forked from Archive/PX4-Autopilot
Merged with master
This commit is contained in:
Lorenz Meier
commit
3152dae3dc
|
|
@ -30,6 +30,7 @@ MODULES += drivers/hil
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|||
MODULES += drivers/hott_telemetry
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||||
MODULES += drivers/blinkm
|
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MODULES += drivers/mkblctrl
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||||
MODULES += drivers/md25
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||||
MODULES += modules/sensors
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||||
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||||
#
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||||
|
|
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|||
|
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@ -647,10 +647,14 @@ CONFIG_DISABLE_POLL=n
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|||
# CONFIG_LIBC_FIXEDPRECISION - Sets 7 digits after dot for printing:
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# 5.1234567
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||||
# CONFIG_HAVE_LONG_LONG - Enabled printf("%llu)
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||||
# CONFIG_LIBC_STRERR - allow printing of error text
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||||
# CONFIG_LIBC_STRERR_SHORT - allow printing of short error text
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||||
#
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||||
CONFIG_NOPRINTF_FIELDWIDTH=n
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||||
CONFIG_LIBC_FLOATINGPOINT=y
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||||
CONFIG_HAVE_LONG_LONG=y
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||||
CONFIG_LIBC_STRERROR=n
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CONFIG_LIBC_STRERROR_SHORT=n
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||||
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#
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# Allow for architecture optimized implementations
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|
|
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@ -53,6 +53,15 @@ namespace device __EXPORT
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class __EXPORT I2C : public CDev
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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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/**
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||||
* The number of times a read or write operation will be retried on
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||||
|
|
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|||
|
|
@ -0,0 +1,553 @@
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|||
/****************************************************************************
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||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
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||||
|
||||
/**
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||||
* @file md25.cpp
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||||
*
|
||||
* Driver for MD25 I2C Motor Driver
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||||
*
|
||||
* references:
|
||||
* http://www.robot-electronics.co.uk/htm/md25tech.htm
|
||||
* 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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|
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// registers
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||||
enum {
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||||
// RW: read/write
|
||||
// R: read
|
||||
