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/****************************************************************************
*
* 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 md25.cpp
*
* Driver for MD25 I2C Motor Driver
*
* references:
* http://www.robot-electronics.co.uk/htm/md25tech.htm
* http://www.robot-electronics.co.uk/files/rpi_md25.c
*
*/
#include "md25.hpp"
#include <poll.h>
#include <stdio.h>
#include <math.h>
#include <string.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>
// registers
enum {
// RW: read/write
// R: read
REG_SPEED1_RW = 0,
REG_SPEED2_RW,
REG_ENC1A_R,
REG_ENC1B_R,
REG_ENC1C_R,
REG_ENC1D_R,
REG_ENC2A_R,
REG_ENC2B_R,
REG_ENC2C_R,
REG_ENC2D_R,
REG_BATTERY_VOLTS_R,
REG_MOTOR1_CURRENT_R,
REG_MOTOR2_CURRENT_R,
REG_SW_VERSION_R,
REG_ACCEL_RATE_RW,
REG_MODE_RW,
REG_COMMAND_RW,
};
// File descriptors
static int mavlink_fd;
MD25::MD25(const char *deviceName, int bus,
uint16_t address, uint32_t speed) :
I2C("MD25", deviceName, bus, address, speed),
_controlPoll(),
_actuators(NULL, ORB_ID(actuator_controls_0), 20),
_version(0),
_motor1Speed(0),
_motor2Speed(0),
_revolutions1(0),
_revolutions2(0),
_batteryVoltage(0),
_motor1Current(0),
_motor2Current(0),
_motorAccel(0),
_mode(MODE_UNSIGNED_SPEED),
_command(CMD_RESET_ENCODERS)
{
// setup control polling
_controlPoll.fd = _actuators.getHandle();
_controlPoll.events = POLLIN;
// if initialization fails raise an error, unless
// probing
int ret = I2C::init();
if (ret != OK) {
warnc(ret, "I2C::init failed for bus: %d address: %d\n", bus, address);
}
// setup default settings, reset encoders
setMotor1Speed(0);
setMotor2Speed(0);
resetEncoders();
_setMode(MD25::MODE_UNSIGNED_SPEED);
setSpeedRegulation(true);
setTimeout(true);
}
MD25::~MD25()
{
}
int MD25::readData()
{
uint8_t sendBuf[1];
sendBuf[0] = REG_SPEED1_RW;
uint8_t recvBuf[17];
int ret = transfer(sendBuf, sizeof(sendBuf),
recvBuf, sizeof(recvBuf));
if (ret == OK) {
_version = recvBuf[REG_SW_VERSION_R];
_motor1Speed = _uint8ToNorm(recvBuf[REG_SPEED1_RW]);
_motor2Speed = _uint8ToNorm(recvBuf[REG_SPEED2_RW]);
_revolutions1 = -int32_t((recvBuf[REG_ENC1A_R] << 24) +
(recvBuf[REG_ENC1B_R] << 16) +
(recvBuf[REG_ENC1C_R] << 8) +
recvBuf[REG_ENC1D_R]) / 360.0;
_revolutions2 = -int32_t((recvBuf[REG_ENC2A_R] << 24) +
(recvBuf[REG_ENC2B_R] << 16) +
(recvBuf[REG_ENC2C_R] << 8) +
recvBuf[REG_ENC2D_R]) / 360.0;
_batteryVoltage = recvBuf[REG_BATTERY_VOLTS_R] / 10.0;
_motor1Current = recvBuf[REG_MOTOR1_CURRENT_R] / 10.0;
_motor2Current = recvBuf[REG_MOTOR2_CURRENT_R] / 10.0;
_motorAccel = recvBuf[REG_ACCEL_RATE_RW];
_mode = e_mode(recvBuf[REG_MODE_RW]);
_command = e_cmd(recvBuf[REG_COMMAND_RW]);
}
return ret;
}
void MD25::status(char *string, size_t n)
{
snprintf(string, n,
"version:\t%10d\n" \
"motor 1 speed:\t%10.2f\n" \
"motor 2 speed:\t%10.2f\n" \
"revolutions 1:\t%10.2f\n" \
"revolutions 2:\t%10.2f\n" \
"battery volts :\t%10.2f\n" \
"motor 1 current :\t%10.2f\n" \
"motor 2 current :\t%10.2f\n" \
"motor accel :\t%10d\n" \
"mode :\t%10d\n" \
"command :\t%10d\n",
getVersion(),
double(getMotor1Speed()),
double(getMotor2Speed()),
double(getRevolutions1()),
double(getRevolutions2()),
double(getBatteryVolts()),
double(getMotor1Current()),
double(getMotor2Current()),
getMotorAccel(),
getMode(),
getCommand());
}
uint8_t MD25::getVersion()
{
return _version;
}
float MD25::getMotor1Speed()
{
return _motor1Speed;
}
float MD25::getMotor2Speed()
{
return _motor2Speed;
}
float MD25::getRevolutions1()
{
return _revolutions1;
}
float MD25::getRevolutions2()
