mirror of https://github.com/ArduPilot/ardupilot
447 lines
11 KiB
C++
447 lines
11 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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#include <endian.h>
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#include <stdio.h>
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#include <sys/time.h>
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#include <poll.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <sys/mman.h>
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#include <pthread.h>
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#include "RCOutput_Bebop.h"
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/* BEBOP BLDC motor controller address and registers description */
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#define BEBOP_BLDC_I2C_ADDR 0x08
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#define BEBOP_BLDC_STARTPROP 0x40
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#define BEBOP_BLDC_SETREFSPEED 0x02
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struct bldc_ref_speed_data {
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uint8_t cmd;
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uint16_t rpm[BEBOP_BLDC_MOTORS_NUM];
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uint8_t enable_security;
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uint8_t checksum;
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}__attribute__((packed));
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#define BEBOP_BLDC_GETOBSDATA 0x20
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struct bldc_obs_data {
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uint16_t rpm[BEBOP_BLDC_MOTORS_NUM];
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uint16_t batt_mv;
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uint8_t status;
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uint8_t error;
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uint8_t motors_err;
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uint8_t temp;
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uint8_t checksum;
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}__attribute__((packed));
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#define BEBOP_BLDC_TOGGLE_GPIO 0x4d
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#define BEBOP_BLDC_GPIO_RESET (1 << 0)
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#define BEBOP_BLDC_GPIO_RED (1 << 1)
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#define BEBOP_BLDC_GPIO_GREEN (1 << 2)
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#define BEBOP_BLDC_STOP_PROP 0x60
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#define BEBOP_BLDC_CLEAR_ERROR 0x80
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#define BEBOP_BLDC_PLAY_SOUND 0x82
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#define BEBOP_BLDC_GET_INFO 0xA0
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#define BEBOP_BLDC_MIN_PERIOD_US 1100
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#define BEBOP_BLDC_MAX_PERIOD_US 1900
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#define BEBOP_BLDC_MIN_RPM 3000
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#define BEBOP_BLDC_MAX_RPM 11000
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/* Priority of the thread controlling the BLDC via i2c
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* set to 14, which is the same as the UART
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*/
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#define RCOUT_BEBOP_RTPRIO 14
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/* Set timeout to 500ms */
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#define BEBOP_BLDC_TIMEOUT_NS 500000000
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enum {
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BEBOP_BLDC_STARTED,
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BEBOP_BLDC_STOPPED,
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};
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using namespace Linux;
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static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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RCOutput_Bebop::RCOutput_Bebop():
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_i2c_sem(NULL),
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_min_pwm(BEBOP_BLDC_MIN_PERIOD_US),
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_max_pwm(BEBOP_BLDC_MAX_PERIOD_US),
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_state(BEBOP_BLDC_STOPPED)
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{
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memset(_period_us, 0, sizeof(_period_us));
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memset(_request_period_us, 0, sizeof(_request_period_us));
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memset(_rpm, 0, sizeof(_rpm));
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}
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uint8_t RCOutput_Bebop::_checksum(uint8_t *data, unsigned int len)
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{
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uint8_t checksum = data[0];
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unsigned int i;
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for (i = 1; i < len; i++)
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checksum = checksum ^ data[i];
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return checksum;
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}
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void RCOutput_Bebop::_start_prop()
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{
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uint8_t data = BEBOP_BLDC_STARTPROP;
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if (!_i2c_sem->take(0))
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return;
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hal.i2c1->write(BEBOP_BLDC_I2C_ADDR, 1, &data);
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_i2c_sem->give();
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_state = BEBOP_BLDC_STARTED;
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}
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void RCOutput_Bebop::_set_ref_speed(uint16_t rpm[BEBOP_BLDC_MOTORS_NUM])
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{
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struct bldc_ref_speed_data data;
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int i;
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data.cmd = BEBOP_BLDC_SETREFSPEED;
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for (i=0; i<BEBOP_BLDC_MOTORS_NUM; i++)
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data.rpm[i] = htobe16(rpm[i]);
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data.enable_security = 0;
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data.checksum = _checksum((uint8_t *) &data, sizeof(data) - 1);
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if (!_i2c_sem->take(0))
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return;
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hal.i2c1->write(BEBOP_BLDC_I2C_ADDR, sizeof(data), (uint8_t *)&data);
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_i2c_sem->give();
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}
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bool RCOutput_Bebop::_get_info(struct bldc_info *info)
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{
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if (info == NULL) {
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return false;
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}
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memset(info, 0, sizeof(struct bldc_info));
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if (!_i2c_sem->take(0)) {
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return false;
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}
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hal.i2c1->readRegisters(BEBOP_BLDC_I2C_ADDR, BEBOP_BLDC_GET_INFO,
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sizeof(struct bldc_info), (uint8_t *)info);
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_i2c_sem->give();
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return true;
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}
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int RCOutput_Bebop::read_obs_data(BebopBLDC_ObsData &obs)
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{
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struct bldc_obs_data data;
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int i;
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memset(&data, 0, sizeof(data));
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if (!_i2c_sem->take(0))
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return -EBUSY;
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hal.i2c1->readRegisters(BEBOP_BLDC_I2C_ADDR, BEBOP_BLDC_GETOBSDATA,
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sizeof(data), (uint8_t *)&data);
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_i2c_sem->give();
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if (data.checksum != _checksum((uint8_t *)&data, sizeof(data) - 1))
