forked from Archive/PX4-Autopilot
Added MD25 I2C motor controller driver.
This commit is contained in:
James Goppert
parent
078ae23cfa
commit
06e390b5e9
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@ -53,6 +53,15 @@ namespace device __EXPORT
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class __EXPORT I2C : public CDev
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class __EXPORT I2C : public CDev
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{
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{
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public:
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/**
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* Get the address
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*/
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uint16_t get_address() {
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return _address;
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}
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protected:
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protected:
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/**
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/**
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* The number of times a read or write operation will be retried on
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* The number of times a read or write operation will be retried on
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@ -0,0 +1,553 @@
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/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file md25.cpp
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*
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* Driver for MD25 I2C Motor Driver
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*
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* references:
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* http://www.robot-electronics.co.uk/htm/md25tech.htm
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* http://www.robot-electronics.co.uk/files/rpi_md25.c
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*
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*/
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#include "MD25.hpp"
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#include <poll.h>
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#include <stdio.h>
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#include <systemlib/err.h>
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#include <arch/board/board.h>
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// registers
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enum {
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// RW: read/write
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// R: read
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REG_SPEED1_RW = 0,
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REG_SPEED2_RW,
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REG_ENC1A_R,
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REG_ENC1B_R,
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REG_ENC1C_R,
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REG_ENC1D_R,
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REG_ENC2A_R,
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REG_ENC2B_R,
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REG_ENC2C_R,
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REG_ENC2D_R,
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REG_BATTERY_VOLTS_R,
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REG_MOTOR1_CURRENT_R,
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REG_MOTOR2_CURRENT_R,
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REG_SW_VERSION_R,
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REG_ACCEL_RATE_RW,
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REG_MODE_RW,
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REG_COMMAND_RW,
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};
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MD25::MD25(const char *deviceName, int bus,
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uint16_t address, uint32_t speed) :
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I2C("MD25", deviceName, bus, address, speed),
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_controlPoll(),
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_actuators(NULL, ORB_ID(actuator_controls_0), 20),
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_version(0),
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_motor1Speed(0),
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_motor2Speed(0),
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_revolutions1(0),
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_revolutions2(0),
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_batteryVoltage(0),
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_motor1Current(0),
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_motor2Current(0),
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_motorAccel(0),
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_mode(MODE_UNSIGNED_SPEED),
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_command(CMD_RESET_ENCODERS)
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{
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// setup control polling
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_controlPoll.fd = _actuators.getHandle();
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_controlPoll.events = POLLIN;
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// if initialization fails raise an error, unless
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// probing
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int ret = I2C::init();
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if (ret != OK) {
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warnc(ret, "I2C::init failed for bus: %d address: %d\n", bus, address);
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}
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// setup default settings, reset encoders
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setMotor1Speed(0);
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setMotor2Speed(0);
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resetEncoders();
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_setMode(MD25::MODE_UNSIGNED_SPEED);
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setSpeedRegulation(true);
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setTimeout(true);
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}
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MD25::~MD25()
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{
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}
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int MD25::readData()
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{
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uint8_t sendBuf[1];
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sendBuf[0] = REG_SPEED1_RW;
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uint8_t recvBuf[17];
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int ret = transfer(sendBuf, sizeof(sendBuf),
