forked from Archive/PX4-Autopilot
drivers/servo_gimbal: Added servo gimbal
This commit is contained in:
Lorenz Meier
Anton Matosov
parent
5b2643fc20
commit
8a6698b6e6
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@ -44,6 +44,7 @@ MODULES += modules/sensors
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MODULES += drivers/mkblctrl
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MODULES += drivers/px4flow
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MODULES += drivers/oreoled
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MODULES += drivers/servo_gimbal
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#
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# System commands
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@ -0,0 +1,534 @@
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/****************************************************************************
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*
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* Copyright (c) 2014, 2015 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 gimbal.cpp
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*
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* Driver to control a gimbal - relies on input via telemetry or RC
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* and output via the standardized control group #2 and a mixer.
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*/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <termios.h>
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#include <nuttx/arch.h>
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#include <nuttx/wqueue.h>
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#include <nuttx/clock.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_range_finder.h>
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#include <drivers/device/device.h>
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#include <drivers/device/ringbuffer.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <board_config.h>
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/* Configuration Constants */
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/* oddly, ERROR is not defined for c++ */
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#ifdef ERROR
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# undef ERROR
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#endif
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static const int ERROR = -1;
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#ifndef CONFIG_SCHED_WORKQUEUE
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# error This requires CONFIG_SCHED_WORKQUEUE.
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#endif
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#define GIMBAL_DEVICE_PATH "/dev/gimbal"
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#define GIMBAL_UPDATE_INTERVAL (50 * 1000)
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#define GIMBALIOCATTCOMPENSATE 1
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class Gimbal : public device::CDev
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{
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public:
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Gimbal();
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virtual ~Gimbal();
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virtual int init();
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virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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protected:
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virtual int probe();
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private:
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float _min_distance;
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float _max_distance;
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work_s _work;
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int _vehicle_command_sub;
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int _att_sub;
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bool _attitude_compensation;
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bool _initialized;
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orb_advert_t _actuator_controls_2_topic;
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perf_counter_t _sample_perf;
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perf_counter_t _comms_errors;
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perf_counter_t _buffer_overflows;
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/**
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* Initialise the automatic measurement state machine and start it.
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*
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* @note This function is called at open and error time. It might make sense
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* to make it more aggressive about resetting the bus in case of errors.
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*/
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void start();
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/**
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* Stop the automatic measurement state machine.
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*/
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void stop();
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/**
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* Perform a poll cycle; collect from the previous measurement
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* and start a new one.
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*/
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void cycle();
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/**
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* Static trampoline from the workq context; because we don't have a
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* generic workq wrapper yet.
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*
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* @param arg Instance pointer for the driver that is polling.
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*/
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static void cycle_trampoline(void *arg);
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};
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/*
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* Driver 'main' command.
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*/
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extern "C" __EXPORT int gimbal_main(int argc, char *argv[]);
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Gimbal::Gimbal() :
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CDev("Gimbal", GIMBAL_DEVICE_PATH),
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_vehicle_command_sub(-1),
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_att_sub(-1),
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_attitude_compensation(false),
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_initialized(false),
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_actuator_controls_2_topic(-1),
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_sample_perf(perf_alloc(PC_ELAPSED, "gimbal_read")),
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_comms_errors(perf_alloc(PC_COUNT, "gimbal_comms_errors")),
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_buffer_overflows(perf_alloc(PC_COUNT, "gimbal_buffer_overflows"))
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{
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// disable debug() calls
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_debug_enabled = false;
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// work_cancel in the dtor will explode if we don't do this...
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memset(&_work, 0, sizeof(_work));
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}
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Gimbal::~Gimbal()
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{
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/* make sure we are truly inactive */
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stop();
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::close(_actuator_controls_2_topic);
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::close(_vehicle_command_sub);
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}
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int
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Gimbal::init()
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{
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int ret = ERROR;
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/* do regular cdev init */
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if (CDev::init() != OK) {
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goto out;
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}
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start();
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ret = OK;
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out:
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return ret;
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}
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int
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Gimbal::probe()
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{
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return OK;
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}
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int
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Gimbal::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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case GIMBALIOCATTCOMPENSATE:
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_attitude_compensation = (arg != 0);
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return OK;
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default:
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/* give it to the superclass */
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return CDev::ioctl(filp, cmd, arg);
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}
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}
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ssize_t
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Gimbal::read(struct file *filp, char *buffer, size_t buflen)
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{
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return 0;
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}
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void
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Gimbal::start()
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{
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/* schedule a cycle to start things */
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work_queue(LPWORK, &_work, (worker_t)&Gimbal::cycle_trampoline, this, 1);
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}
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void
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Gimbal::stop()
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{
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work_cancel(LPWORK, &_work);
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}
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void
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Gimbal::cycle_trampoline(void *arg)
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{
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Gimbal *dev = static_cast<Gimbal *>(arg);
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dev->cycle();
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}
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void
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Gimbal::cycle()
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{
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if (!_initialized) {
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/* get a subscription handle on the vehicle command topic */
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_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
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/* get a publication handle on actuator output topic */
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struct actuator_controls_s zero_report;
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memset(&zero_report, 0, sizeof(zero_report));
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zero_report.timestamp = hrt_absolute_time();
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_actuator_controls_2_topic = orb_advertise(ORB_ID(actuator_controls_2), &zero_report);
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if (_actuator_controls_2_topic < 0) {
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warnx("advert err");
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}
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_initialized = true;
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}
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bool updated = false;
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perf_begin(_sample_perf);
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float roll = 0.0f;
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float pitch = 0.0f;
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if (_attitude_compensation) {
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if (_att_sub < 0) {
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_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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}