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,
|
||||
REG_ENC2D_R,
|
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REG_BATTERY_VOLTS_R,
|
||||
REG_MOTOR1_CURRENT_R,
|
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REG_MOTOR2_CURRENT_R,
|
||||
REG_SW_VERSION_R,
|
||||
REG_ACCEL_RATE_RW,
|
||||
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,
|
||||
uint16_t address, uint32_t speed) :
|
||||
I2C("MD25", deviceName, bus, address, speed),
|
||||
_controlPoll(),
|
||||
_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),
|
||||
_revolutions1(0),
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||||
_revolutions2(0),
|
||||
_batteryVoltage(0),
|
||||
_motor1Current(0),
|
||||
_motor2Current(0),
|
||||
_motorAccel(0),
|
||||
_mode(MODE_UNSIGNED_SPEED),
|
||||
_command(CMD_RESET_ENCODERS)
|
||||
{
|
||||
// setup control polling
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||||
_controlPoll.fd = _actuators.getHandle();
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||||
_controlPoll.events = POLLIN;
|
||||
|
||||
// if initialization fails raise an error, unless
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||||
// probing
|
||||
int ret = I2C::init();
|
||||
|
||||
if (ret != OK) {
|
||||
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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||||
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||||
MD25::~MD25()
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||||
{
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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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||||
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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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||||
return ret;
|
||||
}
|
||||
|
||||
void MD25::status(char *string, size_t n)
|
||||
{
|
||||
snprintf(string, n,
|
||||
"version:\t%10d\n" \
|
||||
"motor 1 speed:\t%10.2f\n" \
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||||
"motor 2 speed:\t%10.2f\n" \
|
||||
"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" \
|
||||
"motor 1 current :\t%10.2f\n" \
|
||||
"motor 2 current :\t%10.2f\n" \
|
||||
"motor accel :\t%10d\n" \
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||||
"mode :\t%10d\n" \
|
||||
"command :\t%10d\n",
|
||||
getVersion(),
|
||||
double(getMotor1Speed()),
|
||||
double(getMotor2Speed()),
|
||||
double(getRevolutions1()),
|
||||
double(getRevolutions2()),
|
||||
double(getBatteryVolts()),
|
||||
double(getMotor1Current()),
|
||||
double(getMotor2Current()),
|
||||
getMotorAccel(),
|
||||
getMode(),
|
||||
getCommand());
|
||||
}
|
||||
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||||
uint8_t MD25::getVersion()
|
||||
{
|
||||
return _version;
|
||||
}
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||||
|
||||
float MD25::getMotor1Speed()
|
||||
{
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return _motor1Speed;
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||||
}
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||||
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||||
float MD25::getMotor2Speed()
|
||||
{
|
||||
return _motor2Speed;
|
||||
}
|
||||
|
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float MD25::getRevolutions1()
|
||||
{
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||||
return _revolutions1;
|
||||
}
|
||||
|
||||
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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return _motor1Current;
|
||||
}
|
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float MD25::getMotor2Current()
|
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{
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return _motor2Current;
|
||||