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recvBuf, sizeof(recvBuf));
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if (ret == OK) {
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_version = recvBuf[REG_SW_VERSION_R];
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_motor1Speed = _uint8ToNorm(recvBuf[REG_SPEED1_RW]);
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_motor2Speed = _uint8ToNorm(recvBuf[REG_SPEED2_RW]);
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_revolutions1 = -int32_t((recvBuf[REG_ENC1A_R] << 24) +
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(recvBuf[REG_ENC1B_R] << 16) +
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(recvBuf[REG_ENC1C_R] << 8) +
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recvBuf[REG_ENC1D_R]) / 360.0;
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_revolutions2 = -int32_t((recvBuf[REG_ENC2A_R] << 24) +
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(recvBuf[REG_ENC2B_R] << 16) +
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(recvBuf[REG_ENC2C_R] << 8) +
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recvBuf[REG_ENC2D_R]) / 360.0;
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_batteryVoltage = recvBuf[REG_BATTERY_VOLTS_R] / 10.0;
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_motor1Current = recvBuf[REG_MOTOR1_CURRENT_R] / 10.0;
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_motor2Current = recvBuf[REG_MOTOR2_CURRENT_R] / 10.0;
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_motorAccel = recvBuf[REG_ACCEL_RATE_RW];
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_mode = e_mode(recvBuf[REG_MODE_RW]);
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_command = e_cmd(recvBuf[REG_COMMAND_RW]);
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}
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return ret;
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}
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void MD25::status(char *string, size_t n)
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{
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snprintf(string, n,
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"version:\t%10d\n" \
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"motor 1 speed:\t%10.2f\n" \
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"motor 2 speed:\t%10.2f\n" \
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"revolutions 1:\t%10.2f\n" \
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"revolutions 2:\t%10.2f\n" \
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"battery volts :\t%10.2f\n" \
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"motor 1 current :\t%10.2f\n" \
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"motor 2 current :\t%10.2f\n" \
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"motor accel :\t%10d\n" \
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"mode :\t%10d\n" \
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"command :\t%10d\n",
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getVersion(),
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double(getMotor1Speed()),
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double(getMotor2Speed()),
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double(getRevolutions1()),
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double(getRevolutions2()),
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double(getBatteryVolts()),
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double(getMotor1Current()),
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double(getMotor2Current()),
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getMotorAccel(),
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getMode(),
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getCommand());
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}
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uint8_t MD25::getVersion()
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{
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return _version;
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}
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float MD25::getMotor1Speed()
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{
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return _motor1Speed;
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}
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float MD25::getMotor2Speed()
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{
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return _motor2Speed;
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}
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float MD25::getRevolutions1()
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{
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return _revolutions1;
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}
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float MD25::getRevolutions2()
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{
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return _revolutions2;
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}
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float MD25::getBatteryVolts()
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{
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return _batteryVoltage;
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}
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float MD25::getMotor1Current()
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{
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return _motor1Current;
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}
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float MD25::getMotor2Current()
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{
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return _motor2Current;
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}
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uint8_t MD25::getMotorAccel()
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{
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return _motorAccel;
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}
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MD25::e_mode MD25::getMode()
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{
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return _mode;
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}
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MD25::e_cmd MD25::getCommand()
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{
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return _command;
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}
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int MD25::resetEncoders()
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{
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return _writeUint8(REG_COMMAND_RW,
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CMD_RESET_ENCODERS);
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}
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int MD25::_setMode(e_mode mode)
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{
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return _writeUint8(REG_MODE_RW,
