1 files changed, 400 insertions, 0 deletions
diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c
new file mode 100644
index 000000000..264041e65
--- /dev/null
+++ b/src/drivers/ardrone_interface/ardrone_interface.c
@@ -0,0 +1,400 @@
+/****************************************************************************
+ *
+ *   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
+			 */
+			//XXX fix this
+			//if (armed.armed && !armed.lockdown) {
+			if (state.flag_fmu_armed) {
+				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;
+}
+