mirror of https://github.com/ArduPilot/ardupilot
210 lines
8.1 KiB
C++
210 lines
8.1 KiB
C++
/*
|
|
Siyi gimbal driver using custom serial protocol
|
|
|
|
Packet format (courtesy of Siyi's SDK document)
|
|
|
|
-------------------------------------------------------------------------------------------
|
|
Field Index Bytes Description
|
|
-------------------------------------------------------------------------------------------
|
|
STX 0 2 0x5566: starting mark
|
|
CTRL 2 1 bit 0: need_ack. set if the current data packet needs ack
|
|
bit 1: ack_pack. set if the current data packate IS an ack
|
|
bit 2-7: reserved
|
|
Data_len 3 2 Data field byte length. Low byte in the front
|
|
SEQ 5 2 Frame sequence (0 ~ 65535). Low byte in the front. May be used to detect packet loss
|
|
CMD_ID 7 1 Command ID
|
|
DATA 8 Data_len Data
|
|
CRC16 2 CRC16 check the complete data package. Low byte in the front
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "AP_Mount_Backend.h"
|
|
|
|
#ifndef HAL_MOUNT_SIYI_ENABLED
|
|
#define HAL_MOUNT_SIYI_ENABLED HAL_MOUNT_ENABLED && BOARD_FLASH_SIZE > 1024
|
|
#endif
|
|
|
|
#if HAL_MOUNT_SIYI_ENABLED
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <AP_Common/AP_Common.h>
|
|
|
|
#define AP_MOUNT_SIYI_PACKETLEN_MAX 22 // maximum number of bytes in a packet sent to or received from the gimbal
|
|
|
|
class AP_Mount_Siyi : public AP_Mount_Backend
|
|
{
|
|
|
|
public:
|
|
// Constructor
|
|
using AP_Mount_Backend::AP_Mount_Backend;
|
|
|
|
/* Do not allow copies */
|
|
CLASS_NO_COPY(AP_Mount_Siyi);
|
|
|
|
// init - performs any required initialisation for this instance
|
|
void init() override;
|
|
|
|
// update mount position - should be called periodically
|
|
void update() override;
|
|
|
|
// return true if healthy
|
|
bool healthy() const override;
|
|
|
|
// has_pan_control - returns true if this mount can control its pan (required for multicopters)
|
|
bool has_pan_control() const override { return yaw_range_valid(); };
|
|
|
|
//
|
|
// camera controls
|
|
//
|
|
|
|
// take a picture. returns true on success
|
|
bool take_picture() override;
|
|
|
|
// start or stop video recording
|
|
// set start_recording = true to start record, false to stop recording
|
|
bool record_video(bool start_recording) override;
|
|
|
|
// set camera zoom step. returns true on success
|
|
// zoom out = -1, hold = 0, zoom in = 1
|
|
bool set_zoom_step(int8_t zoom_step) override;
|
|
|
|
// set focus in, out or hold. returns true on success
|
|
// focus in = -1, focus hold = 0, focus out = 1
|
|
bool set_manual_focus_step(int8_t focus_step) override;
|
|
|
|
// auto focus. returns true on success
|
|
bool set_auto_focus() override;
|
|
|
|
protected:
|
|
|
|
// get attitude as a quaternion. returns true on success
|
|
bool get_attitude_quaternion(Quaternion& att_quat) override;
|
|
|
|
private:
|
|
|
|
// serial protocol command ids
|
|
enum class SiyiCommandId {
|
|
ACQUIRE_FIRMWARE_VERSION = 0x01,
|
|
HARDWARE_ID = 0x02,
|
|
AUTO_FOCUS = 0x04,
|
|
MANUAL_ZOOM_AND_AUTO_FOCUS = 0x05,
|
|
MANUAL_FOCUS = 0x06,
|
|
GIMBAL_ROTATION = 0x07,
|
|
CENTER = 0x08,
|
|
ACQUIRE_GIMBAL_CONFIG_INFO = 0x0A,
|
|
FUNCTION_FEEDBACK_INFO = 0x0B,
|
|
PHOTO = 0x0C,
|
|
ACQUIRE_GIMBAL_ATTITUDE = 0x0D
|
|
};
|
|
|
|
// Function Feedback Info packet info_type values
|
|
enum class FunctionFeedbackInfo : uint8_t {
|
|
SUCCESS = 0,
|
|
FAILED_TO_TAKE_PHOTO = 1,
|
|
HDR_ON = 2,
|
|
HDR_OFF = 3,
|
|
FAILED_TO_RECORD_VIDEO = 4
|
|
};
|
|
|
|
// Photo Function packet func_type values
|
|
enum class PhotoFunction : uint8_t {
|
|
TAKE_PICTURE = 0,
|
|
HDR_TOGGLE = 1,
|
|
RECORD_VIDEO_TOGGLE = 2,
|
|
LOCK_MODE = 3,
|
|
FOLLOW_MODE = 4,
|
|
FPV_MODE = 5
|
|
};
|
|
|
|
// parsing state
|
|
enum class ParseState : uint8_t {
|
|
WAITING_FOR_HEADER_LOW,
|
|
WAITING_FOR_HEADER_HIGH,
|
|
WAITING_FOR_CTRL,
|
|
WAITING_FOR_DATALEN_LOW,
|
|
WAITING_FOR_DATALEN_HIGH,
|
|
WAITING_FOR_SEQ_LOW,
|
|