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mode);
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}
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int MD25::setSpeedRegulation(bool enable)
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{
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if (enable) {
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return _writeUint8(REG_COMMAND_RW,
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CMD_ENABLE_SPEED_REGULATION);
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} else {
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return _writeUint8(REG_COMMAND_RW,
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CMD_DISABLE_SPEED_REGULATION);
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}
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}
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int MD25::setTimeout(bool enable)
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{
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if (enable) {
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return _writeUint8(REG_COMMAND_RW,
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CMD_ENABLE_TIMEOUT);
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} else {
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return _writeUint8(REG_COMMAND_RW,
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CMD_DISABLE_TIMEOUT);
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}
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}
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int MD25::setDeviceAddress(uint8_t address)
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{
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uint8_t sendBuf[1];
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sendBuf[0] = CMD_CHANGE_I2C_SEQ_0;
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int ret = OK;
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ret = transfer(sendBuf, sizeof(sendBuf),
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nullptr, 0);
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if (ret != OK) {
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warnc(ret, "MD25::setDeviceAddress");
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return ret;
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}
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usleep(5000);
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sendBuf[0] = CMD_CHANGE_I2C_SEQ_1;
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ret = transfer(sendBuf, sizeof(sendBuf),
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nullptr, 0);
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if (ret != OK) {
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warnc(ret, "MD25::setDeviceAddress");
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return ret;
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}
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usleep(5000);
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sendBuf[0] = CMD_CHANGE_I2C_SEQ_2;
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ret = transfer(sendBuf, sizeof(sendBuf),
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nullptr, 0);
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if (ret != OK) {
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warnc(ret, "MD25::setDeviceAddress");
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return ret;
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}
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return OK;
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}
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int MD25::setMotor1Speed(float value)
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{
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return _writeUint8(REG_SPEED1_RW,
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_normToUint8(value));
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}
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int MD25::setMotor2Speed(float value)
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{
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return _writeUint8(REG_SPEED2_RW,
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_normToUint8(value));
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}
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void MD25::update()
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{
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// wait for an actuator publication,
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// check for exit condition every second
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// note "::poll" is required to distinguish global
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// poll from member function for driver
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if (::poll(&_controlPoll, 1, 1000) < 0) return; // poll error
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// if new data, send to motors
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if (_actuators.updated()) {
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_actuators.update();
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setMotor1Speed(_actuators.control[CH_SPEED_LEFT]);
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setMotor2Speed(_actuators.control[CH_SPEED_RIGHT]);
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}
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}
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int MD25::probe()
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{
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uint8_t goodAddress = 0;
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bool found = false;
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int ret = OK;
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// try initial address first, if good, then done
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if (readData() == OK) return ret;
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// try all other addresses
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uint8_t testAddress = 0;
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//printf("searching for MD25 address\n");
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while (true) {
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set_address(testAddress);
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ret = readData();
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if (ret == OK && !found) {
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//printf("device found at address: 0x%X\n", testAddress);
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if (!found) {
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found = true;
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goodAddress = testAddress;
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}
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}
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if (testAddress > 254) {
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break;
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}
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testAddress++;
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}
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if (found) {
