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ardupilot/libraries/AP_Mount/AP_Mount_Alexmos.cpp

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#include "AP_Mount_config.h"
#if HAL_MOUNT_ALEXMOS_ENABLED
#include "AP_Mount_Alexmos.h"
#include <AP_SerialManager/AP_SerialManager.h>
//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 INT14_DEGREES (360.0f / float(0x3FFF)) // 1 full rotation in degrees over 14 bit range
#define VALUE_TO_DEGREE(d) (float(d)*INT14_DEGREES)
#define DEGREE_TO_VALUE(d) ((int16_t)((float)(d)*(1.0f/INT14_DEGREES)))
#define DEGREE_PER_SEC_TO_VALUE(d) ((int16_t)((float)(d)*(1.0f/0.1220740379f)))
void AP_Mount_Alexmos::init()
{
const AP_SerialManager& serial_manager = AP::serialmanager();
// check for alexmos protcol
if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_AlexMos, 0))) {
_initialised = true;
get_boardinfo();
read_params(0); //we request parameters for profile 0 and therfore get global and profile parameters
}
AP_Mount_Backend::init();
}
// update mount position - should be called periodically
void AP_Mount_Alexmos::update()
{
if (!_initialised) {
return;
}
read_incoming(); // read the incoming messages from the gimbal
// update based on mount mode
switch (get_mode()) {
// move mount to a "retracted" position. we do not implement a separate servo based retract mechanism
case MAV_MOUNT_MODE_RETRACT: {
const Vector3f &target = _params.retract_angles.get();
mnt_target.target_type = MountTargetType::ANGLE;
mnt_target.angle_rad.set(target*DEG_TO_RAD, false);
break;
}
// move mount to a neutral position, typically pointing forward
case MAV_MOUNT_MODE_NEUTRAL: {
const Vector3f &target = _params.neutral_angles.get();
mnt_target.target_type = MountTargetType::ANGLE;
mnt_target.angle_rad.set(target*DEG_TO_RAD, false);
break;
}
// point to the angles given by a mavlink message
case MAV_MOUNT_MODE_MAVLINK_TARGETING:
// mavlink targets are stored while handling the incoming message
break;
// RC radio manual angle control, but with stabilization from the AHRS
case MAV_MOUNT_MODE_RC_TARGETING:
update_mnt_target_from_rc_target();
break;
// point mount to a GPS point given by the mission planner
case MAV_MOUNT_MODE_GPS_POINT:
if (get_angle_target_to_roi(mnt_target.angle_rad)) {
mnt_target.target_type = MountTargetType::ANGLE;
}
break;
// point mount to Home location
case MAV_MOUNT_MODE_HOME_LOCATION:
if (get_angle_target_to_home(mnt_target.angle_rad)) {
mnt_target.target_type = MountTargetType::ANGLE;
}
break;
// point mount to another vehicle
case MAV_MOUNT_MODE_SYSID_TARGET:
if (get_angle_target_to_sysid(mnt_target.angle_rad)) {
mnt_target.target_type = MountTargetType::ANGLE;
}
break;
default:
// we do not know this mode so do nothing
break;
}
// send target angles or rates depending on the target type
switch (mnt_target.target_type) {
case MountTargetType::RATE:
update_angle_target_from_rate(mnt_target.rate_rads, mnt_target.angle_rad);
FALLTHROUGH;
case MountTargetType::ANGLE:
// send latest angle targets to gimbal
control_axis(mnt_target.angle_rad);
break;
}
}
// has_pan_control - returns true if this mount can control its pan (required for multicopters)
bool AP_Mount_Alexmos::has_pan_control() const
{
return _gimbal_3axis && yaw_range_valid();
}
// get attitude as a quaternion. returns true on success
bool AP_Mount_Alexmos::get_attitude_quaternion(Quaternion& att_quat)
{
if (!_initialised) {
return false;
}
// request attitude from gimbal
get_angles();
// construct quaternion
att_quat.from_euler(radians(_current_angle.x), radians(_current_angle.y), radians(_current_angle.z));
return true;
}
/*
* get_angles
*/
void AP_Mount_Alexmos::get_angles()
{
uint8_t data[1] = {(uint8_t)1};
send_command(CMD_GET_ANGLES, data, 1);
}
/*
* set_motor will activate motors if true, and disable them if false.
