/* Alexmos Serial controlled mount backend class */ #pragma once #include "AP_Mount_Backend.h" #ifndef HAL_MOUNT_ALEXMOS_ENABLED #define HAL_MOUNT_ALEXMOS_ENABLED HAL_MOUNT_ENABLED #endif #if HAL_MOUNT_ALEXMOS_ENABLED #include #include #include //definition of the commands id for the Alexmos Serial Protocol #define CMD_READ_PARAMS 'R' #define CMD_WRITE_PARAMS 'W' #define CMD_REALTIME_DATA 'D' #define CMD_BOARD_INFO 'V' #define CMD_CALIB_ACC 'A' #define CMD_CALIB_GYRO 'g' #define CMD_CALIB_EXT_GAIN 'G' #define CMD_USE_DEFAULTS 'F' #define CMD_CALIB_POLES 'P' #define CMD_RESET 'r' #define CMD_HELPER_DATA 'H' #define CMD_CALIB_OFFSET 'O' #define CMD_CALIB_BAT 'B' #define CMD_MOTORS_ON 'M' #define CMD_MOTORS_OFF 'm' #define CMD_CONTROL 'C' #define CMD_TRIGGER_PIN 'T' #define CMD_EXECUTE_MENU 'E' #define CMD_GET_ANGLES 'I' #define CMD_CONFIRM 'C' // Board v3.x only #define CMD_BOARD_INFO_3 20 #define CMD_READ_PARAMS_3 21 #define CMD_WRITE_PARAMS_3 22 #define CMD_REALTIME_DATA_3 23 #define CMD_SELECT_IMU_3 24 #define CMD_READ_PROFILE_NAMES 28 #define CMD_WRITE_PROFILE_NAMES 29 #define CMD_QUEUE_PARAMS_INFO_3 30 #define CMD_SET_PARAMS_3 31 #define CMD_SAVE_PARAMS_3 32 #define CMD_READ_PARAMS_EXT 33 #define CMD_WRITE_PARAMS_EXT 34 #define CMD_AUTO_PID 35 #define CMD_SERVO_OUT 36 #define CMD_ERROR 255 #define AP_MOUNT_ALEXMOS_MODE_NO_CONTROL 0 #define AP_MOUNT_ALEXMOS_MODE_SPEED 1 #define AP_MOUNT_ALEXMOS_MODE_ANGLE 2 #define AP_MOUNT_ALEXMOS_MODE_SPEED_ANGLE 3 #define AP_MOUNT_ALEXMOS_MODE_RC 4 #define AP_MOUNT_ALEXMOS_SPEED 30 // deg/s #define VALUE_TO_DEGREE(d) ((float)((d * 720) >> 15)) #define DEGREE_TO_VALUE(d) ((int16_t)((float)(d)*(1.0f/0.02197265625f))) #define DEGREE_PER_SEC_TO_VALUE(d) ((int16_t)((float)(d)*(1.0f/0.1220740379f))) class AP_Mount_Alexmos : public AP_Mount_Backend { public: //constructor AP_Mount_Alexmos(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance): AP_Mount_Backend(frontend, state, instance) {} // init - performs any required initialisation for this instance void init() override; // update mount position - should be called periodically void update() override; // has_pan_control - returns true if this mount can control its pan (required for multicopters) bool has_pan_control() const override; protected: // get attitude as a quaternion. returns true on success bool get_attitude_quaternion(Quaternion& att_quat) override; private: // get_angles - void get_angles(); // set_motor will activate motors if true, and disable them if false void set_motor(bool on); // get_boardinfo - get board version and firmware version void get_boardinfo(); // send new angles to the gimbal at a fixed speed of 30 deg/s void control_axis(const MountTarget& angle_target_rad); // read_params - read current profile profile_id and global parameters from the gimbal settings void read_params(uint8_t profile_id); // write_params - write new parameters to the gimbal settings void write_params(); bool get_realtimedata(Vector3f& angle); // Alexmos Serial Protocol reading part implementation // send_command - send a command to the Alemox Serial API void send_command(uint8_t cmd, uint8_t* data, uint8_t size); // Parse the body of the message received from the Alexmos gimbal void parse_body(); // read_incoming - detect and read the header of the incoming message from the gimbal void read_incoming(); MountTarget _angle_rad; // latest angle target // structure for the Serial Protocol // CMD_BOARD_INFO struct PACKED alexmos_version { uint8_t _board_version; uint16_t _firmware_version; uint8_t debug_mode; uint16_t _board_features; }; // CMD_GET_ANGLES struct PACKED alexmos_angles { int16_t angle_roll; int16_t rc_angle_roll; int16_t rc_speed_roll; int16_t angle_pitch; int16_t rc_angle_pitch; int16_t rc_speed_pitch; int16_t angle_yaw; int16_t rc_angle_yaw; int16_t rc_speed_yaw; }; // CMD_CONTROL struct PACKED alexmos_angles_speed { int8_t mode; int16_t speed_roll; int16_t angle_roll; int16_t speed_pitch; int16_t angle_pitch; int16_t speed_yaw; int16_t angle_yaw; }; // CMD_READ_PARAMS struct PACKED alexmos_params { uint8_t profile_id; uint8_t roll_P; uint8_t roll_I; uint8_t roll_D; uint8_t roll_power; uint8_t roll_invert; uint8_t roll_poles; uint8_t pitch_P; uint8_t pitch_I; uint8_t pitch_D; uint8_t pitch_power; uint8_t pitch_invert; uint8_t pitch_poles; uint8_t yaw_P; uint8_t yaw_I; uint8_t yaw_D; uint8_t yaw_power; uint8_t yaw_invert; uint8_t yaw_poles; uint8_t acc_limiter; int8_t ext_fc_gain_roll; int8_t ext_fc_gain_pitch; int16_t roll_rc_min_angle; int16_t roll_rc_max_angle; uint8_t roll_rc_mode; uint8_t roll_rc_lpf; uint8_t roll_rc_speed; uint8_t roll_rc_follow; int16_t pitch_rc_min_angle; int16_t pitch_rc_max_angle; uint8_t pitch_rc_mode; uint8_t pitch_rc_lpf; uint8_t pitch_rc_speed; uint8_t pitch_rc_follow; int16_t yaw_rc_min_angle; int16_t yaw_rc_max_angle; uint8_t yaw_rc_mode; uint8_t yaw_rc_lpf; uint8_t yaw_rc_speed; uint8_t yaw_rc_follow; uint8_t gyro_trust; uint8_t use_model; uint8_t pwm_freq; uint8_t serial_speed; int8_t rc_trim_roll; int8_t rc_trim_pitch; int8_t rc_trim_yaw; uint8_t rc_deadband; uint8_t rc_expo_rate; uint8_t rc_virt_mode; uint8_t rc_map_roll; uint8_t rc_map_pitch; uint8_t rc_map_yaw; uint8_t rc_map_cmd; uint8_t rc_map_fc_roll; uint8_t rc_map_fc_pitch; uint8_t rc_mix_fc_roll; uint8_t rc_mix_fc_pitch; uint8_t follow_mode; uint8_t follow_deadband; uint8_t follow_expo_rate; int8_t follow_offset_roll; int8_t follow_offset_pitch; int8_t follow_offset_yaw; int8_t axis_top; int8_t axis_right; uint8_t gyro_lpf; uint8_t gyro_sens; uint8_t i2c_internal_pullups; uint8_t sky_gyro_calib; uint8_t rc_cmd_low; uint8_t rc_cmd_mid; uint8_t rc_cmd_high; uint8_t menu_cmd_1; uint8_t menu_cmd_2; uint8_t menu_cmd_3; uint8_t menu_cmd_4; uint8_t menu_cmd_5; uint8_t menu_cmd_long; uint8_t output_roll; uint8_t output_pitch; uint8_t output_yaw; int16_t bat_threshold_alarm; int16_t bat_threshold_motors; int16_t bat_comp_ref; uint8_t beeper_modes; uint8_t follow_roll_mix_start; uint8_t follow_roll_mix_range; uint8_t booster_power_roll; uint8_t booster_power_pitch; uint8_t booster_power_yaw; uint8_t follow_speed_roll; uint8_t follow_speed_pitch; uint8_t follow_speed_yaw; uint8_t frame_angle_from_motors; uint8_t cur_profile_id; }; union PACKED alexmos_parameters { DEFINE_BYTE_ARRAY_METHODS alexmos_version version; alexmos_angles angles; alexmos_params params; alexmos_angles_speed angle_speed; } _buffer,_current_parameters; AP_HAL::UARTDriver *_port; bool _initialised : 1; // result of the get_boardinfo uint8_t _board_version; float _current_firmware_version; uint8_t _firmware_beta_version; bool _gimbal_3axis : 1; bool _gimbal_bat_monitoring : 1; // keep the last _current_angle values Vector3f _current_angle; // CMD_READ_PARAMS has been called once bool _param_read_once : 1; // Serial Protocol Variables uint8_t _checksum; uint8_t _step; uint8_t _command_id; uint8_t _payload_length; uint8_t _payload_counter; // confirmed that last command was ok bool _last_command_confirmed : 1; }; #endif // HAL_MOUNT_ALEXMOS_ENABLED