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set_address(goodAddress);
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return OK;
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} else {
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set_address(0);
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return ret;
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}
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}
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int MD25::search()
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{
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uint8_t goodAddress = 0;
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bool found = false;
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int ret = OK;
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// try all other addresses
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uint8_t testAddress = 0;
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//printf("searching for MD25 address\n");
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while (true) {
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set_address(testAddress);
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ret = readData();
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if (ret == OK && !found) {
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printf("device found at address: 0x%X\n", testAddress);
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if (!found) {
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found = true;
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goodAddress = testAddress;
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}
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}
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if (testAddress > 254) {
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break;
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}
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testAddress++;
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}
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||||||
|
if (found) {
|
||||||
|
set_address(goodAddress);
|
||||||
|
return OK;
|
||||||
|
|
||||||
|
} else {
|
||||||
|
set_address(0);
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
int MD25::_writeUint8(uint8_t reg, uint8_t value)
|
||||||
|
{
|
||||||
|
uint8_t sendBuf[2];
|
||||||
|
sendBuf[0] = reg;
|
||||||
|
sendBuf[1] = value;
|
||||||
|
return transfer(sendBuf, sizeof(sendBuf),
|
||||||
|
nullptr, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
int MD25::_writeInt8(uint8_t reg, int8_t value)
|
||||||
|
{
|
||||||
|
uint8_t sendBuf[2];
|
||||||
|
sendBuf[0] = reg;
|
||||||
|
sendBuf[1] = value;
|
||||||
|
return transfer(sendBuf, sizeof(sendBuf),
|
||||||
|
nullptr, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
float MD25::_uint8ToNorm(uint8_t value)
|
||||||
|
{
|
||||||
|
// TODO, should go from 0 to 255
|
||||||
|
// possibly should handle this differently
|
||||||
|
return (value - 128) / 127.0;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t MD25::_normToUint8(float value)
|
||||||
|
{
|
||||||
|
if (value > 1) value = 1;
|
||||||
|
|
||||||
|
if (value < -1) value = -1;
|
||||||
|
|
||||||
|
// TODO, should go from 0 to 255
|
||||||
|
// possibly should handle this differently
|
||||||
|
return 127 * value + 128;
|
||||||
|
}
|
||||||
|
|
||||||
|
int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
|
||||||
|
{
|
||||||
|
printf("md25 test: starting\n");
|
||||||
|
|
||||||
|
// setup
|
||||||
|
MD25 md25("/dev/md25", bus, address);
|
||||||
|
|
||||||
|
// print status
|
||||||
|
char buf[200];
|
||||||
|
md25.status(buf, sizeof(buf));
|
||||||
|
printf("%s\n", buf);
|
||||||
|
|
||||||
|
// setup for test
|
||||||
|
md25.setSpeedRegulation(true);
|
||||||
|
md25.setTimeout(true);
|
||||||
|
float dt = 0.1;
|
||||||
|
float speed = 0.2;
|
||||||
|
float t = 0;
|
||||||
|
|
||||||
|
// motor 1 test
|
||||||
|
printf("md25 test: spinning motor 1 forward for 1 rev at 0.1 speed\n");
|
||||||
|
t = 0;
|
||||||
|
|
||||||
|
while (true) {
|
||||||
|
t += dt;
|
||||||
|
md25.setMotor1Speed(speed);
|
||||||
|
md25.readData();
|
||||||
|
usleep(1000000 * dt);
|
||||||
|
|
||||||
|
if (md25.getRevolutions1() > 1) {
|
||||||
|
printf("finished 1 revolution fwd\n");
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (t > 2.0f) break;
|
||||||
|
}
|
||||||
|
|
||||||
|
md25.setMotor1Speed(0);
|
||||||
|
printf("revolution of wheel 1: %8.4f\n", double(md25.getRevolutions1()));
|
||||||
|
md25.resetEncoders();
|
||||||
|
|
||||||
|
t = 0;
|
||||||
|
|
||||||
|
while (true) {
|
||||||
|
t += dt;
|
||||||
|
md25.setMotor1Speed(-speed);
|
||||||
|
md25.readData();
|
||||||
|
usleep(1000000 * dt);
|
||||||
|
|
||||||
|
if (md25.getRevolutions1() < -1) {
|
||||||
|
printf("finished 1 revolution rev\n");
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (t > 2.0f) break;
|
||||||
|
}
|
||||||
|
|
||||||
|
md25.setMotor1Speed(0);
|
||||||
|
printf("revolution of wheel 1: %8.4f\n", double(md25.getRevolutions1()));
|
||||||
|
md25.resetEncoders();
|
||||||
|
|
||||||
|
// motor 2 test
|
||||||
|
printf("md25 test: spinning motor 2 forward for 1 rev at 0.1 speed\n");
|
||||||
|
t = 0;
|
||||||
|
|
||||||
|
while (true) {
|
||||||
|
t += dt;
|
||||||
|
md25.setMotor2Speed(speed);
|
||||||
|
md25.readData();
|
||||||
|
usleep(1000000 * dt);
|
||||||
|
|
||||||
|
if (md25.getRevolutions2() > 1) {
|
||||||
|
printf("finished 1 revolution fwd\n");
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (t > 2.0f) break;
|
||||||
|
}
|
||||||
|
|
||||||
|
md25.setMotor2Speed(0);
|
||||||
|
printf("revolution of wheel 2: %8.4f\n", double(md25.getRevolutions2()));
|
||||||
|
md25.resetEncoders();
|
||||||
|
|
||||||
|
t = 0;
|
||||||
|
|
||||||
|
while (true) {
|
||||||
|
t += dt;
|
||||||
|
md25.setMotor2Speed(-speed);
|
||||||
|
md25.readData();
|
||||||
|
usleep(1000000 * dt);
|
||||||
|
|
||||||
|
if (md25.getRevolutions2() < -1) {
|
||||||
|
printf("finished 1 revolution rev\n");
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (t > 2.0f) break;
|
||||||
|
}
|
||||||
|
|
||||||
|
md25.setMotor2Speed(0);
|
||||||
|
printf("revolution of wheel 2: %8.4f\n", double(md25.getRevolutions2()));
|
||||||
|
md25.resetEncoders();
|
||||||
|
|
||||||
|
printf("Test complete\n");
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
|
||||||
|
|
@ -0,0 +1,293 @@
|
||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @file md25.cpp
|
||||||
|
*
|
||||||
|
* Driver for MD25 I2C Motor Driver
|
||||||
|
*
|
||||||
|
* references:
|
||||||
|
* http://www.robot-electronics.co.uk/htm/md25tech.htm
|
||||||
|
* http://www.robot-electronics.co.uk/files/rpi_md25.c
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include <poll.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <controllib/block/UOrbSubscription.hpp>
|
||||||
|
#include <uORB/topics/actuator_controls.h>
|
||||||
|
#include <drivers/device/i2c.h>
|
||||||
|
|
||||||
|
/**
|
||||||
|
* This is a driver for the MD25 motor controller utilizing the I2C interface.
|
||||||
|
*/
|
||||||
|
class MD25 : public device::I2C
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
|
||||||
|
/**
|
||||||
|
* modes
|
||||||
|
*
|
||||||
|
* NOTE: this driver assumes we are always
|
||||||
|
* in mode 0!
