1 files changed, 281 insertions, 0 deletions
diff --git a/apps/ardrone_interface/ardrone_interface.c b/apps/ardrone_interface/ardrone_interface.c
new file mode 100644
index 000000000..f35425275
--- /dev/null
+++ b/apps/ardrone_interface/ardrone_interface.c
@@ -0,0 +1,281 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 ardrone_interface.c
+ * Implementation of AR.Drone 1.0 / 2.0 motor control interface.
+ */
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <math.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <debug.h>
+#include <termios.h>
+#include <time.h>
+#include <sys/prctl.h>
+#include <arch/board/up_hrt.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/actuator_controls.h>
+
+#include "ardrone_motor_control.h"
+
+__EXPORT int ardrone_interface_main(int argc, char *argv[]);
+
+
+static bool thread_should_exit = false;		/**< Deamon exit flag */
+static bool thread_running = false;		/**< Deamon status flag */
+static int ardrone_interface_task;		/**< Handle of deamon task / thread */
+
+/**
+ * Mainloop of ardrone_interface.
+ */
+int ardrone_interface_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+	fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\n\n");
+	exit(1);
+}
+
+/**
+ * The deamon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ * 
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int ardrone_interface_main(int argc, char *argv[])
+{
+		if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("ardrone_interface already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		ardrone_interface_task = task_create("ardrone_interface", SCHED_PRIORITY_MAX - 15, 4096, ardrone_interface_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		thread_running = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			printf("\tardrone_interface is running\n");
+		} else {
+			printf("\tardrone_interface not started\n");
+		}
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+int ardrone_interface_thread_main(int argc, char *argv[])
+{
+	/* welcome user */
+	printf("[ardrone_interface] Control started, taking over motors\n");
+
+	/* default values for arguments */
+	char *ardrone_uart_name = "/dev/ttyS1";
+
+	/* File descriptors */
+	int ardrone_write;
+	int gpios;
+
+	enum {
+		CONTROL_MODE_RATES = 0,
+		CONTROL_MODE_ATTITUDE = 1,
+	} control_mode = CONTROL_MODE_ATTITUDE;
+
+	char *commandline_usage = "\tusage: ardrone_interface -d ardrone-devicename -m mode\n\tmodes are:\n\t\trates\n\t\tattitude\n";
+
+	bool motor_test_mode = false;
+
+	/* read commandline arguments */
+	for (int i = 1; i < argc; i++) {
+		if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //ardrone set
+			if (argc > i + 1) {
+				ardrone_uart_name = argv[i + 1];
+			} else {
+				printf(commandline_usage);
+				return ERROR;
+			}
+
+		} else if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--mode") == 0) {
+			if (argc > i + 1) {
+				if (strcmp(argv[i + 1], "rates") == 0) {
+					control_mode = CONTROL_MODE_RATES;
+
+				} else if (strcmp(argv[i + 1], "attitude") == 0) {
+					control_mode = CONTROL_MODE_ATTITUDE;
+
+				} else {
+					printf(commandline_usage);
+					return ERROR;
+				}
+
+			} else {
+				printf(commandline_usage);
+				return ERROR;
+			}
+
+		} else if (strcmp(argv[i], "-t") == 0 || strcmp(argv[i], "--test") == 0) {
+			motor_test_mode = true;
+		}
+	}
+
+	/* open uarts */
+	printf("[ardrone_interface] AR.Drone UART is %s\n", ardrone_uart_name);
+	ardrone_write = open(ardrone_uart_name, O_RDWR | O_NOCTTY | O_NDELAY);
+	if (ardrone_write < 0) {
+		fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
+		exit(ERROR);
+	}
+
+	/* initialize motors */
+	if (OK != ar_init_motors(ardrone_write, &gpios)) {
+		close(ardrone_write);
+		fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
+		exit(ERROR);
+	}
+
+	/* Led animation */
+	int counter = 0;
+	int led_counter = 0;
+
+	/* declare and safely initialize all structs */
+	struct vehicle_status_s state;
+	memset(&state, 0, sizeof(state));
+	struct actuator_controls_s actuator_controls;
+	memset(&actuator_controls, 0, sizeof(actuator_controls));
+
+	/* subscribe to attitude, motor setpoints and system state */
+	int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
+	int state_sub = orb_subscribe(ORB_ID(vehicle_status));
+
+	while (!thread_should_exit) {
+
+		/* get a local copy of the vehicle state */
+		orb_copy(ORB_ID(vehicle_status), state_sub, &state);
+		/* get a local copy of the actuator controls */
+		orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls);
+		// if ..
+			ardrone_mixing_and_output(ardrone_write, &actuator_controls, motor_test_mode);
+		// } else {
+		// 	/* Silently lock down motor speeds to zero */
+		// 	ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0);
+		// }
+
+		if (counter % 30 == 0) {
+			if (led_counter == 0) ar_set_leds(ardrone_write, 0, 1, 0, 0, 0, 0, 0 , 0);
+
+			if (led_counter == 1) ar_set_leds(ardrone_write, 1, 1, 0, 0, 0, 0, 0 , 0);
+
+			if (led_counter == 2) ar_set_leds(ardrone_write, 1, 0, 0, 0, 0, 0, 0 , 0);
+
+			if (led_counter == 3) ar_set_leds(ardrone_write, 0, 0, 0, 1, 0, 0, 0 , 0);
+
+			if (led_counter == 4) ar_set_leds(ardrone_write, 0, 0, 1, 1, 0, 0, 0 , 0);
+
+			if (led_counter == 5) ar_set_leds(ardrone_write, 0, 0, 1, 0, 0, 0, 0 , 0);
+
+			if (led_counter == 6) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 1, 0 , 0);
+
+			if (led_counter == 7) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 1, 0 , 0);
+
+			if (led_counter == 8) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 0, 0 , 0);
+
+			if (led_counter == 9) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 0 , 1);
+
+			if (led_counter == 10) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 1);
+
+			if (led_counter == 11) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 0);
+
+			led_counter++;
+
+			if (led_counter == 12) led_counter = 0;
+		}
+
+		/* run at approximately 50 Hz */
+		usleep(20000);
+
+		// This is a hardcore debug code piece to validate
+		// the motor interface
+		// uint8_t motorSpeedBuf[5] = {1, 2, 3, 4, 5};
+		// ar_get_motor_packet(motorSpeedBuf, 20, 20, 20, 20);
+		// write(ardrone_write, motorSpeedBuf, 5);
+		// usleep(15000);
+
+		counter++;
+	}
+
+	/* close uarts */
+	close(ardrone_write);
+	ar_multiplexing_deinit(gpios);
+
+	printf("[ardrone_interface] ending now...\n");
+	fflush(stdout);
+
+	thread_running = false;
+
+	return OK;
+}
+