}
|
||||
|
||||
uint8_t MD25::getMotorAccel()
|
||||
{
|
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return _motorAccel;
|
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}
|
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|
||||
MD25::e_mode MD25::getMode()
|
||||
{
|
||||
return _mode;
|
||||
}
|
||||
|
||||
MD25::e_cmd MD25::getCommand()
|
||||
{
|
||||
return _command;
|
||||
}
|
||||
|
||||
int MD25::resetEncoders()
|
||||
{
|
||||
return _writeUint8(REG_COMMAND_RW,
|
||||
CMD_RESET_ENCODERS);
|
||||
}
|
||||
|
||||
int MD25::_setMode(e_mode mode)
|
||||
{
|
||||
return _writeUint8(REG_MODE_RW,
|
||||
mode);
|
||||
}
|
||||
|
||||
int MD25::setSpeedRegulation(bool enable)
|
||||
{
|
||||
if (enable) {
|
||||
return _writeUint8(REG_COMMAND_RW,
|
||||
CMD_ENABLE_SPEED_REGULATION);
|
||||
|
||||
} else {
|
||||
return _writeUint8(REG_COMMAND_RW,
|
||||
CMD_DISABLE_SPEED_REGULATION);
|
||||
}
|
||||
}
|
||||
|
||||
int MD25::setTimeout(bool enable)
|
||||
{
|
||||
if (enable) {
|
||||
return _writeUint8(REG_COMMAND_RW,
|
||||
CMD_ENABLE_TIMEOUT);
|
||||
|
||||
} else {
|
||||
return _writeUint8(REG_COMMAND_RW,
|
||||
CMD_DISABLE_TIMEOUT);
|
||||
}
|
||||
}
|
||||
|
||||
int MD25::setDeviceAddress(uint8_t address)
|
||||
{
|
||||
uint8_t sendBuf[1];
|
||||
sendBuf[0] = CMD_CHANGE_I2C_SEQ_0;
|
||||
int ret = OK;
|
||||
ret = transfer(sendBuf, sizeof(sendBuf),
|
||||
nullptr, 0);
|
||||
|
||||
if (ret != OK) {
|
||||
warnc(ret, "MD25::setDeviceAddress");
|
||||
return ret;
|
||||
}
|
||||
|
||||
usleep(5000);
|
||||
sendBuf[0] = CMD_CHANGE_I2C_SEQ_1;
|
||||
ret = transfer(sendBuf, sizeof(sendBuf),
|
||||
nullptr, 0);
|
||||
|
||||
if (ret != OK) {
|
||||
warnc(ret, "MD25::setDeviceAddress");
|
||||
return ret;
|
||||
}
|
||||
|
||||
usleep(5000);
|
||||
sendBuf[0] = CMD_CHANGE_I2C_SEQ_2;
|
||||
ret = transfer(sendBuf, sizeof(sendBuf),
|
||||
nullptr, 0);
|
||||
|
||||
if (ret != OK) {
|
||||
warnc(ret, "MD25::setDeviceAddress");
|
||||
return ret;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int MD25::setMotor1Speed(float value)
|
||||
{
|
||||
return _writeUint8(REG_SPEED1_RW,
|
||||
_normToUint8(value));
|
||||
}
|
||||
|
||||
int MD25::setMotor2Speed(float value)
|
||||
{
|
||||
return _writeUint8(REG_SPEED2_RW,
|
||||
_normToUint8(value));
|
||||
}
|
||||
|
||||
void MD25::update()
|
||||
{
|
||||
// wait for an actuator publication,
|
||||
// check for exit condition every second
|
||||
// note "::poll" is required to distinguish global
|
||||
// poll from member function for driver
|
||||
if (::poll(&_controlPoll, 1, 1000) < 0) return; // poll error
|
||||
|
||||
// if new data, send to motors
|
||||
if (_actuators.updated()) {
|
||||
_actuators.update();
|
||||
setMotor1Speed(_actuators.control[CH_SPEED_LEFT]);
|
||||
setMotor2Speed(_actuators.control[CH_SPEED_RIGHT]);
|
||||
}
|
||||
}
|
||||
|
||||
int MD25::probe()
|
||||
{
|
||||
uint8_t goodAddress = 0;
|
||||
bool found = false;
|
||||
int ret = OK;
|
||||
|
||||
// try initial address first, if good, then done
|
||||
if (readData() == OK) return ret;
|
||||
|
||||
// try all other addresses
|
||||
uint8_t testAddress = 0;
|
||||
|
||||
//printf("searching for MD25 address\n");
|
||||
while (true) {
|
||||
set_address(testAddress);
|
||||
ret = readData();
|
||||
|
||||
if (ret == OK && !found) {
|
||||
//printf("device found at address: 0x%X\n", testAddress);
|
||||
if (!found) {
|
||||
found = true;
|
||||
goodAddress = testAddress;
|
||||
}
|
||||
}
|
||||
|
||||
if (testAddress > 254) {
|
||||
break;
|
||||
}
|
||||
|
||||
testAddress++;
|
||||
}
|
||||
|
||||
if (found) {
|
||||
set_address(goodAddress);
|
||||
return OK;
|
||||
|
||||
} else {
|
||||
set_address(0);
|
||||
return ret;
|
||||
}
|
||||
}
|
||||
|
||||
int MD25::search()
|
||||
{
|
||||
