diff options
Diffstat (limited to 'apps/ardrone_interface/ardrone_interface.c')
-rw-r--r-- | apps/ardrone_interface/ardrone_interface.c | 398 |
1 files changed, 0 insertions, 398 deletions
diff --git a/apps/ardrone_interface/ardrone_interface.c b/apps/ardrone_interface/ardrone_interface.c deleted file mode 100644 index aeaf830de..000000000 --- a/apps/ardrone_interface/ardrone_interface.c +++ /dev/null @@ -1,398 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * 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 <systemlib/err.h> -#include <sys/prctl.h> -#include <drivers/drv_hrt.h> -#include <uORB/uORB.h> -#include <uORB/topics/vehicle_status.h> -#include <uORB/topics/actuator_controls.h> - -#include <systemlib/systemlib.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 */ -static int ardrone_write; /**< UART to write AR.Drone commands to */ - -/** - * Mainloop of ardrone_interface. - */ -int ardrone_interface_thread_main(int argc, char *argv[]); - -/** - * Open the UART connected to the motor controllers - */ -static int ardrone_open_uart(char *uart_name, struct termios *uart_config_original); - -/** - * 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: ardrone_interface {start|stop|status} [-d <UART>]\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_spawn("ardrone_interface", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 15, - 2048, - ardrone_interface_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - 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); -} - -static int ardrone_open_uart(char *uart_name, struct termios *uart_config_original) -{ - /* baud rate */ - int speed = B115200; - int uart; - - /* open uart */ - uart = open(uart_name, O_RDWR | O_NOCTTY); - - /* Try to set baud rate */ - struct termios uart_config; - int termios_state; - - /* Back up the original uart configuration to restore it after exit */ - if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { - fprintf(stderr, "[ardrone_interface] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state); - close(uart); - return -1; - } - - /* Fill the struct for the new configuration */ - tcgetattr(uart, &uart_config); - - /* Clear ONLCR flag (which appends a CR for every LF) */ - uart_config.c_oflag &= ~ONLCR; - - /* Set baud rate */ - if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { - fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); - close(uart); - return -1; - } - - - if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { - fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); - close(uart); - return -1; - } - - return uart; -} - -int ardrone_interface_thread_main(int argc, char *argv[]) -{ - thread_running = true; - - char *device = "/dev/ttyS1"; - - /* welcome user */ - printf("[ardrone_interface] Control started, taking over motors\n"); - - /* File descriptors */ - int gpios; - - char *commandline_usage = "\tusage: ardrone_interface start|status|stop [-t for motor test (10%% thrust)]\n"; - - bool motor_test_mode = false; - int test_motor = -1; - - /* read commandline arguments */ - for (int i = 0; i < argc && argv[i]; i++) { - if (strcmp(argv[i], "-t") == 0 || strcmp(argv[i], "--test") == 0) { - motor_test_mode = true; - } - - if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--motor") == 0) { - if (i+1 < argc) { - int motor = atoi(argv[i+1]); - if (motor > 0 && motor < 5) { - test_motor = motor; - } else { - thread_running = false; - errx(1, "supply a motor # between 1 and 4. Example: -m 1\n %s", commandline_usage); - } - } else { - thread_running = false; - errx(1, "missing parameter to -m 1..4\n %s", commandline_usage); - } - } - if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set - if (argc > i + 1) { - device = argv[i + 1]; - - } else { - thread_running = false; - errx(1, "missing parameter to -m 1..4\n %s", commandline_usage); - } - } - } - - struct termios uart_config_original; - - if (motor_test_mode) { - printf("[ardrone_interface] Motor test mode enabled, setting 10 %% thrust.\n"); - } - - /* 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)); - struct actuator_armed_s armed; - armed.armed = false; - - /* 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)); - int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); - - printf("[ardrone_interface] Motors initialized - ready.\n"); - fflush(stdout); - - /* enable UART, writes potentially an empty buffer, but multiplexing is disabled */ - ardrone_write = ardrone_open_uart(device, &uart_config_original); - - /* initialize multiplexing, deactivate all outputs - must happen after UART open to claim GPIOs on PX4FMU */ - gpios = ar_multiplexing_init(); - - if (ardrone_write < 0) { - fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n"); - thread_running = false; - 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"); - thread_running = false; - exit(ERROR); - } - - ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0); - - - // XXX Re-done initialization to make sure it is accepted by the motors - // XXX should be removed after more testing, but no harm - - /* close uarts */ - close(ardrone_write); - - /* enable UART, writes potentially an empty buffer, but multiplexing is disabled */ - ardrone_write = ardrone_open_uart(device, &uart_config_original); - - /* initialize multiplexing, deactivate all outputs - must happen after UART open to claim GPIOs on PX4FMU */ - gpios = ar_multiplexing_init(); - - if (ardrone_write < 0) { - fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n"); - thread_running = false; - 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"); - thread_running = false; - exit(ERROR); - } - - while (!thread_should_exit) { - - if (motor_test_mode) { - /* set motors to idle speed */ - if (test_motor > 0 && test_motor < 5) { - int motors[4] = {0, 0, 0, 0}; - motors[test_motor - 1] = 10; - ardrone_write_motor_commands(ardrone_write, motors[0], motors[1], motors[2], motors[3]); - } else { - ardrone_write_motor_commands(ardrone_write, 10, 10, 10, 10); - } - - } else { - /* MAIN OPERATION MODE */ - - /* 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); - orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); - - /* for now only spin if armed and immediately shut down - * if in failsafe - */ - if (armed.armed && !armed.lockdown) { - ardrone_mixing_and_output(ardrone_write, &actuator_controls); - - } else { - /* Silently lock down motor speeds to zero */ - ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0); - } - } - - if (counter % 24 == 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 200 Hz */ - usleep(4500); - - counter++; - } - - /* restore old UART config */ - int termios_state; - - if ((termios_state = tcsetattr(ardrone_write, TCSANOW, &uart_config_original)) < 0) { - fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for (tcsetattr)\n"); - } - - printf("[ardrone_interface] Restored original UART config, exiting..\n"); - - /* close uarts */ - close(ardrone_write); - ar_multiplexing_deinit(gpios); - - fflush(stdout); - - thread_running = false; - - return OK; -} - |