diff options
Diffstat (limited to 'src/drivers/servo_gimbal')
-rw-r--r-- | src/drivers/servo_gimbal/gimbal.cpp | 534 | ||||
-rw-r--r-- | src/drivers/servo_gimbal/module.mk | 42 |
2 files changed, 576 insertions, 0 deletions
diff --git a/src/drivers/servo_gimbal/gimbal.cpp b/src/drivers/servo_gimbal/gimbal.cpp new file mode 100644 index 000000000..01a1712a2 --- /dev/null +++ b/src/drivers/servo_gimbal/gimbal.cpp @@ -0,0 +1,534 @@ +/**************************************************************************** + * + * Copyright (c) 2014, 2015 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 gimbal.cpp + * @author Lorenz Meier <lm@inf.ethz.ch> + * + * Driver to control a gimbal - relies on input via telemetry or RC + * and output via the standardized control group #2 and a mixer. + */ + +#include <nuttx/config.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdlib.h> +#include <stdbool.h> +#include <semaphore.h> +#include <string.h> +#include <fcntl.h> +#include <poll.h> +#include <errno.h> +#include <stdio.h> +#include <math.h> +#include <unistd.h> +#include <termios.h> + +#include <nuttx/arch.h> +#include <nuttx/wqueue.h> +#include <nuttx/clock.h> + +#include <systemlib/perf_counter.h> +#include <systemlib/err.h> + +#include <drivers/drv_hrt.h> +#include <drivers/drv_range_finder.h> +#include <drivers/device/device.h> +#include <drivers/device/ringbuffer.h> + +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_command.h> +#include <uORB/topics/actuator_controls.h> +#include <uORB/topics/vehicle_attitude.h> + +#include <board_config.h> + +/* Configuration Constants */ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +#ifndef CONFIG_SCHED_WORKQUEUE +# error This requires CONFIG_SCHED_WORKQUEUE. +#endif + +#define GIMBAL_DEVICE_PATH "/dev/gimbal" + +#define GIMBAL_UPDATE_INTERVAL (50 * 1000) + +#define GIMBALIOCATTCOMPENSATE 1 + +class Gimbal : public device::CDev +{ +public: + Gimbal(); + virtual ~Gimbal(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +protected: + virtual int probe(); + +private: + float _min_distance; + float _max_distance; + work_s _work; + int _vehicle_command_sub; + int _att_sub; + + bool _attitude_compensation; + bool _initialized; + + orb_advert_t _actuator_controls_2_topic; + + perf_counter_t _sample_perf; + perf_counter_t _comms_errors; + perf_counter_t _buffer_overflows; + + /** + * Initialise the automatic measurement state machine and start it. + * + * @note This function is called at open and error time. It might make sense + * to make it more aggressive about resetting the bus in case of errors. + */ + void start(); + + /** + * Stop the automatic measurement state machine. + */ + void stop(); + + /** + * Perform a poll cycle; collect from the previous measurement + * and start a new one. + */ + void cycle(); + + /** + * Static trampoline from the workq context; because we don't have a + * generic workq wrapper yet. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void cycle_trampoline(void *arg); + + +}; + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int gimbal_main(int argc, char *argv[]); + +Gimbal::Gimbal() : + CDev("Gimbal", GIMBAL_DEVICE_PATH), + _vehicle_command_sub(-1), + _att_sub(-1), + _attitude_compensation(false), + _initialized(false), + _actuator_controls_2_topic(-1), + _sample_perf(perf_alloc(PC_ELAPSED, "gimbal_read")), + _comms_errors(perf_alloc(PC_COUNT, "gimbal_comms_errors")), + _buffer_overflows(perf_alloc(PC_COUNT, "gimbal_buffer_overflows")) +{ + // disable debug() calls + _debug_enabled = false; + + // work_cancel in the dtor will explode if we don't do this... + memset(&_work, 0, sizeof(_work)); +} + +Gimbal::~Gimbal() +{ + /* make sure we are truly inactive */ + stop(); + + ::close(_actuator_controls_2_topic); + ::close(_vehicle_command_sub); +} + +int +Gimbal::init() +{ + int ret = ERROR; + + /* do regular cdev init */ + if (CDev::init() != OK) { + goto out; + } + + start(); + ret = OK; + +out: + return ret; +} + +int +Gimbal::probe() +{ + return OK; +} + +int +Gimbal::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case GIMBALIOCATTCOMPENSATE: + _attitude_compensation = (arg != 0); + return OK; + + default: + /* give it to the superclass */ + return CDev::ioctl(filp, cmd, arg); + } +} + +ssize_t +Gimbal::read(struct file *filp, char *buffer, size_t buflen) +{ + return 0; +} + +void +Gimbal::start() +{ + + /* schedule a cycle to start things */ + work_queue(LPWORK, &_work, (worker_t)&Gimbal::cycle_trampoline, this, 1); +} + +void +Gimbal::stop() +{ + work_cancel(LPWORK, &_work); +} + +void +Gimbal::cycle_trampoline(void *arg) +{ + Gimbal *dev = static_cast<Gimbal *>(arg); + + dev->cycle(); +} + +void +Gimbal::cycle() +{ + + if (!