|
||||||
|
*
|
||||||
|
* seprate speed mode:
|
||||||
|
* motor speed1 = speed1
|
||||||
|
* motor speed2 = speed2
|
||||||
|
* turn speed mode:
|
||||||
|
* motor speed1 = speed1 + speed2
|
||||||
|
* motor speed2 = speed2 - speed2
|
||||||
|
* unsigned:
|
||||||
|
* full rev (0), stop(128), full fwd (255)
|
||||||
|
* signed:
|
||||||
|
* full rev (-127), stop(0), full fwd (128)
|
||||||
|
*
|
||||||
|
* modes numbers:
|
||||||
|
* 0 : unsigned separate (default)
|
||||||
|
* 1 : signed separate
|
||||||
|
* 2 : unsigned turn
|
||||||
|
* 3 : signed turn
|
||||||
|
*/
|
||||||
|
enum e_mode {
|
||||||
|
MODE_UNSIGNED_SPEED = 0,
|
||||||
|
MODE_SIGNED_SPEED,
|
||||||
|
MODE_UNSIGNED_SPEED_TURN,
|
||||||
|
MODE_SIGNED_SPEED_TURN,
|
||||||
|
};
|
||||||
|
|
||||||
|
/** commands */
|
||||||
|
enum e_cmd {
|
||||||
|
CMD_RESET_ENCODERS = 32,
|
||||||
|
CMD_DISABLE_SPEED_REGULATION = 48,
|
||||||
|
CMD_ENABLE_SPEED_REGULATION = 49,
|
||||||
|
CMD_DISABLE_TIMEOUT = 50,
|
||||||
|
CMD_ENABLE_TIMEOUT = 51,
|
||||||
|
CMD_CHANGE_I2C_SEQ_0 = 160,
|
||||||
|
CMD_CHANGE_I2C_SEQ_1 = 170,
|
||||||
|
CMD_CHANGE_I2C_SEQ_2 = 165,
|
||||||
|
};
|
||||||
|
|
||||||
|
/** control channels */
|
||||||
|
enum e_channels {
|
||||||
|
CH_SPEED_LEFT = 0,
|
||||||
|
CH_SPEED_RIGHT
|
||||||
|
};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* constructor
|
||||||
|
* @param deviceName the name of the device e.g. "/dev/md25"
|
||||||
|
* @param bus the I2C bus
|
||||||
|
* @param address the adddress on the I2C bus
|
||||||
|
* @param speed the speed of the I2C communication
|
||||||
|
*/
|
||||||
|
MD25(const char *deviceName,
|
||||||
|
int bus,
|
||||||
|
uint16_t address,
|
||||||
|
uint32_t speed = 100000);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* deconstructor
|
||||||
|
*/
|
||||||
|
virtual ~MD25();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return software version
|
||||||
|
*/
|
||||||
|
uint8_t getVersion();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return speed of motor, normalized (-1, 1)
|
||||||
|
*/
|
||||||
|
float getMotor1Speed();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return speed of motor 2, normalized (-1, 1)
|
||||||
|
*/
|
||||||
|
float getMotor2Speed();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return number of rotations since reset
|
||||||
|
*/
|
||||||
|
float getRevolutions1();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return number of rotations since reset
|
||||||
|
*/
|
||||||
|
float getRevolutions2();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return battery voltage, volts
|
||||||
|
*/
|
||||||
|
float getBatteryVolts();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return motor 1 current, amps
|
||||||
|
*/
|
||||||
|
float getMotor1Current();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return motor 2 current, amps
|
||||||
|
*/
|
||||||
|
float getMotor2Current();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return the motor acceleration
|
||||||
|
* controls motor speed change (1-10)
|
||||||
|
* accel rate | time for full fwd. to full rev.
|
||||||
|
* 1 | 6.375 s
|
||||||
|
* 2 | 1.6 s
|
||||||
|
* 3 | 0.675 s
|
||||||
|
* 5(default) | 1.275 s
|
||||||
|
* 10 | 0.65 s
|
||||||
|
*/
|
||||||
|
uint8_t getMotorAccel();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return motor output mode
|
||||||
|
* */
|
||||||
|
e_mode getMode();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return current command register value
|
||||||
|
*/
|
||||||
|
e_cmd getCommand();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* resets the encoders
|
||||||
|
* @return non-zero -> error
|
||||||
|
* */
|
||||||
|
int resetEncoders();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* enable/disable speed regulation
|
||||||
|
* @return non-zero -> error
|
||||||
|
*/
|
||||||
|
int setSpeedRegulation(bool enable);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* set the timeout for the motors
|
||||||
|
* enable/disable timeout (motor stop)
|
||||||
|
* after 2 sec of no i2c messages
|
||||||
|
* @return non-zero -> error
|
||||||
|
*/
|
||||||
|
int setTimeout(bool enable);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* sets the device address
|
||||||
|
* can only be done with one MD25
|
||||||
|
* on the bus
|
||||||
|
* @return non-zero -> error
|
||||||
|
*/
|
||||||
|
int setDeviceAddress(uint8_t address);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* set motor 1 speed
|
||||||
|
* @param normSpeed normalize speed between -1 and 1
|
||||||
|
* @return non-zero -> error
|
||||||
|
*/
|
||||||
|