uint8_t goodAddress = 0;
|
||||
bool found = false;
|
||||
int ret = OK;
|
||||
// try all other addresses
|
||||
uint8_t testAddress = 0;
|
||||
|
||||
//printf("searching for MD25 address\n");
|
||||
while (true) {
|
||||
set_address(testAddress);
|
||||
ret = readData();
|
||||
|
||||
if (ret == OK && !found) {
|
||||
printf("device found at address: 0x%X\n", testAddress);
|
||||
|
||||
if (!found) {
|
||||
found = true;
|
||||
goodAddress = testAddress;
|
||||
}
|
||||
}
|
||||
|
||||
if (testAddress > 254) {
|
||||
break;
|
||||
}
|
||||
|
||||
testAddress++;
|
||||
}
|
||||
|
||||
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 +1,264 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* 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
|
||||
|
|
@ -0,0 +1,42 @@
|
|||
############################################################################
|
||||
#
|
||||
# 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
|
||||
#
|
||||
|
||||
MODULE_COMMAND = md25
|
||||
|
||||
SRCS = md25.cpp \
|
||||
md25_main.cpp
|
||||
|
|
@ -56,9 +56,9 @@ BlockYawDamper::BlockYawDamper(SuperBlock *parent, const char *name) :
|
|||
|
||||
BlockYawDamper::~BlockYawDamper() {};
|
||||
|
||||
void BlockYawDamper::update(float rCmd, float r)
|
||||
void BlockYawDamper::update(float rCmd, float r, float outputScale)
|
||||
{
|
||||
_rudder = _r2Rdr.update(rCmd -
|
||||
_rudder = outputScale*_r2Rdr.update(rCmd -
|
||||
_rWashout.update(_rLowPass.update(r)));
|
||||
}
|
||||
|
||||
|
|
@ -77,13 +77,13 @@ BlockStabilization::BlockStabilization(SuperBlock *parent, const char *name) :
|
|||
BlockStabilization::~BlockStabilization() {};
|
||||
|
||||
void BlockStabilization::update(float pCmd, float qCmd, float rCmd,
|
||||
float p, float q, float r)
|
||||
float p, float q, float r, float outputScale)
|
||||
{
|
||||
_aileron = _p2Ail.update(
|
||||
_aileron = outputScale*_p2Ail.update(
|
||||
pCmd - _pLowPass.update(p));
|
||||
_elevator = _q2Elv.update(
|
||||
_elevator = outputScale*_q2Elv.update(
|
||||
qCmd - _qLowPass.update(q));
|
||||
_yawDamper.update(rCmd, r);
|
||||
_yawDamper.update(rCmd, r, outputScale);
|
||||
}
|
||||
|
||||
BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
|
||||
|
|
@ -156,21 +156,21 @@ BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *par
|
|||
_theLimit(this, "THE"),
|
||||
_vLimit(this, "V"),
|
||||
|
||||
// altitude/roc hold
|
||||
// altitude/climb rate hold
|
||||
_h2Thr(this, "H2THR"),
|
||||
_roc2Thr(this, "ROC2THR"),
|
||||
_cr2Thr(this, "CR2THR"),
|
||||
|
||||
// guidance block
|
||||
_guide(this, ""),
|
||||
|
||||
// block params
|
||||
_trimAil(this, "TRIM_ROLL", false), /* general roll trim (full name: TRIM_ROLL) */
|
||||
_trimElv(this, "TRIM_PITCH", false), /* general pitch trim */
|
||||
_trimRdr(this, "TRIM_YAW", false), /* general yaw trim */
|
||||
_trimThr(this, "TRIM_THR", true), /* FWB_ specific throttle trim (full name: FWB_TRIM_THR) */
|
||||
_trimAil(this, "TRIM_ROLL", false), /* general roll trim (full name: TRIM_ROLL) */
|
||||
_trimElv(this, "TRIM_PITCH", false), /* general pitch trim */
|
||||
_trimRdr(this, "TRIM_YAW", false), /* general yaw trim */
|
||||
_trimThr(this, "TRIM_THR"), /* FWB_ specific throttle trim (full name: FWB_TRIM_THR) */
|
||||
_trimV(this, "TRIM_V"), /* FWB_ specific trim velocity (full name : FWB_TRIM_V) */
|
||||
|
||||
_vCmd(this, "V_CMD"),
|
||||
_rocMax(this, "ROC_MAX"),
|
||||
_crMax(this, "CR_MAX"),
|
||||
_attPoll(),
|
||||
_lastPosCmd(),
|
||||
_timeStamp(0)
|
||||
|
|
@ -228,7 +228,15 @@ void BlockMultiModeBacksideAutopilot::update()
|
|||
_guide.update(_pos, _att, _posCmd, _lastPosCmd);
|
||||
|
||||
// calculate velocity, XXX should be airspeed, but using ground speed for now
|
||||
float v = sqrtf(_pos.vx * _pos.vx + _pos.vy * _pos.vy + _pos.vz * _pos.vz);
