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ardupilot/libraries/AP_HAL_Linux/RCOutput_Bebop.cpp

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#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
#include "RCOutput_Bebop.h"
#include <errno.h>
#include <poll.h>
#include <pthread.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/mman.h>
#include <sys/time.h>
#include <unistd.h>
#include <utility>
#include <AP_HAL/utility/sparse-endian.h>
#include <AP_Math/AP_Math.h>
#include "Util.h"
/* BEBOP BLDC registers description */
#define BEBOP_BLDC_I2C_ADDR 0x08
#define BEBOP_BLDC_STARTPROP 0x40
#define BEBOP_BLDC_SETREFSPEED 0x02
#define BEBOP_BLDC_GETOBSDATA 0x20
struct PACKED bldc_info {
uint8_t version_maj;
uint8_t version_min;
uint8_t type;
uint8_t n_motors;
uint16_t n_flights;
uint16_t last_flight_time;
uint32_t total_flight_time;
uint8_t last_error;
};
#define BEBOP_BLDC_TOGGLE_GPIO 0x4d
#define BEBOP_BLDC_GPIO_0 (1 << 0)
#define BEBOP_BLDC_GPIO_1 (1 << 1)
#define BEBOP_BLDC_GPIO_2 (1 << 2)
#define BEBOP_BLDC_GPIO_3 (1 << 3)
#define BEBOP_BLDC_GPIO_POWER (1 << 4)
#define BEBOP_BLDC_STOP_PROP 0x60
#define BEBOP_BLDC_CLEAR_ERROR 0x80
#define BEBOP_BLDC_PLAY_SOUND 0x82
#define BEBOP_BLDC_GET_INFO 0xA0
#define BEBOP_BLDC_MIN_PERIOD_US 1100
#define BEBOP_BLDC_MAX_PERIOD_US 1900
#define BEBOP_BLDC_MIN_RPM 1000
/* the max rpm speed is different on Bebop 2 */
#define BEBOP_BLDC_MAX_RPM_1 11000
#define BEBOP_BLDC_MAX_RPM_2 12200
#define BEBOP_BLDC_MAX_RPM_DISCO 12500
/* Priority of the thread controlling the BLDC via i2c
* set to 14, which is the same as the UART
*/
#define RCOUT_BEBOP_RTPRIO 14
/* Set timeout to 500ms */
#define BEBOP_BLDC_TIMEOUT_NS 500000000
enum {
BEBOP_BLDC_STARTED,
BEBOP_BLDC_STOPPED,
};
/* values of bottom nibble of the obs data status byte */
enum BLDC_STATUS {
BEBOP_BLDC_STATUS_STOPPED=1,
BEBOP_BLDC_STATUS_RAMPUP=2,
BEBOP_BLDC_STATUS_RUNNING=4,
BEBOP_BLDC_STATUS_RAMPDOWN=5
};
using namespace Linux;
static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
RCOutput_Bebop::RCOutput_Bebop(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
: _dev(std::move(dev))
, _min_pwm(BEBOP_BLDC_MIN_PERIOD_US)
, _max_pwm(BEBOP_BLDC_MAX_PERIOD_US)
, _state(BEBOP_BLDC_STOPPED)
{
memset(_period_us, 0, sizeof(_period_us));
memset(_request_period_us, 0, sizeof(_request_period_us));
memset(_rpm, 0, sizeof(_rpm));
}
uint8_t RCOutput_Bebop::_checksum(uint8_t *data, unsigned int len)
{
uint8_t checksum = data[0];
unsigned int i;
for (i = 1; i < len; i++)
checksum = checksum ^ data[i];
return checksum;
}
void RCOutput_Bebop::_start_prop()
{
uint8_t data = BEBOP_BLDC_STARTPROP;
if (!_dev->get_semaphore()->take(0)) {
return;
}
if (_dev->transfer(&data, sizeof(data), nullptr, 0)) {
_state = BEBOP_BLDC_STARTED;
}
_dev->get_semaphore()->give();
}
void RCOutput_Bebop::_set_ref_speed(uint16_t rpm[BEBOP_BLDC_MOTORS_NUM])
{
struct PACKED bldc_ref_speed_data {
uint8_t cmd;
uint16_t rpm[BEBOP_BLDC_MOTORS_NUM];
uint8_t enable_security;
uint8_t checksum;
} data {};
int i;
data.cmd = BEBOP_BLDC_SETREFSPEED;
for (i=0; i<BEBOP_BLDC_MOTORS_NUM; i++) {
data.rpm[i] = htobe16(rpm[i]);
}
data.enable_security = 0;
data.checksum = _checksum((uint8_t *) &data, sizeof(data) - 1);