{
return _revolutions2;
}
float MD25::getBatteryVolts()
{
return _batteryVoltage;
}
float MD25::getMotor1Current()
{
return _motor1Current;
}
float MD25::getMotor2Current()
{
return _motor2Current;
}
uint8_t MD25::getMotorAccel()
{
return _motorAccel;
}
MD25::e_mode MD25::getMode()
{
return _mode;
}
MD25::e_cmd MD25::getCommand()
{
return _command;
}
int MD25::resetEncoders()
{
return _writeUint8(REG_COMMAND_RW,
CMD_RESET_ENCODERS);
}
int MD25::_setMode(e_mode mode)
{
return _writeUint8(REG_MODE_RW,
mode);
}
int MD25::setSpeedRegulation(bool enable)
{
if (enable) {
return _writeUint8(REG_COMMAND_RW,
CMD_ENABLE_SPEED_REGULATION);
} else {
return _writeUint8(REG_COMMAND_RW,
CMD_DISABLE_SPEED_REGULATION);
}
}
int MD25::setTimeout(bool enable)
{
if (enable) {
return _writeUint8(REG_COMMAND_RW,
CMD_ENABLE_TIMEOUT);
} else {
return _writeUint8(REG_COMMAND_RW,
CMD_DISABLE_TIMEOUT);
}
}
int MD25::setDeviceAddress(uint8_t address)
{
uint8_t sendBuf[1];
sendBuf[0] = CMD_CHANGE_I2C_SEQ_0;
int ret = OK;
ret = transfer(sendBuf, sizeof(sendBuf),
nullptr, 0);
if (ret != OK) {
warnc(ret, "MD25::setDeviceAddress");
return ret;
}
usleep(5000);
sendBuf[0] = CMD_CHANGE_I2C_SEQ_1;
ret = transfer(sendBuf, sizeof(sendBuf),
nullptr, 0);
if (ret != OK) {
warnc(ret, "MD25::setDeviceAddress");
return ret;
}
usleep(5000);
sendBuf[0] = CMD_CHANGE_I2C_SEQ_2;
ret = transfer(sendBuf, sizeof(sendBuf),
nullptr, 0);
if (ret != OK) {
warnc(ret, "MD25::setDeviceAddress");
return ret;
}
return OK;
}
int MD25::setMotor1Speed(float value)
{
return _writeUint8(REG_SPEED1_RW,
_normToUint8(value));
}
int MD25::setMotor2Speed(float value)
{
return _writeUint8(REG_SPEED2_RW,
_normToUint8(value));
}
void MD25::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; // poll error
// if new data, send to motors
if (_actuators.updated()) {
_actuators.update();
setMotor1Speed(_actuators.control[CH_SPEED_LEFT]);
setMotor2Speed(_actuators.control[CH_SPEED_RIGHT]);
}
}
int MD25::probe()
{
uint8_t goodAddress = 0;
bool found = false;
int ret = OK;
// try initial address first, if good, then done
if (readData() == OK) return ret;
// try all other addresses
uint8_t testAddress = 0;
//printf("searching for MD25 address\n");
while (true) {
set_address(testAddress);
ret = readData();
if (ret == OK && !found) {
//printf("device found at address: 0x%X\n", testAddress);
if (!found) {
found = true;
goodAddress = testAddress;
}
}
if (testAddress > 254) {
break;
}
testAddress++;
}
if (found) {
set_address(goodAddress);
return OK;
} else {
set_address(0);
return ret;
}
}
int MD25::search()
{
uint8_t goodAddress = 0;
bool found = false;
int ret = OK;
// try all other addresses
uint8_t testAddress = 0;
//printf("searching for MD25 address\n");
while (true) {
set_address(testAddress);
ret = readData();
if (ret == OK && !found) {
printf("device found at address: 0x%X\n", testAddress);
if (!found) {
found = true;
goodAddress = testAddress;
}
}
if (testAddress > 254) {
break;
}
testAddress++;
}
if (found) {
set_address(goodAddress);
return OK;
} else {
set_address(0);
return ret;
}
}
int MD25::_writeUint8(uint8_t reg, uint8_t value)
{
uint8_t sendBuf[2];
sendBuf[0] = reg;
sendBuf[1] = value;
return transfer(sendBuf, sizeof(sendBuf),
nullptr, 0);
}
int MD25::_writeInt8(uint8_t reg, int8_t value)
{
uint8_t sendBuf[2];
sendBuf[0] = reg;
sendBuf[1] = value;
return transfer(sendBuf, sizeof(sendBuf),
nullptr, 0);
}
float MD25::_uint8ToNorm(uint8_t value)
{
// TODO, should go from 0 to 255
// possibly should handle this differently