|
||||
// for the purpose of control we will limit the velocity feedback between
|
||||
// the min/max velocity
|
||||
float v = _vLimit.update(sqrtf(
|
||||
_pos.vx * _pos.vx +
|
||||
_pos.vy * _pos.vy +
|
||||
_pos.vz * _pos.vz));
|
||||
|
||||
// limit velocity command between min/max velocity
|
||||
float vCmd = _vLimit.update(_vCmd.get());
|
||||
|
||||
// altitude hold
|
||||
float dThrottle = _h2Thr.update(_posCmd.altitude - _pos.alt);
|
||||
|
|
@ -240,16 +248,19 @@ void BlockMultiModeBacksideAutopilot::update()
|
|||
|
||||
// velocity hold
|
||||
// negative sign because nose over to increase speed
|
||||
float thetaCmd = _theLimit.update(-_v2Theta.update(
|
||||
_vLimit.update(_vCmd.get()) - v));
|
||||
float thetaCmd = _theLimit.update(-_v2Theta.update(vCmd - v));
|
||||
float qCmd = _theta2Q.update(thetaCmd - _att.pitch);
|
||||
|
||||
// yaw rate cmd
|
||||
float rCmd = 0;
|
||||
|
||||
// stabilization
|
||||
float velocityRatio = _trimV.get()/v;
|
||||
float outputScale = velocityRatio*velocityRatio;
|
||||
// this term scales the output based on the dynamic pressure change from trim
|
||||
_stabilization.update(pCmd, qCmd, rCmd,
|
||||
_att.rollspeed, _att.pitchspeed, _att.yawspeed);
|
||||
_att.rollspeed, _att.pitchspeed, _att.yawspeed,
|
||||
outputScale);
|
||||
|
||||
// output
|
||||
_actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get();
|
||||
|
|
@ -280,13 +291,18 @@ void BlockMultiModeBacksideAutopilot::update()
|
|||
} else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
|
||||
|
||||
// calculate velocity, XXX should be airspeed, but using ground speed for now
|
||||
float v = sqrtf(_pos.vx * _pos.vx + _pos.vy * _pos.vy + _pos.vz * _pos.vz);
|
||||
// for the purpose of control we will limit the velocity feedback between
|
||||
// the min/max velocity
|
||||
float v = _vLimit.update(sqrtf(
|
||||
_pos.vx * _pos.vx +
|
||||
_pos.vy * _pos.vy +
|
||||
_pos.vz * _pos.vz));
|
||||
|
||||
// pitch channel -> rate of climb
|
||||
// TODO, might want to put a gain on this, otherwise commanding
|
||||
// from +1 -> -1 m/s for rate of climb
|
||||
//float dThrottle = _roc2Thr.update(
|
||||
//_rocMax.get()*_manual.pitch - _pos.vz);
|
||||
//float dThrottle = _cr2Thr.update(
|
||||
//_crMax.get()*_manual.pitch - _pos.vz);
|
||||
|
||||
// roll channel -> bank angle
|
||||
float phiCmd = _phiLimit.update(_manual.roll * _phiLimit.getMax());
|
||||
|
|
@ -294,8 +310,10 @@ void BlockMultiModeBacksideAutopilot::update()
|
|||
|
||||
// throttle channel -> velocity
|
||||
// negative sign because nose over to increase speed
|
||||
float vCmd = _manual.throttle * (_vLimit.getMax() - _vLimit.getMin()) + _vLimit.getMin();
|
||||
float thetaCmd = _theLimit.update(-_v2Theta.update(_vLimit.update(vCmd) - v));
|
||||
float vCmd = _vLimit.update(_manual.throttle *
|
||||
(_vLimit.getMax() - _vLimit.getMin()) +
|
||||
_vLimit.getMin());
|
||||
float thetaCmd = _theLimit.update(-_v2Theta.update(vCmd - v));
|
||||
float qCmd = _theta2Q.update(thetaCmd - _att.pitch);
|
||||
|
||||
// yaw rate cmd
|
||||
|
|
|
|||
|
|
@ -193,7 +193,7 @@ public:
|
|||
* good idea to declare a member to store the temporary
|
||||
* variable.
|
||||
*/
|
||||
void update(float rCmd, float r);
|
||||
void update(float rCmd, float r, float outputScale = 1.0);
|
||||
|
||||
/**
|
||||
* Rudder output value accessor
|
||||
|
|
@ -226,7 +226,8 @@ public:
|
|||
BlockStabilization(SuperBlock *parent, const char *name);
|
||||
virtual ~BlockStabilization();
|
||||
void update(float pCmd, float qCmd, float rCmd,
|
||||
float p, float q, float r);
|
||||
float p, float q, float r,
|
||||
float outputScale = 1.0);
|
||||
float getAileron() { return _aileron; }
|
||||
float getElevator() { return _elevator; }
|
||||
float getRudder() { return _yawDamper.getRudder(); }
