1 files changed, 328 insertions, 0 deletions
diff --git a/src/drivers/roboclaw/RoboClaw.cpp b/src/drivers/roboclaw/RoboClaw.cpp
new file mode 100644
index 000000000..d65a9be36
--- /dev/null
+++ b/src/drivers/roboclaw/RoboClaw.cpp
@@ -0,0 +1,328 @@
+/****************************************************************************
+ *
+ *   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 RoboClaw.cpp
+ *
+ * RoboClaw Motor Driver
+ *
+ * references:
+ * http://downloads.orionrobotics.com/downloads/datasheets/motor_controller_robo_claw_R0401.pdf
+ *
+ */
+
+#include "RoboClaw.hpp"
+#include <poll.h>
+#include <stdio.h>
+#include <math.h>
+#include <string.h>
+#include <fcntl.h>
+#include <termios.h>
+
+#include <systemlib/err.h>
+#include <arch/board/board.h>
+#include <mavlink/mavlink_log.h>
+
+#include <controllib/uorb/UOrbPublication.hpp>
+#include <uORB/topics/debug_key_value.h>
+#include <drivers/drv_hrt.h>
+
+uint8_t RoboClaw::checksum_mask = 0x7f;
+
+RoboClaw::RoboClaw(const char *deviceName, uint16_t address,
+		uint16_t pulsesPerRev):
+	_address(address),
+	_pulsesPerRev(pulsesPerRev),
+	_uart(0),
+	_controlPoll(),
+	_actuators(NULL, ORB_ID(actuator_controls_0), 20),
+	_motor1Position(0),
+	_motor1Speed(0),
+	_motor1Overflow(0),
+	_motor2Position(0),
+	_motor2Speed(0),
+	_motor2Overflow(0)
+{
+	// setup control polling
+	_controlPoll.fd = _actuators.getHandle();
+	_controlPoll.events = POLLIN;
+
+	// start serial port
+	_uart = open(deviceName, O_RDWR | O_NOCTTY);
+	if (_uart < 0) err(1, "could not open %s", deviceName);
+	int ret = 0;
+	struct termios uart_config;
+	ret = tcgetattr(_uart, &uart_config);
+	if (ret < 0) err (1, "failed to get attr");
+	uart_config.c_oflag &= ~ONLCR; // no CR for every LF
+	ret = cfsetispeed(&uart_config, B38400);
+	if (ret < 0) err (1, "failed to set input speed");
+	ret = cfsetospeed(&uart_config, B38400);
+	if (ret < 0) err (1, "failed to set output speed");
+	ret = tcsetattr(_uart, TCSANOW, &uart_config);
+	if (ret < 0) err (1, "failed to set attr");
+
+	// setup default settings, reset encoders
+	resetEncoders();
+}
+
+RoboClaw::~RoboClaw()
+{
+	setMotorDutyCycle(MOTOR_1, 0.0);
+	setMotorDutyCycle(MOTOR_2, 0.0);
+	close(_uart);
+}
+
+int RoboClaw::readEncoder(e_motor motor)
+{
+	uint16_t sum = 0;
+	if (motor == MOTOR_1) {
+		_sendCommand(CMD_READ_ENCODER_1, nullptr, 0, sum);
+	} else if (motor == MOTOR_2) {
+		_sendCommand(CMD_READ_ENCODER_2, nullptr, 0, sum);
+	}
+	uint8_t rbuf[50];
+	usleep(5000);
+	int nread = read(_uart, rbuf, 50);
+	if (nread < 6) { 
+		printf("failed to read\n");
+		return -1;
+	}
+	//printf("received: \n");
+	//for (int i=0;i<nread;i++) {
+		//printf("%d\t", rbuf[i]);
+	//}
+	//printf("\n");
+	uint32_t count = 0;
+	uint8_t * countBytes = (uint8_t *)(&count);
+	countBytes[3] = rbuf[0];
+	countBytes[2] = rbuf[1];
+	countBytes[1] = rbuf[2];
+	countBytes[0] = rbuf[3];
+	uint8_t status = rbuf[4];
+	uint8_t checksum = rbuf[5];
+	uint8_t checksum_computed = (sum + _sumBytes(rbuf, 5)) & 
+		checksum_mask;
+	// check if checksum is valid
+	if (checksum != checksum_computed) {
+		printf("checksum failed: expected %d got %d\n",
+				checksum, checksum_computed);
+		return -1;
+	}
+	int overFlow = 0;
+
+	if (status & STATUS_REVERSE) {
+		//printf("roboclaw: reverse\n");
+	}
+
+	if (status & STATUS_UNDERFLOW) {
+		//printf("roboclaw: underflow\n");
+		overFlow = -1;
+	} else if (status & STATUS_OVERFLOW) {
+		//printf("roboclaw: overflow\n");
+		overFlow = +1;
+	}
+
+	static int64_t overflowAmount = 0x100000000LL;
+	if (motor == MOTOR_1) {
+		_motor1Overflow += overFlow;
+		_motor1Position = float(int64_t(count) + 
+			_motor1Overflow*overflowAmount)/_pulsesPerRev;
+	} else if (motor == MOTOR_2) {
+		_motor2Overflow += overFlow;
+		_motor2Position = float(int64_t(count) + 
+			_motor2Overflow*overflowAmount)/_pulsesPerRev;
+	}
