/**************************************************************************** * * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. * Author: Lorenz Meier * * 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 "ardrone_motor_control.h" static const unsigned long motor_gpios = GPIO_EXT_1 | GPIO_EXT_2 | GPIO_MULTI_1 | GPIO_MULTI_2; static const 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; /** * @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) { printf("GPIO: open fail\n"); return fd; } /* deactivate all outputs */ int ret = 0; ret += ioctl(fd, GPIO_SET, motor_gpios); if (ioctl(fd, GPIO_SET_OUTPUT, motor_gpios) != 0) { printf("GPIO: output set fail\n"); close(fd); return -1; } if (ret < 0) { printf("GPIO: clearing pins fail\n"); 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; unsigned long gpioset; /* * 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 { /* deselect all */ ret += ioctl(fd, GPIO_SET, motor_gpios); /* select reqested motor */ ret += ioctl(fd, GPIO_CLEAR, motor_gpio[motor - 1]); /* deselect all others */ // gpioset = motor_gpios ^ motor_gpio[motor - 1]; // ret += ioctl(fd, GPIO_SET, gpioset); } return ret; } int ar_init_motors(int ardrone_uart, int *gpios_pin) { /* Initialize multiplexing */ *gpios_pin = ar_multiplexing_init(); /* Write ARDrone commands on UART2 */ uint8_t initbuf[] = {0xE0, 0x91, 0xA1, 0x00, 0x40}; uint8_t multicastbuf[] = {0xA0, 0xA0, 0xA0, 0xA0, 0xA0, 0xA0}; /* initialize all motors * - select one motor at a time * - configure motor */ int i; int errcounter = 0; for (i = 1; i < 5; ++i) { /* Initialize motors 1-4 */ initbuf[3] = i; errcounter += ar_select_motor(*gpios_pin, i); write(ardrone_uart, initbuf + 0, 1); /* sleep 400 ms */ usleep(200000); usleep(200000); write(ardrone_uart, initbuf + 1, 1); /* wait 50 ms */ usleep(50000); write(ardrone_uart, initbuf + 2, 1); /* wait 50 ms */ usleep(50000); write(ardrone_uart, initbuf + 3, 1); /* wait 50 ms */ usleep(50000); write(ardrone_uart, initbuf + 4, 1); /* wait 50 ms */ usleep(50000); /* enable multicast */ write(ardrone_uart, multicastbuf + 0, 1); /* wait 1 ms */ usleep(1000); write(ardrone_uart, multicastbuf + 1, 1); /* wait 1 ms */ usleep(1000); write(ardrone_uart, multicastbuf + 2, 1); /* wait 1 ms */ usleep(1000); write(ardrone_uart, multicastbuf + 3, 1); /* wait 1 ms */ usleep(1000); write(ardrone_uart, multicastbuf + 4, 1); /* wait 1 ms */ usleep(1000); write(ardrone_uart, multicastbuf + 5, 1); /* wait 5 ms */ usleep(50000); } /* start the multicast part */ errcounter += ar_select_motor(*gpios_pin, 0); if (errcounter != 0) { fprintf(stderr, "[ar motors] 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 int min_motor_interval = 20000; static uint64_t last_motor_time = 0; 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; if ((ret = write(ardrone_fd, buf, sizeof(buf))) > 0) { return OK; } else { return ret; } } else { return -ERROR; } }