int setMotor1Speed(float normSpeed);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* set motor 2 speed
|
||||||
|
* @param normSpeed normalize speed between -1 and 1
|
||||||
|
* @return non-zero -> error
|
||||||
|
*/
|
||||||
|
int setMotor2Speed(float normSpeed);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* main update loop that updates MD25 motor
|
||||||
|
* speeds based on actuator publication
|
||||||
|
*/
|
||||||
|
void update();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* probe for device
|
||||||
|
*/
|
||||||
|
virtual int probe();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* search for device
|
||||||
|
*/
|
||||||
|
int search();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* read data from i2c
|
||||||
|
*/
|
||||||
|
int readData();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* print status
|
||||||
|
*/
|
||||||
|
void status(char *string, size_t n);
|
||||||
|
|
||||||
|
private:
|
||||||
|
/** poll structure for control packets */
|
||||||
|
struct pollfd _controlPoll;
|
||||||
|
|
||||||
|
/** actuator controls subscription */
|
||||||
|
control::UOrbSubscription<actuator_controls_s> _actuators;
|
||||||
|
|
||||||
|
// local copy of data from i2c device
|
||||||
|
uint8_t _version;
|
||||||
|
float _motor1Speed;
|
||||||
|
float _motor2Speed;
|
||||||
|
float _revolutions1;
|
||||||
|
float _revolutions2;
|
||||||
|
float _batteryVoltage;
|
||||||
|
float _motor1Current;
|
||||||
|
float _motor2Current;
|
||||||
|
uint8_t _motorAccel;
|
||||||
|
e_mode _mode;
|
||||||
|
e_cmd _command;
|
||||||
|
|
||||||
|
// private methods
|
||||||
|
int _writeUint8(uint8_t reg, uint8_t value);
|
||||||
|
int _writeInt8(uint8_t reg, int8_t value);
|
||||||
|
float _uint8ToNorm(uint8_t value);
|
||||||
|
uint8_t _normToUint8(float value);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* set motor control mode,
|
||||||
|
* this driver assumed we are always in mode 0
|
||||||
|
* so we don't let the user change the mode
|
||||||
|
* @return non-zero -> error
|
||||||
|
*/
|
||||||
|
int _setMode(e_mode);
|
||||||
|
};
|
||||||
|
|
||||||
|
// unit testing
|
||||||
|
int md25Test(const char *deviceName, uint8_t bus, uint8_t address);
|
||||||
|
|
||||||
|
// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
|
||||||
|
|
@ -0,0 +1,43 @@
|
||||||
|
############################################################################
|
||||||
|
#
|
||||||
|
# Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||||
|
#
|
||||||
|
# Redistribution and use in source and binary forms, with or without
|
||||||
|
# modification, are permitted provided that the following conditions
|
||||||
|
# are met:
|
||||||
|
#
|
||||||
|
# 1. Redistributions of source code must retain the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer.
|
||||||
|
# 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer in
|
||||||
|
# the documentation and/or other materials provided with the
|
||||||
|
# distribution.
|
||||||
|
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
# used to endorse or promote products derived from this software
|
||||||
|
# without specific prior written permission.
|
||||||
|
#
|
||||||
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
#
|
||||||
|
############################################################################
|
||||||
|
|
||||||
|
#
|
||||||
|
# MD25 I2C Based Motor Controller
|
||||||
|
# http://www.robot-electronics.co.uk/htm/md25tech.htm
|
||||||
|
#
|
||||||
|
|
||||||
|
APPNAME = md25
|
||||||
|
PRIORITY = SCHED_PRIORITY_DEFAULT
|
||||||
|
STACKSIZE = 2048
|
||||||
|
|
||||||
|
include $(APPDIR)/mk/app.mk
|
||||||
|
|
@ -0,0 +1,264 @@
|
||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @ file md25.cpp
|
||||||
|
*
|
||||||
|
* Driver for MD25 I2C Motor Driver
|
||||||
|
*
|
||||||
|
* references:
|
||||||
|
* http://www.robot-electronics.co.uk/htm/md25tech.htm
|
||||||
|
* http://www.robot-electronics.co.uk/files/rpi_md25.c
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <nuttx/config.h>
|
||||||
|
#include <unistd.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <stdlib.h>
|
||||||
|
#include <string.h>
|
||||||
|
#include <math.h>
|
||||||
|
|
||||||
|
#include <systemlib/systemlib.h>
|
||||||
|
#include <systemlib/param/param.h>
|
||||||
|
|
||||||
|
#include <arch/board/board.h>
|
||||||
|
#include "MD25.hpp"
|
||||||
|
|
||||||
|
static bool thread_should_exit = false; /**< Deamon exit flag */
|
||||||
|
static bool thread_running = false; /**< Deamon status flag */
|
||||||
|
static int deamon_task; /**< Handle of deamon task / thread */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Deamon management function.