|
||||
|
|
@ -310,9 +311,9 @@ private:
|
|||
BlockLimit _theLimit;
|
||||
BlockLimit _vLimit;
|
||||
|
||||
// altitude/ roc hold
|
||||
// altitude/ climb rate hold
|
||||
BlockPID _h2Thr;
|
||||
BlockPID _roc2Thr;
|
||||
BlockPID _cr2Thr;
|
||||
|
||||
// guidance
|
||||
BlockWaypointGuidance _guide;
|
||||
|
|
@ -322,8 +323,9 @@ private:
|
|||
BlockParam<float> _trimElv;
|
||||
BlockParam<float> _trimRdr;
|
||||
BlockParam<float> _trimThr;
|
||||
BlockParam<float> _trimV;
|
||||
BlockParam<float> _vCmd;
|
||||
BlockParam<float> _rocMax;
|
||||
BlockParam<float> _crMax;
|
||||
|
||||
struct pollfd _attPoll;
|
||||
vehicle_global_position_setpoint_s _lastPosCmd;
|
||||
|
|
|
|||
|
|
@ -59,13 +59,14 @@ PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f); // maximum commanded velocity
|
|||
// rate of climb
|
||||
// this is what rate of climb is commanded (in m/s)
|
||||
// when the pitch stick is fully defelcted in simple mode
|
||||
PARAM_DEFINE_FLOAT(FWB_ROC_MAX, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_CR_MAX, 1.0f);
|
||||
|
||||
// rate of climb -> thr
|
||||
PARAM_DEFINE_FLOAT(FWB_ROC2THR_P, 0.01f); // rate of climb to throttle PID
|
||||
PARAM_DEFINE_FLOAT(FWB_ROC2THR_I, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_ROC2THR_D, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_ROC2THR_D_LP, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_ROC2THR_I_MAX, 0.0f);
|
||||
// climb rate -> thr
|
||||
PARAM_DEFINE_FLOAT(FWB_CR2THR_P, 0.01f); // rate of climb to throttle PID
|
||||
PARAM_DEFINE_FLOAT(FWB_CR2THR_I, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_CR2THR_D, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_CR2THR_D_LP, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_CR2THR_I_MAX, 0.0f);
|
||||
|
||||
PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1)
|
||||
PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1)
|
||||
PARAM_DEFINE_FLOAT(FWB_TRIM_V, 12.0f); // trim velocity, m/s
|
||||
|
|
|
|||
|
|
@ -308,82 +308,6 @@ handle_message(mavlink_message_t *msg)
|
|||
|
||||
uint64_t timestamp = hrt_absolute_time();
|
||||
|
||||
/* TODO, set ground_press/ temp during calib */
|
||||
static const float ground_press = 1013.25f; // mbar
|
||||
static const float ground_tempC = 21.0f;
|
||||
static const float ground_alt = 0.0f;
|
||||
static const float T0 = 273.15f;
|
||||
static const float R = 287.05f;
|
||||
static const float g = 9.806f;
|
||||
|
||||
if (msg->msgid == MAVLINK_MSG_ID_RAW_IMU) {
|
||||
|
||||
mavlink_raw_imu_t imu;
|
||||
mavlink_msg_raw_imu_decode(msg, &imu);
|
||||
|
||||
/* packet counter */
|
||||
static uint16_t hil_counter = 0;
|
||||
static uint16_t hil_frames = 0;
|
||||
static uint64_t old_timestamp = 0;
|
||||
|
||||
/* sensors general */
|
||||
hil_sensors.timestamp = imu.time_usec;
|
||||
|
||||
/* hil gyro */
|
||||
static const float mrad2rad = 1.0e-3f;
|
||||
hil_sensors.gyro_counter = hil_counter;
|
||||
hil_sensors.gyro_raw[0] = imu.xgyro;
|
||||
hil_sensors.gyro_raw[1] = imu.ygyro;
|
||||
hil_sensors.gyro_raw[2] = imu.zgyro;
|
||||
hil_sensors.gyro_rad_s[0] = imu.xgyro * mrad2rad;
|
||||
hil_sensors.gyro_rad_s[1] = imu.ygyro * mrad2rad;
|
||||
hil_sensors.gyro_rad_s[2] = imu.zgyro * mrad2rad;
|
||||
|
||||
/* accelerometer */
|
||||
hil_sensors.accelerometer_counter = hil_counter;
|
||||
static const float mg2ms2 = 9.8f / 1000.0f;
|
||||
hil_sensors.accelerometer_raw[0] = imu.xacc;
|
||||
hil_sensors.accelerometer_raw[1] = imu.yacc;
|
||||
hil_sensors.accelerometer_raw[2] = imu.zacc;
|
||||
hil_sensors.accelerometer_m_s2[0] = mg2ms2 * imu.xacc;
|
||||
hil_sensors.accelerometer_m_s2[1] = mg2ms2 * imu.yacc;
|
||||
hil_sensors.accelerometer_m_s2[2] = mg2ms2 * imu.zacc;
|
||||
hil_sensors.accelerometer_mode = 0; // TODO what is this?