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hal.console->printf("RCOutput_Bebop: bad checksum in obs data");
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/* fill obs class */
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for (i = 0; i < BEBOP_BLDC_MOTORS_NUM; i++) {
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/* extract 'rpm saturation bit' */
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obs.rpm_saturated[i] = (data.rpm[i] & (1 << 7)) ? 1 : 0;
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/* clear 'rpm saturation bit' */
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data.rpm[i] &= (uint16_t)(~(1 << 7));
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obs.rpm[i] = be16toh(data.rpm[i]);
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if (obs.rpm[i] == 0)
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obs.rpm_saturated[i] = 0;
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}
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obs.batt_mv = be16toh(data.batt_mv);
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obs.status = data.status;
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obs.error = data.error;
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obs.motors_err = data.motors_err;
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obs.temperature = data.temp;
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return 0;
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}
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void RCOutput_Bebop::_toggle_gpio(uint8_t mask)
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{
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if (!_i2c_sem->take(0))
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return;
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hal.i2c1->writeRegister(BEBOP_BLDC_I2C_ADDR, BEBOP_BLDC_TOGGLE_GPIO, mask);
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_i2c_sem->give();
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}
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void RCOutput_Bebop::_stop_prop()
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{
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uint8_t data = BEBOP_BLDC_STOP_PROP;
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_state = BEBOP_BLDC_STOPPED;
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if (!_i2c_sem->take(0))
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return;
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hal.i2c1->write(BEBOP_BLDC_I2C_ADDR, 1, &data);
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_i2c_sem->give();
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}
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void RCOutput_Bebop::_clear_error()
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{
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uint8_t data = BEBOP_BLDC_CLEAR_ERROR;
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if (!_i2c_sem->take(0))
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return;
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hal.i2c1->write(BEBOP_BLDC_I2C_ADDR, 1, &data);
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_i2c_sem->give();
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}
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void RCOutput_Bebop::_play_sound(uint8_t sound)
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{
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if (!_i2c_sem->take(0))
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return;
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hal.i2c1->writeRegister(BEBOP_BLDC_I2C_ADDR, BEBOP_BLDC_PLAY_SOUND, sound);
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_i2c_sem->give();
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}
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uint16_t RCOutput_Bebop::_period_us_to_rpm(uint16_t period_us)
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{
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float period_us_fl = period_us;
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float rpm_fl = (period_us_fl - _min_pwm)/(_max_pwm - _min_pwm) *
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(BEBOP_BLDC_MAX_RPM - BEBOP_BLDC_MIN_RPM) + BEBOP_BLDC_MIN_RPM;
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return (uint16_t)rpm_fl;
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}
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void RCOutput_Bebop::init()
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{
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int ret=0;
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struct sched_param param = { .sched_priority = RCOUT_BEBOP_RTPRIO };
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pthread_attr_t attr;
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pthread_condattr_t cond_attr;
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_i2c_sem = hal.i2c1->get_semaphore();
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if (_i2c_sem == NULL) {
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AP_HAL::panic("RCOutput_Bebop: can't get i2c sem");
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return; /* never reached */
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}
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/* Initialize thread, cond, and mutex */
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ret = pthread_mutex_init(&_mutex, NULL);
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if (ret != 0) {
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perror("RCout_Bebop: failed to init mutex\n");
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return;
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}
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pthread_mutex_lock(&_mutex);
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pthread_condattr_init(&cond_attr);
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pthread_condattr_setclock(&cond_attr, CLOCK_MONOTONIC);
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ret = pthread_cond_init(&_cond, &cond_attr);
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pthread_condattr_destroy(&cond_attr);
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if (ret != 0) {
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perror("RCout_Bebop: failed to init cond\n");
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goto exit;
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}
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ret = pthread_attr_init(&attr);
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if (ret != 0) {
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perror("RCOut_Bebop: failed to init attr\n");
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goto exit;
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}
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pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
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pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
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pthread_attr_setschedparam(&attr, ¶m);
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ret = pthread_create(&_thread, &attr, _control_thread, this);
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if (ret != 0) {
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perror("RCOut_Bebop: failed to create thread\n");
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goto exit;
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}
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_clear_error();
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/* Set an initial dummy frequency */
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_frequency = 50;
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exit:
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pthread_mutex_unlock(&_mutex);
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return;
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}
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void RCOutput_Bebop::set_freq(uint32_t chmask, uint16_t freq_hz)
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{
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_frequency = freq_hz;
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}
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uint16_t RCOutput_Bebop::get_freq(uint8_t ch)
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{
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return _frequency;
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}
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void RCOutput_Bebop::enable_ch(uint8_t ch)
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{
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}
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void RCOutput_Bebop::disable_ch(uint8_t ch)
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{
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_stop_prop();
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}
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void RCOutput_Bebop::write(uint8_t ch, uint16_t period_us)
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{
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if (ch >= BEBOP_BLDC_MOTORS_NUM)