|
||||||
|
*/
|
||||||
|
extern "C" __EXPORT int md25_main(int argc, char *argv[]);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Mainloop of deamon.
|
||||||
|
*/
|
||||||
|
int md25_thread_main(int argc, char *argv[]);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Print the correct usage.
|
||||||
|
*/
|
||||||
|
static void usage(const char *reason);
|
||||||
|
|
||||||
|
static void
|
||||||
|
usage(const char *reason)
|
||||||
|
{
|
||||||
|
if (reason)
|
||||||
|
fprintf(stderr, "%s\n", reason);
|
||||||
|
|
||||||
|
fprintf(stderr, "usage: md25 {start|stop|status|search|test|change_address}\n\n");
|
||||||
|
exit(1);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* The deamon app only briefly exists to start
|
||||||
|
* the background job. The stack size assigned in the
|
||||||
|
* Makefile does only apply to this management task.
|
||||||
|
*
|
||||||
|
* The actual stack size should be set in the call
|
||||||
|
* to task_create().
|
||||||
|
*/
|
||||||
|
int md25_main(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
|
||||||
|
if (argc < 1)
|
||||||
|
usage("missing command");
|
||||||
|
|
||||||
|
if (!strcmp(argv[1], "start")) {
|
||||||
|
|
||||||
|
if (thread_running) {
|
||||||
|
printf("md25 already running\n");
|
||||||
|
/* this is not an error */
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
thread_should_exit = false;
|
||||||
|
deamon_task = task_spawn("md25",
|
||||||
|
SCHED_DEFAULT,
|
||||||
|
SCHED_PRIORITY_MAX - 10,
|
||||||
|
2048,
|
||||||
|
md25_thread_main,
|
||||||
|
(const char **)argv);
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!strcmp(argv[1], "test")) {
|
||||||
|
|
||||||
|
if (argc < 4) {
|
||||||
|
printf("usage: md25 test bus address\n");
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
const char *deviceName = "/dev/md25";
|
||||||
|
|
||||||
|
uint8_t bus = strtoul(argv[2], nullptr, 0);
|
||||||
|
|
||||||
|
uint8_t address = strtoul(argv[3], nullptr, 0);
|
||||||
|
|
||||||
|
md25Test(deviceName, bus, address);
|
||||||
|
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!strcmp(argv[1], "probe")) {
|
||||||
|
if (argc < 4) {
|
||||||
|
printf("usage: md25 probe bus address\n");
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
const char *deviceName = "/dev/md25";
|
||||||
|
|
||||||
|
uint8_t bus = strtoul(argv[2], nullptr, 0);
|
||||||
|
|
||||||
|
uint8_t address = strtoul(argv[3], nullptr, 0);
|
||||||
|
|
||||||
|
MD25 md25(deviceName, bus, address);
|
||||||
|
|
||||||
|
int ret = md25.probe();
|
||||||
|
|
||||||
|
if (ret == OK) {
|
||||||
|
printf("MD25 found on bus %d at address 0x%X\n", bus, md25.get_address());
|
||||||
|
|
||||||
|
} else {
|
||||||
|
printf("MD25 not found on bus %d\n", bus);
|
||||||
|
}
|
||||||
|
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!strcmp(argv[1], "search")) {
|
||||||
|
if (argc < 3) {
|
||||||
|
printf("usage: md25 search bus\n");
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
const char *deviceName = "/dev/md25";
|
||||||
|
|
||||||
|
uint8_t bus = strtoul(argv[2], nullptr, 0);
|
||||||
|
|
||||||
|
uint8_t address = strtoul(argv[3], nullptr, 0);
|
||||||
|
|
||||||
|
MD25 md25(deviceName, bus, address);
|
||||||
|
|
||||||
|
md25.search();
|
||||||
|
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!strcmp(argv[1], "change_address")) {
|
||||||
|
if (argc < 5) {
|
||||||
|
printf("usage: md25 change_address bus old_address new_address\n");
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