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vehicle_attitude_s att;
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orb_copy(ORB_ID(vehicle_attitude), _att_sub, &att);
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roll = -att.roll;
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pitch = -att.pitch;
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updated = true;
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}
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struct vehicle_command_s cmd;
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bool cmd_updated;
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orb_check(_vehicle_command_sub, &cmd_updated);
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if (cmd_updated) {
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orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
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//debug("cmd: %d, param1: %8.4f param2: %8.4f", (double)cmd.command, (double)cmd.param1, (double)cmd.param2);
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if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && cmd.param7 == 2) {
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/* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */
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roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1;
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pitch += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param2;
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updated = true;
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}
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// XXX change this to the real quaternion command
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if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT && cmd.param7 == 2) {
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/* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */
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roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1;
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pitch += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param2;
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updated = true;
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}
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}
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if (updated) {
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struct actuator_controls_s controls;
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/* fill in the final control values */
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controls.timestamp = hrt_absolute_time();
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controls.control[0] = roll;
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controls.control[1] = pitch;
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/* publish it */
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orb_publish(ORB_ID(actuator_controls_2), _actuator_controls_2_topic, &controls);
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}
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/* notify anyone waiting for data */
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poll_notify(POLLIN);
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perf_end(_sample_perf);
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/* schedule a fresh cycle call when the measurement is done */
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work_queue(LPWORK,
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&_work,
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(worker_t)&Gimbal::cycle_trampoline,
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this,
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USEC2TICK(GIMBAL_UPDATE_INTERVAL));
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}
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void
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Gimbal::print_info()
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{
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perf_print_counter(_sample_perf);
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perf_print_counter(_comms_errors);
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perf_print_counter(_buffer_overflows);
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}
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/**
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* Local functions in support of the shell command.
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*/
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namespace gimbal
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{
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/* oddly, ERROR is not defined for c++ */
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#ifdef ERROR
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# undef ERROR
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#endif
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const int ERROR = -1;
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Gimbal *g_dev;
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void start();
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void stop();
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void test();
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void reset();
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void info();
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/**
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* Start the driver.
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*/
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void
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start()
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{
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if (g_dev != nullptr) {
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errx(1, "already started");
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}
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/* create the driver */
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g_dev = new Gimbal();
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if (g_dev == nullptr) {
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goto fail;
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}
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if (OK != g_dev->init()) {
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goto fail;
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}
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exit(0);
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fail:
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if (g_dev != nullptr) {
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delete g_dev;
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g_dev = nullptr;
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}
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errx(1, "driver start failed");
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}
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/**
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* Stop the driver
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*/
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void stop()
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{
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if (g_dev != nullptr) {
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delete g_dev;
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g_dev = nullptr;
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} else {
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errx(1, "driver not running");
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}
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exit(0);
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}
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/**
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* Perform some basic functional tests on the driver;
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* make sure we can collect data from the sensor in polled
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* and automatic modes.
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*/
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void
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test()
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{
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int fd = open(GIMBAL_DEVICE_PATH, O_RDONLY);
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if (ioctl(fd, GIMBALIOCATTCOMPENSATE, 1) < 0) {
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err(1, "failed enabling compensation");
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}
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errx(0, "PASS");
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}
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/**
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* Reset the driver.
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*/
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void
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reset()
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{
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int fd = open(GIMBAL_DEVICE_PATH, O_RDONLY);
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if (fd < 0) {
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err(1, "failed ");
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}
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// if (ioctl(fd, GIMBALIOCATTCOMPENSATE, 1) < 0) {
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// err(1, "failed enabling compensation");
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// }
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exit(0);
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}
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/**
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* Print a little info about the driver.
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*/
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void
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info()
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{
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if (g_dev == nullptr) {
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errx(1, "driver not running");
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}
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printf("state @ %p\n", g_dev);
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g_dev->print_info();
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exit(0);
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}
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} // namespace
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int
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gimbal_main(int argc, char *argv[])
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{
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/*
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* Start/load the driver.
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*/
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if (!strcmp(argv[1], "start")) {
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gimbal::start();
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}
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/*
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* Stop the driver
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*/
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if (!strcmp(argv[1], "stop")) {
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gimbal::stop();
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}
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/*
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* Test the driver/device.
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*/
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if (!strcmp(argv[1], "test")) {
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gimbal::test();
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}
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/*
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* Reset the driver.
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*/
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if (!strcmp(argv[1], "reset")) {
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gimbal::reset();
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}
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/*
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* Print driver information.
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*/
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if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
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gimbal::info();
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}
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errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
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}
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@ -0,0 +1,42 @@
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############################################################################
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#
|
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# Copyright (c) 2014, 2015 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Makefile to build the gimbal high-level controller
|
||||
#
|
||||
|
||||
MODULE_COMMAND = servo_gimbal
|
||||
|
||||
SRCS = gimbal.cpp
|
||||
|
||||
MAXOPTIMIZATION = -Os
|
||||
Loading…
Reference in New Issue