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return;
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_request_period_us[ch] = period_us;
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if (!_corking)
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push();
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}
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void RCOutput_Bebop::cork()
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{
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_corking = true;
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}
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void RCOutput_Bebop::push()
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{
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_corking = false;
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pthread_mutex_lock(&_mutex);
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memcpy(_period_us, _request_period_us, sizeof(_period_us));
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pthread_cond_signal(&_cond);
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pthread_mutex_unlock(&_mutex);
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memset(_request_period_us, 0 ,sizeof(_request_period_us));
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}
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uint16_t RCOutput_Bebop::read(uint8_t ch)
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{
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if (ch < BEBOP_BLDC_MOTORS_NUM) {
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return _period_us[ch];
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} else {
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return 0;
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}
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}
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void RCOutput_Bebop::read(uint16_t* period_us, uint8_t len)
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{
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for (int i = 0; i < len; i++)
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period_us[i] = read(0 + i);
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}
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void RCOutput_Bebop::set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm)
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{
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_min_pwm = min_pwm;
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_max_pwm = max_pwm;
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}
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/* Separate thread to handle the Bebop motors controller */
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void* RCOutput_Bebop::_control_thread(void *arg) {
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RCOutput_Bebop* rcout = (RCOutput_Bebop *) arg;
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rcout->_run_rcout();
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return NULL;
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}
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void RCOutput_Bebop::_run_rcout()
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{
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uint16_t current_period_us[BEBOP_BLDC_MOTORS_NUM];
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uint8_t i;
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int ret;
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struct timespec ts;
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struct bldc_info info;
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uint8_t bebop_bldc_channels[BEBOP_BLDC_MOTORS_NUM];
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uint8_t bebop_bldc_right_front, bebop_bldc_left_front,
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bebop_bldc_left_back, bebop_bldc_right_back;
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memset(current_period_us, 0, sizeof(current_period_us));
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if (!_get_info(&info)) {
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AP_HAL::panic("failed to get BLDC info\n");
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}
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/* Set motor order depending on BLDC version.On bebop 1 with version 1
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* keep current order. The order changes from version 2 on bebop 1 and
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* remains the same as this for bebop 2
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*/
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if (info.version_maj == 1) {
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bebop_bldc_right_front = BEBOP_BLDC_MOTOR_1;
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bebop_bldc_left_front = BEBOP_BLDC_MOTOR_2;
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bebop_bldc_left_back = BEBOP_BLDC_MOTOR_3;
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bebop_bldc_right_back = BEBOP_BLDC_MOTOR_4;
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} else {
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bebop_bldc_right_front = BEBOP_BLDC_MOTOR_2;
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bebop_bldc_left_front = BEBOP_BLDC_MOTOR_1;
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bebop_bldc_left_back = BEBOP_BLDC_MOTOR_4;
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bebop_bldc_right_back = BEBOP_BLDC_MOTOR_3;
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}
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bebop_bldc_channels[0] = bebop_bldc_right_front;
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bebop_bldc_channels[1] = bebop_bldc_left_back;
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bebop_bldc_channels[2] = bebop_bldc_left_front;
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bebop_bldc_channels[3] = bebop_bldc_right_back;
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while (true) {
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pthread_mutex_lock(&_mutex);
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ret = clock_gettime(CLOCK_MONOTONIC, &ts);
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if (ret != 0)
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hal.console->println("RCOutput_Bebop: bad checksum in obs data");
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if (ts.tv_nsec > (1000000000 - BEBOP_BLDC_TIMEOUT_NS))
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{
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ts.tv_sec += 1;
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ts.tv_nsec = ts.tv_nsec + BEBOP_BLDC_TIMEOUT_NS - 1000000000;
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} else {
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ts.tv_nsec += BEBOP_BLDC_TIMEOUT_NS;
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}
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ret = 0;
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while ((memcmp(_period_us, current_period_us, sizeof(_period_us)) == 0) && (ret == 0))
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ret = pthread_cond_timedwait(&_cond, &_mutex, &ts);
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memcpy(current_period_us, _period_us, sizeof(_period_us));
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pthread_mutex_unlock(&_mutex);
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/* start propellers if the speed of the 4 motors is >= min speed
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* min speed set to min_pwm + 50*/
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for (i = 0; i < BEBOP_BLDC_MOTORS_NUM; i++) {
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if (current_period_us[i] <= _min_pwm + 50)
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break;
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_rpm[bebop_bldc_channels[i]] = _period_us_to_rpm(current_period_us[i]);
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}
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if (i < BEBOP_BLDC_MOTORS_NUM) {
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/* one motor pwm value is at minimum (or under)
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* if the motors are started, stop them*/
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if (_state == BEBOP_BLDC_STARTED) {
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_stop_prop();
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_clear_error();
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}
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} else {
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/* all the motor pwm values are higher than minimum
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* if the bldc is stopped, start it*/
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if (_state == BEBOP_BLDC_STOPPED)
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_start_prop();
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}
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_set_ref_speed(_rpm);
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}
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}
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#endif
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