return; // poll error
+
+	// if new data, send to motors
+	if (_actuators.updated()) {
+		_actuators.update();
+		setMotor1Speed(_actuators.control[CH_SPEED_LEFT]);
+		setMotor2Speed(_actuators.control[CH_SPEED_RIGHT]);
+	}
+}
+
+int MD25::probe()
+{
+	uint8_t goodAddress = 0;
+	bool found = false;
+	int ret = OK;
+
+	// try initial address first, if good, then done
+	if (readData() == OK) return ret;
+
+	// try all other addresses
+	uint8_t testAddress = 0;
+
+	//printf("searching for MD25 address\n");
+	while (true) {
+		set_address(testAddress);
+		ret = readData();
+
+		if (ret == OK && !found) {
+			//printf("device found at address: 0x%X\n", testAddress);
+			if (!found) {
+				found = true;
+				goodAddress = testAddress;
+			}
+		}
+
+		if (testAddress > 254) {
+			break;
+		}
+
+		testAddress++;
+	}
+
+	if (found) {
+		set_address(goodAddress);
+		return OK;
+
+	} else {
+		set_address(0);
+		return ret;
+	}
+}
+
+int MD25::search()
+{
+	uint8_t goodAddress = 0;
+	bool found = false;
+	int ret = OK;
+	// try all other addresses
+	uint8_t testAddress = 0;
+
+	//printf("searching for MD25 address\n");
+	while (true) {
+		set_address(testAddress);
+		ret = readData();
+
+		if (ret == OK && !found) {
+			printf("device found at address: 0x%X\n", testAddress);
+
+			if (!found) {
+				found = true;
+				goodAddress = testAddress;
+			}
+		}
+
+		if (testAddress > 254) {
+			break;
+		}
+
+		testAddress++;
+	}
+
+	if (found) {
+		set_address(goodAddress);
+		return OK;
+
+	} else {
+		set_address(0);
+		return ret;
+	}
+}
+
+int MD25::_writeUint8(uint8_t reg, uint8_t value)
+{
+	uint8_t sendBuf[2];
+	sendBuf[0] = reg;
+	sendBuf[1] = value;
+	return transfer(sendBuf, sizeof(sendBuf),
+			nullptr, 0);
+}
+
+int MD25::_writeInt8(uint8_t reg, int8_t value)
+{
+	uint8_t sendBuf[2];
+	sendBuf[0] = reg;
+	sendBuf[1] = value;
+	return transfer(sendBuf, sizeof(sendBuf),
+			nullptr, 0);
+}
+
+float MD25::_uint8ToNorm(uint8_t value)
+{
+	// TODO, should go from 0 to 255
+	// possibly should handle this differently
+	return (value - 128) / 127.0;
+}
+
+uint8_t MD25::_normToUint8(float value)
+{
+	if (value > 1) value = 1;
+
+	if (value < -1) value = -1;
+
+	// TODO, should go from 0 to 255
+	// possibly should handle this differently
+	return 127 * value + 128;
+}
+
+int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
+{
+	printf("md25 test: starting\n");
+
+	// setup
+	MD25 md25("/dev/md25", bus, address);
+
+	// print status
+	char buf[200];
+	md25.status(buf, sizeof(buf));
+	printf("%s\n", buf);
+
+	// setup for test
+	md25.setSpeedRegulation(true);
+	md25.setTimeout(true);
+	float dt = 0.1;
+	float speed = 0.2;
+	float t = 0;
+
+	// motor 1 test
+	printf("md25 test: spinning motor 1 forward for 1 rev at 0.1 speed\n");
+	t = 0;
+
+	while (true) {
+		t += dt;
+		md25.setMotor1Speed(speed);
+		md25.readData();
+		usleep(1000000 * dt);
+
+		if (md25.getRevolutions1() > 1) {
+			printf("finished 1 revolution fwd\n");
+			break;
+		}
+
+		if (t > 2.0f) break;
+	}
+
+	md25.setMotor1Speed(0);
+	printf("revolution of wheel 1: %8.4f\n", double(md25.getRevolutions1()));
+	md25.resetEncoders();
+
+	t = 0;
+
+	while (true) {
+		t += dt;
+		md25.setMotor1Speed(-speed);
+		md25.readData();
+		usleep(1000000 * dt);
+
+		if (md25.getRevolutions1() < -1) {
+			printf("finished 1 revolution rev\n");
+			break;
+		}
+
+		if (t > 2.0f) break;
+	}
+
+	md25.setMotor1Speed(0);
+	printf("revolution of wheel 1: %8.4f\n", double(md25.getRevolutions1()));
+	md25.resetEncoders();
+
+	// motor 2 test
+	printf("md25 test: spinning motor 2 forward for 1 rev at 0.1 speed\n");
+	t = 0;
+
+	while (true) {
+		t += dt;
+		md25.setMotor2Speed(speed);
+		md25.readData();
+		usleep(1000000 * dt);
+
+		if (md25.getRevolutions2() > 1) {
+			printf("finished 1 revolution fwd\n");
+			break;
+		}
+
+		if (t > 2.0f) break;
+	}
+
+	md25.setMotor2Speed(0);
+	printf("revolution of wheel 2: %8.4f\n", double(md25.getRevolutions2()));
+	md25.resetEncoders();
+
+	t = 0;
+
+	while (true) {
+		t += dt;
+		md25.setMotor2Speed(-speed);
+		md25.readData();
+		usleep(1000000 * dt);
+
+		if (md25.getRevolutions2() < -1) {
+			printf("finished 1 revolution rev\n");
+			break;
+		}
+
+		if (t > 2.0f) break;
+	}
+
+	md25.setMotor2Speed(0);
+	printf("revolution of wheel 2: %8.4f\n", double(md25.getRevolutions2()));
+	md25.resetEncoders();
+
+	printf("Test complete\n");
+	return 0;
+}
+
+// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78