if (!_dev->get_semaphore()->take(0)) {
return;
}
_dev->transfer((uint8_t *)&data, sizeof(data), nullptr, 0);
_dev->get_semaphore()->give();
}
bool RCOutput_Bebop::_get_info(struct bldc_info *info)
{
if (info == nullptr) {
return false;
}
memset(info, 0, sizeof(struct bldc_info));
if (!_dev->get_semaphore()->take(0)) {
return false;
}
_dev->read_registers(BEBOP_BLDC_GET_INFO, (uint8_t*)info, sizeof(*info));
_dev->get_semaphore()->give();
return true;
}
int RCOutput_Bebop::read_obs_data(BebopBLDC_ObsData &obs)
{
/*
the structure returned is different on the Disco from the Bebop
*/
struct PACKED bldc_obs_data {
uint16_t rpm[BEBOP_BLDC_MOTORS_NUM];
uint16_t batt_mv;
uint8_t status;
uint8_t error;
uint8_t motors_err;
uint8_t temp;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
/*
bit 0 indicates an overcurrent on the RC receiver port when high
bits #1-#6 indicate an overcurrent on the #1-#6 PPM servos
*/
uint8_t overcurrent;
#endif
uint8_t checksum;
} data;
memset(&data, 0, sizeof(data));
if (!_dev->get_semaphore()->take(0)) {
return -EBUSY;
}
_dev->read_registers(BEBOP_BLDC_GETOBSDATA, (uint8_t *)&data, sizeof(data));
_dev->get_semaphore()->give();
if (data.checksum != _checksum((uint8_t*)&data, sizeof(data)-1)) {
return -EBUSY;
}
memset(&obs, 0, sizeof(obs));
/* fill obs class */
for (uint8_t i = 0; i < _n_motors; i++) {
/* extract 'rpm saturation bit' */
obs.rpm_saturated[i] = (data.rpm[i] & (1 << 7)) ? 1 : 0;
/* clear 'rpm saturation bit' */
data.rpm[i] &= (uint16_t)(~(1 << 7));
obs.rpm[i] = be16toh(data.rpm[i]);
if (obs.rpm[i] == 0) {
obs.rpm_saturated[i] = 0;
}
#if 0
printf("rpm %u %u %u %u status 0x%02x temp %u\n",
obs.rpm[i], _rpm[0], _period_us[0], _period_us_to_rpm(_period_us[0]),
(unsigned)data.status,
(unsigned)data.temp);
#endif
}
// sync our state from status. This makes us more robust to i2c errors
enum BLDC_STATUS bldc_status = (enum BLDC_STATUS)(data.status & 0x0F);
switch (bldc_status) {
case BEBOP_BLDC_STATUS_STOPPED:
case BEBOP_BLDC_STATUS_RAMPDOWN:
_state = BEBOP_BLDC_STOPPED;
break;
case BEBOP_BLDC_STATUS_RAMPUP:
case BEBOP_BLDC_STATUS_RUNNING:
_state = BEBOP_BLDC_STARTED;
break;
}
obs.batt_mv = be16toh(data.batt_mv);
obs.status = data.status;
obs.error = data.error;
obs.motors_err = data.motors_err;
obs.temperature = data.temp;
return 0;
}
void RCOutput_Bebop::_toggle_gpio(uint8_t mask)
{
if (!_dev->get_semaphore()->take(0)) {
return;
}
_dev->write_register(BEBOP_BLDC_TOGGLE_GPIO, mask);
_dev->get_semaphore()->give();
}
void RCOutput_Bebop::_stop_prop()
{
uint8_t data = BEBOP_BLDC_STOP_PROP;
if (!_dev->get_semaphore()->take(0)) {
return;
}
_dev->transfer(&data, sizeof(data), nullptr, 0);
_dev->get_semaphore()->give();
}
void RCOutput_Bebop::_clear_error()
{
uint8_t data = BEBOP_BLDC_CLEAR_ERROR;
if (!_dev->get_semaphore()->take(0)) {
return;
}
_dev->transfer(&data, sizeof(data), nullptr, 0);
_dev->get_semaphore()->give();
}
void RCOutput_Bebop::_play_sound(uint8_t sound)
{
if (!_dev->get_semaphore()->take(0)) {
return;
}
_dev->write_register(BEBOP_BLDC_PLAY_SOUND, sound);
_dev->get_semaphore()->give();
}
/*
* pwm is the pwm power used for the note.
* It has to be >= 3, otherwise it refers to a predefined song
* (see _play_sound function)
* period is in us and duration in ms.