const char *deviceName = "/dev/md25";
|
||||||
|
|
||||||
|
uint8_t bus = strtoul(argv[2], nullptr, 0);
|
||||||
|
|
||||||
|
uint8_t old_address = strtoul(argv[3], nullptr, 0);
|
||||||
|
|
||||||
|
uint8_t new_address = strtoul(argv[4], nullptr, 0);
|
||||||
|
|
||||||
|
MD25 md25(deviceName, bus, old_address);
|
||||||
|
|
||||||
|
int ret = md25.setDeviceAddress(new_address);
|
||||||
|
|
||||||
|
if (ret == OK) {
|
||||||
|
printf("MD25 new address set to 0x%X\n", new_address);
|
||||||
|
|
||||||
|
} else {
|
||||||
|
printf("MD25 failed to set address to 0x%X\n", new_address);
|
||||||
|
}
|
||||||
|
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!strcmp(argv[1], "stop")) {
|
||||||
|
thread_should_exit = true;
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!strcmp(argv[1], "status")) {
|
||||||
|
if (thread_running) {
|
||||||
|
printf("\tmd25 app is running\n");
|
||||||
|
|
||||||
|
} else {
|
||||||
|
printf("\tmd25 app not started\n");
|
||||||
|
}
|
||||||
|
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
usage("unrecognized command");
|
||||||
|
exit(1);
|
||||||
|
}
|
||||||
|
|
||||||
|
int md25_thread_main(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
printf("[MD25] starting\n");
|
||||||
|
|
||||||
|
if (argc < 5) {
|
||||||
|
// extra md25 in arg list since this is a thread
|
||||||
|
printf("usage: md25 start bus address\n");
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
const char *deviceName = "/dev/md25";
|
||||||
|
|
||||||
|
uint8_t bus = strtoul(argv[3], nullptr, 0);
|
||||||
|
|
||||||
|
uint8_t address = strtoul(argv[4], nullptr, 0);
|
||||||
|
|
||||||
|
// start
|
||||||
|
MD25 md25("/dev/md25", bus, address);
|
||||||
|
|
||||||
|
thread_running = true;
|
||||||
|
|
||||||
|
// loop
|
||||||
|
while (!thread_should_exit) {
|
||||||
|
md25.update();
|
||||||
|
}
|
||||||
|
|
||||||
|
// exit
|
||||||
|
printf("[MD25] exiting.\n");
|
||||||
|
thread_running = false;
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
|
||||||
|
|
@ -128,6 +128,7 @@ CONFIGURED_APPS += drivers/mkblctrl
|
||||||
CONFIGURED_APPS += drivers/hil
|
CONFIGURED_APPS += drivers/hil
|
||||||
CONFIGURED_APPS += drivers/gps
|
CONFIGURED_APPS += drivers/gps
|
||||||
CONFIGURED_APPS += drivers/mb12xx
|
CONFIGURED_APPS += drivers/mb12xx
|
||||||
|
CONFIGURED_APPS += drivers/md25
|
||||||
|
|
||||||
# Testing stuff
|
# Testing stuff
|
||||||
CONFIGURED_APPS += px4/sensors_bringup
|
CONFIGURED_APPS += px4/sensors_bringup
|
||||||
|
|
|
||||||
|
|
@ -647,10 +647,14 @@ CONFIG_DISABLE_POLL=n
|
||||||
# CONFIG_LIBC_FIXEDPRECISION - Sets 7 digits after dot for printing:
|
# CONFIG_LIBC_FIXEDPRECISION - Sets 7 digits after dot for printing:
|
||||||
# 5.1234567
|
# 5.1234567
|
||||||
# CONFIG_HAVE_LONG_LONG - Enabled printf("%llu)
|
# CONFIG_HAVE_LONG_LONG - Enabled printf("%llu)
|
||||||
|
# CONFIG_LIBC_STRERR - allow printing of error text
|
||||||
|
# CONFIG_LIBC_STRERR_SHORT - allow printing of short error text
|
||||||
#
|
#
|
||||||
CONFIG_NOPRINTF_FIELDWIDTH=n
|
CONFIG_NOPRINTF_FIELDWIDTH=n
|
||||||
CONFIG_LIBC_FLOATINGPOINT=y
|
CONFIG_LIBC_FLOATINGPOINT=y
|
||||||
CONFIG_HAVE_LONG_LONG=y
|
CONFIG_HAVE_LONG_LONG=y
|
||||||
|
CONFIG_LIBC_STRERROR=n
|
||||||
|
CONFIG_LIBC_STRERROR_SHORT=n
|
||||||
|
|
||||||
#
|
#
|
||||||
# Allow for architecture optimized implementations
|
# Allow for architecture optimized implementations
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue