diff options
Diffstat (limited to 'apps/ardrone_interface/ardrone_motor_control.c')
-rw-r--r-- | apps/ardrone_interface/ardrone_motor_control.c | 492 |
1 files changed, 0 insertions, 492 deletions
diff --git a/apps/ardrone_interface/ardrone_motor_control.c b/apps/ardrone_interface/ardrone_motor_control.c deleted file mode 100644 index f15c74a22..000000000 --- a/apps/ardrone_interface/ardrone_motor_control.c +++ /dev/null @@ -1,492 +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_motor_control.c - * Implementation of AR.Drone 1.0 / 2.0 motor control interface - */ - -#include <nuttx/config.h> -#include <stdio.h> -#include <fcntl.h> -#include <unistd.h> -#include <drivers/drv_gpio.h> -#include <drivers/drv_hrt.h> -#include <uORB/uORB.h> -#include <uORB/topics/actuator_outputs.h> -#include <uORB/topics/actuator_controls_effective.h> -#include <systemlib/err.h> - -#include "ardrone_motor_control.h" - -static unsigned long motor_gpios = GPIO_EXT_1 | GPIO_EXT_2 | GPIO_MULTI_1 | GPIO_MULTI_2; -static unsigned long motor_gpio[4] = { GPIO_EXT_1, GPIO_EXT_2, GPIO_MULTI_1, GPIO_MULTI_2 }; - -typedef union { - uint16_t motor_value; - uint8_t bytes[2]; -} motor_union_t; - -#define UART_TRANSFER_TIME_BYTE_US (9+50) /**< 9 us per byte at 115200k plus overhead */ - -/** - * @brief Generate the 8-byte motor set packet - * - * @return the number of bytes (8) - */ -void ar_get_motor_packet(uint8_t *motor_buf, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4) -{ - motor_buf[0] = 0x20; - motor_buf[1] = 0x00; - motor_buf[2] = 0x00; - motor_buf[3] = 0x00; - motor_buf[4] = 0x00; - /* - * {0x20, 0x00, 0x00, 0x00, 0x00}; - * 0x20 is start sign / motor command - */ - motor_union_t curr_motor; - uint16_t nineBitMask = 0x1FF; - - /* Set motor 1 */ - curr_motor.motor_value = (motor1 & nineBitMask) << 4; - motor_buf[0] |= curr_motor.bytes[1]; - motor_buf[1] |= curr_motor.bytes[0]; - - /* Set motor 2 */ - curr_motor.motor_value = (motor2 & nineBitMask) << 3; - motor_buf[1] |= curr_motor.bytes[1]; - motor_buf[2] |= curr_motor.bytes[0]; - - /* Set motor 3 */ - curr_motor.motor_value = (motor3 & nineBitMask) << 2; - motor_buf[2] |= curr_motor.bytes[1]; - motor_buf[3] |= curr_motor.bytes[0]; - - /* Set motor 4 */ - curr_motor.motor_value = (motor4 & nineBitMask) << 1; - motor_buf[3] |= curr_motor.bytes[1]; - motor_buf[4] |= curr_motor.bytes[0]; -} - -void ar_enable_broadcast(int fd) -{ - ar_select_motor(fd, 0); -} - -int ar_multiplexing_init() -{ - int fd; - - fd = open(GPIO_DEVICE_PATH, 0); - - if (fd < 0) { - warn("GPIO: open fail"); - return fd; - } - - /* deactivate all outputs */ - if (ioctl(fd, GPIO_SET, motor_gpios)) { - warn("GPIO: clearing pins fail"); - close(fd); - return -1; - } - - /* configure all motor select GPIOs as outputs */ - if (ioctl(fd, GPIO_SET_OUTPUT, motor_gpios) != 0) { - warn("GPIO: output set fail"); - close(fd); - return -1; - } - - return fd; -} - -int ar_multiplexing_deinit(int fd) -{ - if (fd < 0) { - printf("GPIO: no valid descriptor\n"); - return fd; - } - - int ret = 0; - - /* deselect motor 1-4 */ - ret += ioctl(fd, GPIO_SET, motor_gpios); - - if (ret != 0) { - printf("GPIO: clear failed %d times\n", ret); - } - - if (ioctl(fd, GPIO_SET_INPUT, motor_gpios) != 0) { - printf("GPIO: input set fail\n"); - return -1; - } - - close(fd); - - return ret; -} - -int ar_select_motor(int fd, uint8_t motor) -{ - int ret = 0; - /* - * Four GPIOS: - * GPIO_EXT1 - * GPIO_EXT2 - * GPIO_UART2_CTS - * GPIO_UART2_RTS - */ - - /* select motor 0 to enable broadcast */ - if (motor == 0) { - /* select motor 1-4 */ - ret += ioctl(fd, GPIO_CLEAR, motor_gpios); - - } else { - /* select reqested motor */ - ret += ioctl(fd, GPIO_CLEAR, motor_gpio[motor - 1]); - } - - return ret; -} - -int ar_deselect_motor(int fd, uint8_t motor) -{ - int ret = 0; - /* - * Four GPIOS: - * GPIO_EXT1 - * GPIO_EXT2 - * GPIO_UART2_CTS - * GPIO_UART2_RTS - */ - - if (motor == 0) { - /* deselect motor 1-4 */ - ret += ioctl(fd, GPIO_SET, motor_gpios); - - } else { - /* deselect reqested motor */ - ret = ioctl(fd, GPIO_SET, motor_gpio[motor - 1]); - } - - return ret; -} - -int ar_init_motors(int ardrone_uart, int gpios) -{ - /* Write ARDrone commands on UART2 */ - uint8_t initbuf[] = {0xE0, 0x91, 0xA1, 0x00, 0x40}; - uint8_t multicastbuf[] = {0xA0, 0xA0, 0xA0, 0xA0, 0xA0, 0xA0}; - - /* deselect all motors */ - ar_deselect_motor(gpios, 0); - - /* initialize all motors - * - select one motor at a time - * - configure motor - */ - int i; - int errcounter = 0; - - - /* initial setup run */ - for (i = 1; i < 5; ++i) { - /* Initialize motors 1-4 */ - errcounter += ar_select_motor(gpios, i); - usleep(200); - - /* - * write 0xE0 - request status - * receive one status byte - */ - write(ardrone_uart, &(initbuf[0]), 1); - fsync(ardrone_uart); - usleep(UART_TRANSFER_TIME_BYTE_US*1); - - /* - * write 0x91 - request checksum - * receive 120 status bytes - */ - write(ardrone_uart, &(initbuf[1]), 1); - fsync(ardrone_uart); - usleep(UART_TRANSFER_TIME_BYTE_US*120); - - /* - * write 0xA1 - set status OK - * receive one status byte - should be A0 - * to confirm status is OK - */ - write(ardrone_uart, &(initbuf[2]), 1); - fsync(ardrone_uart); - usleep(UART_TRANSFER_TIME_BYTE_US*1); - - /* - * set as motor i, where i = 1..4 - * receive nothing - */ - initbuf[3] = (uint8_t)i; - write(ardrone_uart, &(initbuf[3]), 1); - fsync(ardrone_uart); - - /* - * write 0x40 - check version - * receive 11 bytes encoding the version - */ - write(ardrone_uart, &(initbuf[4]), 1); - fsync(ardrone_uart); - usleep(UART_TRANSFER_TIME_BYTE_US*11); - - ar_deselect_motor(gpios, i); - /* sleep 200 ms */ - usleep(200000); - } - - /* start the multicast part */ - errcounter += ar_select_motor(gpios, 0); - usleep(200); - - /* - * first round - * write six times A0 - enable broadcast - * receive nothing - */ - write(ardrone_uart, multicastbuf, sizeof(multicastbuf)); - fsync(ardrone_uart); - usleep(UART_TRANSFER_TIME_BYTE_US * sizeof(multicastbuf)); - - /* - * second round - * write six times A0 - enable broadcast - * receive nothing - */ - write(ardrone_uart, multicastbuf, sizeof(multicastbuf)); - fsync(ardrone_uart); - usleep(UART_TRANSFER_TIME_BYTE_US * sizeof(multicastbuf)); - - /* set motors to zero speed (fsync is part of the write command */ - ardrone_write_motor_commands(ardrone_uart, 0, 0, 0, 0); - - if (errcounter != 0) { - fprintf(stderr, "[ardrone_interface] init sequence incomplete, failed %d times", -errcounter); - fflush(stdout); - } - return errcounter; -} - -/** - * Sets the leds on the motor controllers, 1 turns led on, 0 off. - */ -void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t led2_red, uint8_t led2_green, uint8_t led3_red, uint8_t led3_green, uint8_t led4_red, uint8_t led4_green) -{ - /* - * 2 bytes are sent. The first 3 bits describe the command: 011 means led control - * the following 4 bits are the red leds for motor 4, 3, 2, 1 - * then 4 bits with unknown function, then 4 bits for green leds for motor 4, 3, 2, 1 - * the last bit is unknown. - * - * The packet is therefore: - * 011 rrrr 0000 gggg 0 - */ - uint8_t leds[2]; - leds[0] = 0x60 | ((led4_red & 0x01) << 4) | ((led3_red & 0x01) << 3) | ((led2_red & 0x01) << 2) | ((led1_red & 0x01) << 1); - leds[1] = ((led4_green & 0x01) << 4) | ((led3_green & 0x01) << 3) | ((led2_green & 0x01) << 2) | ((led1_green & 0x01) << 1); - write(ardrone_uart, leds, 2); -} - -int ardrone_write_motor_commands(int ardrone_fd, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4) { - const unsigned int min_motor_interval = 4900; - static uint64_t last_motor_time = 0; - - static struct actuator_outputs_s outputs; - outputs.timestamp = hrt_absolute_time(); - outputs.output[0] = motor1; - outputs.output[1] = motor2; - outputs.output[2] = motor3; - outputs.output[3] = motor4; - static orb_advert_t pub = 0; - if (pub == 0) { - pub = orb_advertise(ORB_ID_VEHICLE_CONTROLS, &outputs); - } - - if (hrt_absolute_time() - last_motor_time > min_motor_interval) { - uint8_t buf[5] = {0}; - ar_get_motor_packet(buf, motor1, motor2, motor3, motor4); - int ret; - ret = write(ardrone_fd, buf, sizeof(buf)); - fsync(ardrone_fd); - - /* publish just written values */ - orb_publish(ORB_ID_VEHICLE_CONTROLS, pub, &outputs); - - if (ret == sizeof(buf)) { - return OK; - } else { - return ret; - } - } else { - return -ERROR; - } -} - -void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators) { - - float roll_control = actuators->control[0]; - float pitch_control = actuators->control[1]; - float yaw_control = actuators->control[2]; - float motor_thrust = actuators->control[3]; - - //printf("AMO: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",roll_control, pitch_control, yaw_control, motor_thrust); - - const float min_thrust = 0.02f; /**< 2% minimum thrust */ - const float max_thrust = 1.0f; /**< 100% max thrust */ - const float scaling = 500.0f; /**< 100% thrust equals a value of 500 which works, 512 leads to cutoff */ - const float min_gas = min_thrust * scaling; /**< value range sent to motors, minimum */ - const float max_gas = max_thrust * scaling; /**< value range sent to motors, maximum */ - - /* initialize all fields to zero */ - uint16_t motor_pwm[4] = {0}; - float motor_calc[4] = {0}; - - float output_band = 0.0f; - float band_factor = 0.75f; - const float startpoint_full_control = 0.25f; /**< start full control at 25% thrust */ - float yaw_factor = 1.0f; - - static bool initialized = false; - /* publish effective outputs */ - static struct actuator_controls_effective_s actuator_controls_effective; - static orb_advert_t actuator_controls_effective_pub; - - if (motor_thrust <= min_thrust) { - motor_thrust = min_thrust; - output_band = 0.0f; - } else if (motor_thrust < startpoint_full_control && motor_thrust > min_thrust) { - output_band = band_factor * (motor_thrust - min_thrust); - } else if (motor_thrust >= startpoint_full_control && motor_thrust < max_thrust - band_factor * startpoint_full_control) { - output_band = band_factor * startpoint_full_control; - } else if (motor_thrust >= max_thrust - band_factor * startpoint_full_control) { - output_band = band_factor * (max_thrust - motor_thrust); - } - - //add the yaw, nick and roll components to the basic thrust //TODO:this should be done by the mixer - - // FRONT (MOTOR 1) - motor_calc[0] = motor_thrust + (roll_control / 2 + pitch_control / 2 - yaw_control); - - // RIGHT (MOTOR 2) - motor_calc[1] = motor_thrust + (-roll_control / 2 + pitch_control / 2 + yaw_control); - - // BACK (MOTOR 3) - motor_calc[2] = motor_thrust + (-roll_control / 2 - pitch_control / 2 - yaw_control); - - // LEFT (MOTOR 4) - motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control); - - // if we are not in the output band - if (!