+	return 0;
+}
+
+void RoboClaw::printStatus(char *string, size_t n)
+{
+	snprintf(string, n,
+		 "pos1,spd1,pos2,spd2: %10.2f %10.2f %10.2f %10.2f\n",
+		 double(getMotorPosition(MOTOR_1)),
+		 double(getMotorSpeed(MOTOR_1)),
+		 double(getMotorPosition(MOTOR_2)),
+		 double(getMotorSpeed(MOTOR_2)));
+}
+
+float RoboClaw::getMotorPosition(e_motor motor)
+{
+	if (motor == MOTOR_1) {
+		return _motor1Position;
+	} else if (motor == MOTOR_2) {
+		return _motor2Position;
+	}
+}
+
+float RoboClaw::getMotorSpeed(e_motor motor)
+{
+	if (motor == MOTOR_1) {
+		return _motor1Speed;
+	} else if (motor == MOTOR_2) {
+		return _motor2Speed;
+	}
+}
+
+int RoboClaw::setMotorSpeed(e_motor motor, float value)
+{
+	uint16_t sum = 0;
+	// bound
+	if (value > 1) value = 1;
+	if (value < -1) value = -1;
+	uint8_t speed = fabs(value)*127;
+	// send command
+	if (motor == MOTOR_1) {
+		if (value > 0) {
+			return _sendCommand(CMD_DRIVE_FWD_1, &speed, 1, sum);
+		} else {
+			return _sendCommand(CMD_DRIVE_REV_1, &speed, 1, sum);
+		}
+	} else if (motor == MOTOR_2) {
+		if (value > 0) {
+			return _sendCommand(CMD_DRIVE_FWD_2, &speed, 1, sum);
+		} else {
+			return _sendCommand(CMD_DRIVE_REV_2, &speed, 1, sum);
+		}
+	}
+	return -1;
+}
+
+int RoboClaw::setMotorDutyCycle(e_motor motor, float value)
+{
+	uint16_t sum = 0;
+	// bound
+	if (value > 1) value = 1;
+	if (value < -1) value = -1;
+	int16_t duty = 1500*value;
+	// send command
+	if (motor == MOTOR_1) {
+		return _sendCommand(CMD_SIGNED_DUTYCYCLE_1,
+				(uint8_t *)(&duty), 2, sum);
+	} else if (motor == MOTOR_2) {
+		return _sendCommand(CMD_SIGNED_DUTYCYCLE_2,
+				(uint8_t *)(&duty), 2, sum);
+	}
+	return -1;
+}
+
+int RoboClaw::resetEncoders() 
+{
+	uint16_t sum = 0;
+	return _sendCommand(CMD_RESET_ENCODERS,
+			nullptr, 0, sum);
+}
+
+int RoboClaw::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 -1; // poll error
+
+	// if new data, send to motors
+	if (_actuators.updated()) {
+		_actuators.update();
+		setMotorDutyCycle(MOTOR_1,_actuators.control[CH_VOLTAGE_LEFT]);
+		setMotorDutyCycle(MOTOR_2,_actuators.control[CH_VOLTAGE_RIGHT]);
+	}
+	return 0;
+}
+
+uint16_t RoboClaw::_sumBytes(uint8_t * buf, size_t n)
+{
+	uint16_t sum = 0;
+	//printf("sum\n");
+	for (size_t i=0;i<n;i++) {
+		sum += buf[i];
+		//printf("%d\t", buf[i]);
+	}
+	//printf("total sum %d\n", sum);
+	return sum;
+}
+
+int RoboClaw::_sendCommand(e_command cmd, uint8_t * data, 
+		size_t n_data, uint16_t & prev_sum)
+{
+	tcflush(_uart, TCIOFLUSH); // flush  buffers
+	uint8_t buf[n_data + 3];
+	buf[0] = _address;
+	buf[1] = cmd;
+	for (size_t i=0;i<n_data;i++) {
+		buf[i+2] = data[n_data - i - 1]; // MSB
+	}
+	uint16_t sum = _sumBytes(buf, n_data + 2);
+	prev_sum += sum;
+	buf[n_data + 2] = sum & checksum_mask;
+	//printf("\nmessage:\n");
+	//for (size_t i=0;i<n_data+3;i++) {
+		//printf("%d\t", buf[i]);
+	//}
+	//printf("\n");
+	return write(_uart, buf, n_data + 3);
+}
+
+int roboclawTest(const char *deviceName, uint8_t address, 
+		uint16_t pulsesPerRev)
+{
+	printf("roboclaw test: starting\n");
+
+	// setup
+	RoboClaw roboclaw(deviceName, address, pulsesPerRev);
+	roboclaw.setMotorDutyCycle(RoboClaw::MOTOR_1, 0.3);
+	roboclaw.setMotorDutyCycle(RoboClaw::MOTOR_2, 0.3);
+	char buf[200];
+	for (int i=0; i<10; i++) {
+		usleep(100000);
+		roboclaw.readEncoder(RoboClaw::MOTOR_1);
+		roboclaw.readEncoder(RoboClaw::MOTOR_2);
+		roboclaw.printStatus(buf,200);
+		printf("%s", buf);
+	}
+
+	roboclaw.setMotorDutyCycle(RoboClaw::MOTOR_1, -0.3);
+	roboclaw.setMotorDutyCycle(RoboClaw::MOTOR_2, -0.3);
+	for (int i=0; i<10; i++) {
+		usleep(100000);
+		roboclaw.readEncoder(RoboClaw::MOTOR_1);
+		roboclaw.readEncoder(RoboClaw::MOTOR_2);
+		roboclaw.printStatus(buf,200);
+		printf("%s", buf);
+	}
+
+	printf("Test complete\n");
+	return 0;
+}
+
+// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78