return (value - 128) / 127.0;
}
uint8_t MD25::_normToUint8(float value)
{
if (value > 1) value = 1;
if (value < -1) value = -1;
// TODO, should go from 0 to 255
// possibly should handle this differently
return 127 * value + 128;
}
int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
{
printf("md25 test: starting\n");
// setup
MD25 md25("/dev/md25", bus, address);
// print status
char buf[200];
md25.status(buf, sizeof(buf));
printf("%s\n", buf);
// setup for test
md25.setSpeedRegulation(true);
md25.setTimeout(true);
float dt = 0.1;
float speed = 0.2;
float t = 0;
// motor 1 test
printf("md25 test: spinning motor 1 forward for 1 rev at 0.1 speed\n");
t = 0;
while (true) {
t += dt;
md25.setMotor1Speed(speed);
md25.readData();
usleep(1000000 * dt);
if (md25.getRevolutions1() > 1) {
printf("finished 1 revolution fwd\n");
break;
}
if (t > 2.0f) break;
}
md25.setMotor1Speed(0);
printf("revolution of wheel 1: %8.4f\n", double(md25.getRevolutions1()));
md25.resetEncoders();
t = 0;
while (true) {
t += dt;
md25.setMotor1Speed(-speed);
md25.readData();
usleep(1000000 * dt);
if (md25.getRevolutions1() < -1) {
printf("finished 1 revolution rev\n");
break;
}
if (t > 2.0f) break;
}
md25.setMotor1Speed(0);
printf("revolution of wheel 1: %8.4f\n", double(md25.getRevolutions1()));
md25.resetEncoders();
// motor 2 test
printf("md25 test: spinning motor 2 forward for 1 rev at 0.1 speed\n");
t = 0;
while (true) {
t += dt;
md25.setMotor2Speed(speed);
md25.readData();
usleep(1000000 * dt);
if (md25.getRevolutions2() > 1) {
printf("finished 1 revolution fwd\n");
break;
}
if (t > 2.0f) break;
}
md25.setMotor2Speed(0);
printf("revolution of wheel 2: %8.4f\n", double(md25.getRevolutions2()));
md25.resetEncoders();
t = 0;
while (true) {
t += dt;
md25.setMotor2Speed(-speed);
md25.readData();
usleep(1000000 * dt);
if (md25.getRevolutions2() < -1) {
printf("finished 1 revolution rev\n");
break;
}
if (t > 2.0f) break;
}
md25.setMotor2Speed(0);
printf("revolution of wheel 2: %8.4f\n", double(md25.getRevolutions2()));
md25.resetEncoders();
printf("Test complete\n");
return 0;
}
int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitude, float frequency)
{
printf("md25 sine: starting\n");
// setup
MD25 md25("/dev/md25", bus, address);
// print status
char buf[200];
md25.status(buf, sizeof(buf));
printf("%s\n", buf);
// setup for test
md25.setSpeedRegulation(true);
md25.setTimeout(true);
float dt = 0.01;
float t_final = 60.0;
float prev_revolution = md25.getRevolutions1();
// debug publication
control::UOrbPublication<debug_key_value_s> debug_msg(NULL,
ORB_ID(debug_key_value));
// sine wave for motor 1
md25.resetEncoders();
while (true) {
// input
uint64_t timestamp = hrt_absolute_time();
float t = timestamp/1000000.0f;
float input_value = amplitude*sinf(2*M_PI*frequency*t);
md25.setMotor1Speed(input_value);
// output
md25.readData();
float current_revolution = md25.getRevolutions1();
// send input message
//strncpy(debug_msg.key, "md25 in ", 10);
//debug_msg.timestamp_ms = 1000*timestamp;
//debug_msg.value = input_value;
//debug_msg.update();
// send output message
strncpy(debug_msg.key, "md25 out ", 10);
debug_msg.timestamp_ms = 1000*timestamp;
debug_msg.value = current_revolution;
debug_msg.update();
if (t > t_final) break;
// update for next step
prev_revolution = current_revolution;
// sleep
usleep(1000000 * dt);
}
md25.setMotor1Speed(0);
printf("md25 sine complete\n");
return 0;
}
// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
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