WAITING_FOR_SEQ_HIGH,
|
|
WAITING_FOR_CMDID,
|
|
WAITING_FOR_DATA,
|
|
WAITING_FOR_CRC_LOW,
|
|
WAITING_FOR_CRC_HIGH,
|
|
};
|
|
|
|
// reading incoming packets from gimbal and confirm they are of the correct format
|
|
// results are held in the _parsed_msg structure
|
|
void read_incoming_packets();
|
|
|
|
// process successfully decoded packets held in the _parsed_msg structure
|
|
void process_packet();
|
|
|
|
// send packet to gimbal
|
|
// returns true on success, false if outgoing serial buffer is full
|
|
bool send_packet(SiyiCommandId cmd_id, const uint8_t* databuff, uint8_t databuff_len);
|
|
bool send_1byte_packet(SiyiCommandId cmd_id, uint8_t data_byte);
|
|
|
|
// request info from gimbal
|
|
void request_firmware_version() { send_packet(SiyiCommandId::ACQUIRE_FIRMWARE_VERSION, nullptr, 0); }
|
|
void request_hardware_id() { send_packet(SiyiCommandId::HARDWARE_ID, nullptr, 0); }
|
|
void request_configuration() { send_packet(SiyiCommandId::ACQUIRE_GIMBAL_CONFIG_INFO, nullptr, 0); }
|
|
void request_function_feedback_info() { send_packet(SiyiCommandId::FUNCTION_FEEDBACK_INFO, nullptr, 0); }
|
|
void request_gimbal_attitude() { send_packet(SiyiCommandId::ACQUIRE_GIMBAL_ATTITUDE, nullptr, 0); }
|
|
|
|
// rotate gimbal. pitch_rate and yaw_rate are scalars in the range -100 ~ +100
|
|
// yaw_is_ef should be true if gimbal should maintain an earth-frame target (aka lock)
|
|
void rotate_gimbal(int8_t pitch_scalar, int8_t yaw_scalar, bool yaw_is_ef);
|
|
|
|
// center gimbal
|
|
void center_gimbal();
|
|
|
|
// set gimbal's lock vs follow mode
|
|
// lock should be true if gimbal should maintain an earth-frame target
|
|
// lock is false to follow / maintain a body-frame target
|
|
void set_lock(bool lock);
|
|
|
|
// send target pitch and yaw rates to gimbal
|
|
// yaw_is_ef should be true if yaw_rads target is an earth frame rate, false if body_frame
|
|
void send_target_rates(float pitch_rads, float yaw_rads, bool yaw_is_ef);
|
|
|
|
// send target pitch and yaw angles to gimbal
|
|
// yaw_is_ef should be true if yaw_rad target is an earth frame angle, false if body_frame
|
|
void send_target_angles(float pitch_rad, float yaw_rad, bool yaw_is_ef);
|
|
|
|
// internal variables
|
|
AP_HAL::UARTDriver *_uart; // uart connected to gimbal
|
|
bool _initialised; // true once the driver has been initialised
|
|
bool _got_firmware_version; // true once gimbal firmware version has been received
|
|
|
|
// buffer holding bytes from latest packet. This is only used to calculate the crc
|
|
uint8_t _msg_buff[AP_MOUNT_SIYI_PACKETLEN_MAX];
|
|
uint8_t _msg_buff_len;
|
|
const uint8_t _msg_buff_data_start = 8; // data starts at this byte of _msg_buff
|
|
|
|
// parser state and unpacked fields
|
|
struct PACKED {
|
|
uint16_t data_len; // expected number of data bytes
|
|
uint8_t command_id; // command id
|
|
uint16_t data_bytes_received; // number of data bytes received so far
|
|
uint16_t crc16; // latest message's crc
|
|
ParseState state; // state of incoming message processing
|
|
} _parsed_msg;
|
|
|
|
// variables for sending packets to gimbal
|
|
uint32_t _last_send_ms; // system time (in milliseconds) of last packet sent to gimbal
|
|
uint16_t _last_seq; // last sequence number used (should be increment for each send)
|
|
bool _last_lock; // last lock value sent to gimbal
|
|
uint8_t _lock_send_counter; // counter used to resend lock status to gimbal at regular intervals
|
|
|
|
// actual attitude received from gimbal
|
|
Vector3f _current_angle_rad; // current angles in radians received from gimbal (x=roll, y=pitch, z=yaw)
|
|
uint32_t _last_current_angle_rad_ms; // system time _current_angle_rad was updated
|
|
uint32_t _last_req_current_angle_rad_ms; // system time that this driver last requested current angle
|
|
|
|
// variables for camera state
|
|
bool _last_record_video; // last record_video state sent to gimbal
|
|
};
|
|
|
|
#endif // HAL_MOUNT_SIYISERIAL_ENABLED
|