|
||||
hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
|
||||
|
||||
/* adc */
|
||||
hil_sensors.adc_voltage_v[0] = 0;
|
||||
hil_sensors.adc_voltage_v[1] = 0;
|
||||
hil_sensors.adc_voltage_v[2] = 0;
|
||||
|
||||
/* magnetometer */
|
||||
float mga2ga = 1.0e-3f;
|
||||
hil_sensors.magnetometer_counter = hil_counter;
|
||||
hil_sensors.magnetometer_raw[0] = imu.xmag;
|
||||
hil_sensors.magnetometer_raw[1] = imu.ymag;
|
||||
hil_sensors.magnetometer_raw[2] = imu.zmag;
|
||||
hil_sensors.magnetometer_ga[0] = imu.xmag * mga2ga;
|
||||
hil_sensors.magnetometer_ga[1] = imu.ymag * mga2ga;
|
||||
hil_sensors.magnetometer_ga[2] = imu.zmag * mga2ga;
|
||||
hil_sensors.magnetometer_range_ga = 32.7f; // int16
|
||||
hil_sensors.magnetometer_mode = 0; // TODO what is this
|
||||
hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
|
||||
|
||||
/* publish */
|
||||
orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
|
||||
|
||||
// increment counters
|
||||
hil_counter += 1 ;
|
||||
hil_frames += 1 ;
|
||||
|
||||
// output
|
||||
if ((timestamp - old_timestamp) > 10000000) {
|
||||
printf("receiving hil imu at %d hz\n", hil_frames/10);
|
||||
old_timestamp = timestamp;
|
||||
hil_frames = 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (msg->msgid == MAVLINK_MSG_ID_HIGHRES_IMU) {
|
||||
|
||||
mavlink_highres_imu_t imu;
|
||||
|
|
@ -437,13 +361,9 @@ handle_message(mavlink_message_t *msg)
|
|||
hil_sensors.magnetometer_mode = 0; // TODO what is this
|
||||
hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
|
||||
|
||||
/* baro */
|
||||
hil_sensors.baro_pres_mbar = imu.abs_pressure;
|
||||
|
||||
float tempC = imu.temperature;
|
||||
float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f;
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float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / imu.abs_pressure);
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||||
hil_sensors.baro_alt_meter = h;
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hil_sensors.baro_alt_meter = imu.pressure_alt;
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hil_sensors.baro_temp_celcius = imu.temperature;
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hil_sensors.gyro_counter = hil_counter;
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||||
|
|
@ -516,44 +436,6 @@ handle_message(mavlink_message_t *msg)
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}
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||||
}
|
||||
|
||||
if (msg->msgid == MAVLINK_MSG_ID_RAW_PRESSURE) {
|
||||
|
||||
mavlink_raw_pressure_t press;
|
||||
mavlink_msg_raw_pressure_decode(msg, &press);
|
||||
|
||||
/* packet counter */
|
||||
static uint16_t hil_counter = 0;
|
||||
static uint16_t hil_frames = 0;
|
||||
static uint64_t old_timestamp = 0;
|
||||
|
||||
/* sensors general */
|
||||
hil_sensors.timestamp = press.time_usec;
|
||||
|
||||
/* baro */
|
||||
|
||||
float tempC = press.temperature / 100.0f;
|
||||
float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f;
|
||||
float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / press.press_abs);
|
||||
hil_sensors.baro_counter = hil_counter;
|
||||
hil_sensors.baro_pres_mbar = press.press_abs;
|
||||
hil_sensors.baro_alt_meter = h;
|
||||
hil_sensors.baro_temp_celcius = tempC;
|
||||
|
||||
/* publish */
|
||||
orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
|
||||
|
||||
// increment counters
|
||||
hil_counter += 1 ;
|
||||
hil_frames += 1 ;
|
||||
|
||||
// output
|
||||
if ((timestamp - old_timestamp) > 10000000) {
|
||||
printf("receiving hil pressure at %d hz\n", hil_frames/10);
|
||||
old_timestamp = timestamp;
|
||||
hil_frames = 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) {
|
||||
|
||||
mavlink_hil_state_t hil_state;
|
||||
|
|
|
|||
Loading…
Reference in New Issue