(motor_calc[0] < motor_thrust + output_band && motor_calc[0] > motor_thrust - output_band - && motor_calc[1] < motor_thrust + output_band && motor_calc[1] > motor_thrust - output_band - && motor_calc[2] < motor_thrust + output_band && motor_calc[2] > motor_thrust - output_band - && motor_calc[3] < motor_thrust + output_band && motor_calc[3] > motor_thrust - output_band)) { - - yaw_factor = 0.5f; - yaw_control *= yaw_factor; - // FRONT (MOTOR 1) - motor_calc[0] = motor_thrust + (roll_control / 2 + pitch_control / 2 - yaw_control); - - // RIGHT (MOTOR 2) - motor_calc[1] = motor_thrust + (-roll_control / 2 + pitch_control / 2 + yaw_control); - - // BACK (MOTOR 3) - motor_calc[2] = motor_thrust + (-roll_control / 2 - pitch_control / 2 - yaw_control); - - // LEFT (MOTOR 4) - motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control); - } - - for (int i = 0; i < 4; i++) { - //check for limits - if (motor_calc[i] < motor_thrust - output_band) { - motor_calc[i] = motor_thrust - output_band; - } - - if (motor_calc[i] > motor_thrust + output_band) { - motor_calc[i] = motor_thrust + output_band; - } - } - - /* publish effective outputs */ - actuator_controls_effective.control_effective[0] = roll_control; - actuator_controls_effective.control_effective[1] = pitch_control; - /* yaw output after limiting */ - actuator_controls_effective.control_effective[2] = yaw_control; - /* possible motor thrust limiting */ - actuator_controls_effective.control_effective[3] = (motor_calc[0] + motor_calc[1] + motor_calc[2] + motor_calc[3]) / 4.0f; - - if (!initialized) { - /* advertise and publish */ - actuator_controls_effective_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, &actuator_controls_effective); - initialized = true; - } else { - /* already initialized, just publishing */ - orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, actuator_controls_effective_pub, &actuator_controls_effective); - } - - /* set the motor values */ - - /* scale up from 0..1 to 10..512) */ - motor_pwm[0] = (uint16_t) (motor_calc[0] * ((float)max_gas - min_gas) + min_gas); - motor_pwm[1] = (uint16_t) (motor_calc[1] * ((float)max_gas - min_gas) + min_gas); - motor_pwm[2] = (uint16_t) (motor_calc[2] * ((float)max_gas - min_gas) + min_gas); - motor_pwm[3] = (uint16_t) (motor_calc[3] * ((float)max_gas - min_gas) + min_gas); - - /* Keep motors spinning while armed and prevent overflows */ - - /* Failsafe logic - should never be necessary */ - motor_pwm[0] = (motor_pwm[0] > 0) ? motor_pwm[0] : 10; - motor_pwm[1] = (motor_pwm[1] > 0) ? motor_pwm[1] : 10; - motor_pwm[2] = (motor_pwm[2] > 0) ? motor_pwm[2] : 10; - motor_pwm[3] = (motor_pwm[3] > 0) ? motor_pwm[3] : 10; - - /* Failsafe logic - should never be necessary */ - motor_pwm[0] = (motor_pwm[0] <= 512) ? motor_pwm[0] : 512; - motor_pwm[1] = (motor_pwm[1] <= 512) ? motor_pwm[1] : 512; - motor_pwm[2] = (motor_pwm[2] <= 512) ? motor_pwm[2] : 512; - motor_pwm[3] = (motor_pwm[3] <= 512) ? motor_pwm[3] : 512; - - /* send motors via UART */ - ardrone_write_motor_commands(ardrone_write, motor_pwm[0], motor_pwm[1], motor_pwm[2], motor_pwm[3]); -} |