forked from Archive/PX4-Autopilot
493 lines
15 KiB
C
493 lines
15 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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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 ardrone_motor_control.c
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* Implementation of AR.Drone 1.0 / 2.0 motor control interface
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*/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <drivers/drv_gpio.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/actuator_controls_effective.h>
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#include <systemlib/err.h>
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#include "ardrone_motor_control.h"
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static unsigned long motor_gpios = GPIO_EXT_1 | GPIO_EXT_2 | GPIO_MULTI_1 | GPIO_MULTI_2;
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static unsigned long motor_gpio[4] = { GPIO_EXT_1, GPIO_EXT_2, GPIO_MULTI_1, GPIO_MULTI_2 };
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typedef union {
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uint16_t motor_value;
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uint8_t bytes[2];
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} motor_union_t;
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#define UART_TRANSFER_TIME_BYTE_US (9+50) /**< 9 us per byte at 115200k plus overhead */
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/**
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* @brief Generate the 8-byte motor set packet
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*
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* @return the number of bytes (8)
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*/
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void ar_get_motor_packet(uint8_t *motor_buf, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4)
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{
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motor_buf[0] = 0x20;
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motor_buf[1] = 0x00;
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motor_buf[2] = 0x00;
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motor_buf[3] = 0x00;
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motor_buf[4] = 0x00;
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/*
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* {0x20, 0x00, 0x00, 0x00, 0x00};
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* 0x20 is start sign / motor command
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*/
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motor_union_t curr_motor;
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uint16_t nineBitMask = 0x1FF;
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/* Set motor 1 */
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curr_motor.motor_value = (motor1 & nineBitMask) << 4;
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motor_buf[0] |= curr_motor.bytes[1];
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motor_buf[1] |= curr_motor.bytes[0];
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/* Set motor 2 */
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curr_motor.motor_value = (motor2 & nineBitMask) << 3;
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motor_buf[1] |= curr_motor.bytes[1];
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motor_buf[2] |= curr_motor.bytes[0];
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/* Set motor 3 */
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curr_motor.motor_value = (motor3 & nineBitMask) << 2;
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motor_buf[2] |= curr_motor.bytes[1];
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motor_buf[3] |= curr_motor.bytes[0];
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/* Set motor 4 */
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curr_motor.motor_value = (motor4 & nineBitMask) << 1;
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motor_buf[3] |= curr_motor.bytes[1];
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motor_buf[4] |= curr_motor.bytes[0];
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}
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void ar_enable_broadcast(int fd)
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{
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ar_select_motor(fd, 0);
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}
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int ar_multiplexing_init()
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{
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int fd;
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fd = open(GPIO_DEVICE_PATH, 0);
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if (fd < 0) {
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warn("GPIO: open fail");
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return fd;
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}
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/* deactivate all outputs */
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if (ioctl(fd, GPIO_SET, motor_gpios)) {
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warn("GPIO: clearing pins fail");
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close(fd);
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return -1;
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}
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/* configure all motor select GPIOs as outputs */
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if (ioctl(fd, GPIO_SET_OUTPUT, motor_gpios) != 0) {
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warn("GPIO: output set fail");
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close(fd);
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return -1;
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}
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return fd;
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}
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int ar_multiplexing_deinit(int fd)
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{
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if (fd < 0) {
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printf("GPIO: no valid descriptor\n");
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return fd;
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}
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int ret = 0;
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/* deselect motor 1-4 */
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ret += ioctl(fd, GPIO_SET, motor_gpios);
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if (ret != 0) {
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printf("GPIO: clear failed %d times\n", ret);
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}
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if (ioctl(fd, GPIO_SET_INPUT, motor_gpios) != 0) {
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printf("GPIO: input set fail\n");
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return -1;
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}
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close(fd);
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return ret;
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}
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int ar_select_motor(int fd, uint8_t motor)
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{
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int ret = 0;
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/*
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* Four GPIOS:
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* GPIO_EXT1
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* GPIO_EXT2
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* GPIO_UART2_CTS
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* GPIO_UART2_RTS
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*/