*/
void AP_Mount_Alexmos::set_motor(bool on)
{
if (on) {
uint8_t data[1] = {(uint8_t)1};
send_command(CMD_MOTORS_ON, data, 1);
} else {
uint8_t data[1] = {(uint8_t)1};
send_command(CMD_MOTORS_OFF, data, 1);
}
}
/*
* get board version and firmware version
*/
void AP_Mount_Alexmos::get_boardinfo()
{
if (_board_version != 0) {
return;
}
uint8_t data[1] = {(uint8_t)1};
send_command(CMD_BOARD_INFO, data, 1);
}
/*
control_axis : send new angle target to the gimbal at a fixed speed of 30 deg/s
*/
void AP_Mount_Alexmos::control_axis(const MountTarget& angle_target_rad)
{
alexmos_parameters outgoing_buffer;
outgoing_buffer.angle_speed.mode = AP_MOUNT_ALEXMOS_MODE_ANGLE;
outgoing_buffer.angle_speed.speed_roll = DEGREE_PER_SEC_TO_VALUE(AP_MOUNT_ALEXMOS_SPEED);
outgoing_buffer.angle_speed.angle_roll = DEGREE_TO_VALUE(degrees(angle_target_rad.roll));
outgoing_buffer.angle_speed.speed_pitch = DEGREE_PER_SEC_TO_VALUE(AP_MOUNT_ALEXMOS_SPEED);
outgoing_buffer.angle_speed.angle_pitch = DEGREE_TO_VALUE(degrees(angle_target_rad.pitch));
outgoing_buffer.angle_speed.speed_yaw = DEGREE_PER_SEC_TO_VALUE(AP_MOUNT_ALEXMOS_SPEED);
outgoing_buffer.angle_speed.angle_yaw = DEGREE_TO_VALUE(angle_target_rad.get_bf_yaw());
send_command(CMD_CONTROL, (uint8_t *)&outgoing_buffer.angle_speed, sizeof(alexmos_angles_speed));
}
/*
read current profile profile_id and global parameters from the gimbal settings
*/
void AP_Mount_Alexmos::read_params(uint8_t profile_id)
{
uint8_t data[1] = {(uint8_t) profile_id};
send_command(CMD_READ_PARAMS, data, 1);
}
/*
write new parameters to the gimbal settings
*/
void AP_Mount_Alexmos::write_params()
{
if (!_param_read_once) {
return;
}
send_command(CMD_WRITE_PARAMS, (uint8_t *)&_current_parameters.params, sizeof(alexmos_params));
}
/*
send a command to the Alemox Serial API
*/
void AP_Mount_Alexmos::send_command(uint8_t cmd, uint8_t* data, uint8_t size)
{
if (_port->txspace() < (size + 5U)) {
return;
}
uint8_t checksum = 0;
_port->write( '>' );
_port->write( cmd ); // write command id
_port->write( size ); // write body size
_port->write( cmd+size ); // write header checkum
for (uint8_t i = 0; i != size ; i++) {
checksum += data[i];
_port->write( data[i] );
}
_port->write(checksum);
}
/*
* Parse the body of the message received from the Alexmos gimbal
*/
void AP_Mount_Alexmos::parse_body()
{
switch (_command_id ) {
case CMD_BOARD_INFO:
_board_version = _buffer.version._board_version/ 10;
_current_firmware_version = _buffer.version._firmware_version * 0.001f ;
_firmware_beta_version = _buffer.version._firmware_version % 10 ;
_gimbal_3axis = (_buffer.version._board_features & 0x1);
_gimbal_bat_monitoring = (_buffer.version._board_features & 0x2);
break;
case CMD_GET_ANGLES:
_current_angle.x = VALUE_TO_DEGREE(_buffer.angles.angle_roll);
_current_angle.y = VALUE_TO_DEGREE(_buffer.angles.angle_pitch);
_current_angle.z = VALUE_TO_DEGREE(_buffer.angles.angle_yaw);
break;
case CMD_READ_PARAMS:
_param_read_once = true;
_current_parameters.params = _buffer.params;
break;
case CMD_WRITE_PARAMS:
break;
default :
_last_command_confirmed = true;
break;
}
}
/*
* detect and read the header of the incoming message from the gimbal
*/
void AP_Mount_Alexmos::read_incoming()
{
uint8_t data;
int16_t numc;
numc = _port->available();
if (numc < 0 ) {
return;
}
for (int16_t i = 0; i < numc; i++) { // Process bytes received
data = _port->read();
switch (_step) {
case 0:
if ( '>' == data) {
_step = 1;
_checksum = 0; //reset checksum accumulator
_last_command_confirmed = false;
}
break;
case 1: // command ID
_checksum = data;
_command_id = data;
_step++;
break;
case 2: // Size of the body of the message
_checksum += data;
_payload_length = data;
_step++;
break;
case 3: // checksum of the header
if (_checksum != data ) {
_step = 0;
_checksum = 0;
// checksum error
break;
}
_step++;
_checksum = 0;
_payload_counter = 0; // prepare to receive payload
break;
case 4: // parsing body
_checksum += data;
if (_payload_counter < sizeof(_buffer)) {
_buffer[_payload_counter] = data;
}
if (++_payload_counter == _payload_length)
_step++;
break;
case 5:// body checksum
_step = 0;
if (_checksum != data) {
break;
}
parse_body();
}
}
}
#endif // HAL_MOUNT_ALEXMOS_ENABLED
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