_initialized) { + /* get a subscription handle on the vehicle command topic */ + _vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command)); + + /* get a publication handle on actuator output topic */ + struct actuator_controls_s zero_report; + memset(&zero_report, 0, sizeof(zero_report)); + zero_report.timestamp = hrt_absolute_time(); + _actuator_controls_2_topic = orb_advertise(ORB_ID(actuator_controls_2), &zero_report); + + if (_actuator_controls_2_topic < 0) { + warnx("advert err"); + } + + _initialized = true; + } + + bool updated = false; + + perf_begin(_sample_perf); + + float roll = 0.0f; + float pitch = 0.0f; + + + if (_attitude_compensation) { + if (_att_sub < 0) { + _att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + } + + vehicle_attitude_s att; + + orb_copy(ORB_ID(vehicle_attitude), _att_sub, &att); + + roll = -att.roll; + pitch = -att.pitch; + + updated = true; + + } + + struct vehicle_command_s cmd; + + bool cmd_updated; + + orb_check(_vehicle_command_sub, &cmd_updated); + + if (cmd_updated) { + + orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd); + + //debug("cmd: %d, param1: %8.4f param2: %8.4f", (double)cmd.command, (double)cmd.param1, (double)cmd.param2); + + if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && cmd.param7 == 2) { + + /* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */ + roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1; + pitch += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param2; + + updated = true; + + } + + // XXX change this to the real quaternion command + if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT && cmd.param7 == 2) { + + /* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */ + roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1; + pitch += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param2; + + updated = true; + + } + } + + if (updated) { + + struct actuator_controls_s controls; + + /* fill in the final control values */ + controls.timestamp = hrt_absolute_time(); + controls.control[0] = roll; + controls.control[1] = pitch; + + /* publish it */ + orb_publish(ORB_ID(actuator_controls_2), _actuator_controls_2_topic, &controls); + + } + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + perf_end(_sample_perf); + + /* schedule a fresh cycle call when the measurement is done */ + work_queue(LPWORK, + &_work, + (worker_t)&Gimbal::cycle_trampoline, + this, + USEC2TICK(GIMBAL_UPDATE_INTERVAL)); +} + +void +Gimbal::print_info() +{ + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); + perf_print_counter(_buffer_overflows); +} + +/** + * Local functions in support of the shell command. + */ +namespace gimbal +{ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +const int ERROR = -1; + +Gimbal *g_dev; + +void start(); +void stop(); +void test(); +void reset(); +void info(); + +/** + * Start the driver. + */ +void +start() +{ + if (g_dev != nullptr) { + errx(1, "already started"); + } + + /* create the driver */ + g_dev = new Gimbal(); + + if (g_dev == nullptr) { + goto fail; + } + + if (OK != g_dev->init()) { + goto fail; + } + + exit(0); + +fail: + + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Stop the driver + */ +void stop() +{ + if (g_dev != nullptr) { + delete g_dev; + g_dev = nullptr; + + } else { + errx(1, "driver not running"); + } + + exit(0); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + int fd = open(GIMBAL_DEVICE_PATH, O_RDONLY); + + if (ioctl(fd, GIMBALIOCATTCOMPENSATE, 1) < 0) { + err(1, "failed enabling compensation"); + } + + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(GIMBAL_DEVICE_PATH, O_RDONLY); + + if (fd < 0) { + err(1, "failed "); + } + + // if (ioctl(fd, GIMBALIOCATTCOMPENSATE, 1) < 0) { + // err(1, "failed enabling compensation"); + // } + + exit(0); +} + +/** + * Print a little info about the driver. + */ +void +info() +{ + if (g_dev == nullptr) { + errx(1, "driver not running"); + } + + printf("state @ %p\n", g_dev); + g_dev->print_info(); + + exit(0); +} + +} // namespace + +int +gimbal_main(int argc, char *argv[]) +{ + /* + * Start/load the driver. + */ + if (!strcmp(argv[1], "start")) { + gimbal::start(); + } + + /* + * Stop the driver + */ + if (!strcmp(argv[1], "stop")) { + gimbal::stop(); + } + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) { + gimbal::test(); + } + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) { + gimbal::reset(); + } + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { + gimbal::info(); + } + + errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); +}
\ No newline at end of file diff --git a/src/drivers/servo_gimbal/module.mk b/src/drivers/servo_gimbal/module.mk new file mode 100644 index 000000000..5699b702a --- /dev/null +++ b/src/drivers/servo_gimbal/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2014, 2015 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. +# +############################################################################ + +# +# Makefile to build the gimbal high-level controller +# + +MODULE_COMMAND = servo_gimbal + +SRCS = gimbal.cpp + +MAXOPTIMIZATION = -Os |