*/
void RCOutput_Bebop::play_note(uint8_t pwm,
uint16_t period_us,
uint16_t duration_ms)
{
struct PACKED {
uint8_t header;
uint8_t pwm;
be16_t period;
be16_t duration;
} msg;
if (pwm < 3) {
return;
}
msg.header = BEBOP_BLDC_PLAY_SOUND;
msg.pwm = pwm;
msg.period = htobe16(period_us);
msg.duration = htobe16(duration_ms);
if (!_dev->get_semaphore()->take(0)) {
return;
}
_dev->transfer((uint8_t *)&msg, sizeof(msg), nullptr, 0);
_dev->get_semaphore()->give();
}
uint16_t RCOutput_Bebop::_period_us_to_rpm(uint16_t period_us)
{
period_us = constrain_int16(period_us, _min_pwm, _max_pwm);
float period_us_fl = period_us;
float rpm_fl = (period_us_fl - _min_pwm)/(_max_pwm - _min_pwm) *
(_max_rpm - BEBOP_BLDC_MIN_RPM) + BEBOP_BLDC_MIN_RPM;
return (uint16_t)rpm_fl;
}
void RCOutput_Bebop::init()
{
int ret=0;
struct sched_param param = { .sched_priority = RCOUT_BEBOP_RTPRIO };
pthread_attr_t attr;
pthread_condattr_t cond_attr;
/* Initialize thread, cond, and mutex */
ret = pthread_mutex_init(&_mutex, nullptr);
if (ret != 0) {
perror("RCout_Bebop: failed to init mutex\n");
return;
}
pthread_mutex_lock(&_mutex);
pthread_condattr_init(&cond_attr);
pthread_condattr_setclock(&cond_attr, CLOCK_MONOTONIC);
ret = pthread_cond_init(&_cond, &cond_attr);
pthread_condattr_destroy(&cond_attr);
if (ret != 0) {
perror("RCout_Bebop: failed to init cond\n");
goto exit;
}
ret = pthread_attr_init(&attr);
if (ret != 0) {
perror("RCOut_Bebop: failed to init attr\n");
goto exit;
}
pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
pthread_attr_setschedparam(&attr, &param);
ret = pthread_create(&_thread, &attr, _control_thread, this);
if (ret != 0) {
perror("RCOut_Bebop: failed to create thread\n");
goto exit;
}
_clear_error();
/* Set an initial dummy frequency */
_frequency = 50;
// enable servo power (also receiver power)
_toggle_gpio(BEBOP_BLDC_GPIO_2 | BEBOP_BLDC_GPIO_POWER);
exit:
pthread_mutex_unlock(&_mutex);
return;
}
void RCOutput_Bebop::set_freq(uint32_t chmask, uint16_t freq_hz)
{
_frequency = freq_hz;
}
uint16_t RCOutput_Bebop::get_freq(uint8_t ch)
{
return _frequency;
}
void RCOutput_Bebop::enable_ch(uint8_t ch)
{
}
void RCOutput_Bebop::disable_ch(uint8_t ch)
{
_stop_prop();
}
void RCOutput_Bebop::write(uint8_t ch, uint16_t period_us)
{
if (ch >= BEBOP_BLDC_MOTORS_NUM) {
return;
}
_request_period_us[ch] = period_us;
if (!_corking) {
push();
}
}
void RCOutput_Bebop::cork()
{
_corking = true;
}
void RCOutput_Bebop::push()
{
_corking = false;
pthread_mutex_lock(&_mutex);
memcpy(_period_us, _request_period_us, sizeof(_period_us));
pthread_cond_signal(&_cond);
pthread_mutex_unlock(&_mutex);
memset(_request_period_us, 0, sizeof(_request_period_us));
}
uint16_t RCOutput_Bebop::read(uint8_t ch)
{
if (ch < BEBOP_BLDC_MOTORS_NUM) {
return _period_us[ch];
} else {
return 0;
}
}
void RCOutput_Bebop::read(uint16_t* period_us, uint8_t len)
{
for (int i = 0; i < len; i++) {
period_us[i] = read(0 + i);
}
}
void RCOutput_Bebop::set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm)
{
_min_pwm = min_pwm;
_max_pwm = max_pwm;
}
/* Separate thread to handle the Bebop motors controller */
void* RCOutput_Bebop::_control_thread(void *arg) {
RCOutput_Bebop* rcout = (RCOutput_Bebop *) arg;
rcout->_run_rcout();
return nullptr;
}
void RCOutput_Bebop::_run_rcout()
{
uint16_t current_period_us[BEBOP_BLDC_MOTORS_NUM];
uint8_t i;
int ret;
struct timespec ts;
struct bldc_info info;
uint8_t bebop_bldc_channels[BEBOP_BLDC_MOTORS_NUM] {};
int hw_version;
memset(current_period_us, 0, sizeof(current_period_us));
if (!_get_info(&info)) {
AP_HAL::panic("failed to get BLDC info");
}
// remember _n_motors for read_obs_data()
_n_motors = info.n_motors;
#if CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_DISCO
uint8_t bebop_bldc_right_front, bebop_bldc_left_front,
bebop_bldc_left_back, bebop_bldc_right_back;
/* Set motor order depending on BLDC version.On bebop 1 with version 1
* keep current order. The order changes from version 2 on bebop 1 and
* remains the same as this for bebop 2
*/
if (info.version_maj == 1) {
bebop_bldc_right_front = BEBOP_BLDC_MOTOR_1;
bebop_bldc_left_front = BEBOP_BLDC_MOTOR_2;
bebop_bldc_left_back = BEBOP_BLDC_MOTOR_3;
bebop_bldc_right_back = BEBOP_BLDC_MOTOR_4;
} else {
bebop_bldc_right_front = BEBOP_BLDC_MOTOR_2;
bebop_bldc_left_front = BEBOP_BLDC_MOTOR_1;
bebop_bldc_left_back = BEBOP_BLDC_MOTOR_4;
bebop_bldc_right_back = BEBOP_BLDC_MOTOR_3;
}
bebop_bldc_channels[0] = bebop_bldc_right_front;
bebop_bldc_channels[1] = bebop_bldc_left_back;
bebop_bldc_channels[2] = bebop_bldc_left_front;
bebop_bldc_channels[3] = bebop_bldc_right_back;
#endif
hw_version = Util::from(hal.util)->get_hw_arm32();
if (hw_version == UTIL_HARDWARE_BEBOP) {
_max_rpm = BEBOP_BLDC_MAX_RPM_1;
} else if (hw_version == UTIL_HARDWARE_BEBOP2) {
_max_rpm = BEBOP_BLDC_MAX_RPM_2;
} else if (hw_version == UTIL_HARDWARE_DISCO) {
_max_rpm = BEBOP_BLDC_MAX_RPM_DISCO;
} else if (hw_version < 0) {
AP_HAL::panic("failed to get hw version %s", strerror(hw_version));
} else {
AP_HAL::panic("unsupported hw version %d", hw_version);
}
printf("Bebop: vers %u/%u type %u nmotors %u n_flights %u last_flight_time %u total_flight_time %u maxrpm %u\n",
(unsigned)info.version_maj, (unsigned)info.version_min, (unsigned)info.type,
(unsigned)info.n_motors, (unsigned)be16toh(info.n_flights),
(unsigned)be16toh(info.last_flight_time), (unsigned)be32toh(info.total_flight_time),
(unsigned)_max_rpm);
while (true) {
pthread_mutex_lock(&_mutex);
ret = clock_gettime(CLOCK_MONOTONIC, &ts);
if (ret != 0) {
pthread_mutex_unlock(&_mutex);
continue;
}
if (ts.tv_nsec > (1000000000 - BEBOP_BLDC_TIMEOUT_NS)) {
ts.tv_sec += 1;
ts.tv_nsec = ts.tv_nsec + BEBOP_BLDC_TIMEOUT_NS - 1000000000;
} else {
ts.tv_nsec += BEBOP_BLDC_TIMEOUT_NS;
}
ret = 0;
while ((memcmp(_period_us, current_period_us, sizeof(_period_us)) == 0) && (ret == 0)) {
ret = pthread_cond_timedwait(&_cond, &_mutex, &ts);
}
memcpy(current_period_us, _period_us, sizeof(_period_us));
pthread_mutex_unlock(&_mutex);
/* start propellers if the speed of the 4 motors is >= min speed
* min speed set to min_pwm + 50*/
for (i = 0; i < _n_motors; i++) {
if (current_period_us[i] <= _min_pwm + 50) {
break;
}
_rpm[bebop_bldc_channels[i]] = _period_us_to_rpm(current_period_us[i]);
}
if (i < _n_motors) {
/* one motor pwm value is at minimum (or under)
* if the motors are started, stop them*/
if (_state == BEBOP_BLDC_STARTED) {
_stop_prop();
_clear_error();
}
} else {
/* all the motor pwm values are higher than minimum
* if the bldc is stopped, start it*/
if (_state == BEBOP_BLDC_STOPPED) {
_start_prop();
}
_set_ref_speed(_rpm);
}
}
}
#endif
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