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/* select motor 0 to enable broadcast */
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if (motor == 0) {
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/* select motor 1-4 */
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ret += ioctl(fd, GPIO_CLEAR, motor_gpios);
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} else {
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/* select reqested motor */
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ret += ioctl(fd, GPIO_CLEAR, motor_gpio[motor - 1]);
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}
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return ret;
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}
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int ar_deselect_motor(int fd, uint8_t motor)
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{
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int ret = 0;
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/*
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* Four GPIOS:
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* GPIO_EXT1
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* GPIO_EXT2
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* GPIO_UART2_CTS
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* GPIO_UART2_RTS
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*/
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if (motor == 0) {
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/* deselect motor 1-4 */
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ret += ioctl(fd, GPIO_SET, motor_gpios);
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} else {
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/* deselect reqested motor */
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ret = ioctl(fd, GPIO_SET, motor_gpio[motor - 1]);
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}
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return ret;
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}
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int ar_init_motors(int ardrone_uart, int gpios)
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{
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/* Write ARDrone commands on UART2 */
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uint8_t initbuf[] = {0xE0, 0x91, 0xA1, 0x00, 0x40};
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uint8_t multicastbuf[] = {0xA0, 0xA0, 0xA0, 0xA0, 0xA0, 0xA0};
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/* deselect all motors */
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ar_deselect_motor(gpios, 0);
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/* initialize all motors
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* - select one motor at a time
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* - configure motor
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*/
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int i;
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int errcounter = 0;
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/* initial setup run */
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for (i = 1; i < 5; ++i) {
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/* Initialize motors 1-4 */
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errcounter += ar_select_motor(gpios, i);
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usleep(200);
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/*
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* write 0xE0 - request status
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* receive one status byte
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*/
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write(ardrone_uart, &(initbuf[0]), 1);
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fsync(ardrone_uart);
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usleep(UART_TRANSFER_TIME_BYTE_US*1);
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/*
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* write 0x91 - request checksum
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* receive 120 status bytes
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*/
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write(ardrone_uart, &(initbuf[1]), 1);
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fsync(ardrone_uart);
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usleep(UART_TRANSFER_TIME_BYTE_US*120);
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/*
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* write 0xA1 - set status OK
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* receive one status byte - should be A0
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* to confirm status is OK
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*/
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write(ardrone_uart, &(initbuf[2]), 1);
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fsync(ardrone_uart);
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usleep(UART_TRANSFER_TIME_BYTE_US*1);
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/*
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* set as motor i, where i = 1..4
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* receive nothing
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*/
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initbuf[3] = (uint8_t)i;
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write(ardrone_uart, &(initbuf[3]), 1);
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fsync(ardrone_uart);
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/*
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* write 0x40 - check version
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* receive 11 bytes encoding the version
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*/
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write(ardrone_uart, &(initbuf[4]), 1);
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fsync(ardrone_uart);
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usleep(UART_TRANSFER_TIME_BYTE_US*11);
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ar_deselect_motor(gpios, i);
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/* sleep 200 ms */
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usleep(200000);
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}
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/* start the multicast part */
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errcounter += ar_select_motor(gpios, 0);
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usleep(200);
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/*
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* first round
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* write six times A0 - enable broadcast
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* receive nothing
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*/
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write(ardrone_uart, multicastbuf, sizeof(multicastbuf));
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fsync(ardrone_uart);
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usleep(UART_TRANSFER_TIME_BYTE_US * sizeof(multicastbuf));
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/*
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* second round
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* write six times A0 - enable broadcast
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* receive nothing
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*/
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write(ardrone_uart, multicastbuf, sizeof(multicastbuf));
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fsync(ardrone_uart);
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usleep(UART_TRANSFER_TIME_BYTE_US * sizeof(multicastbuf));
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/* set motors to zero speed (fsync is part of the write command */
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ardrone_write_motor_commands(ardrone_uart, 0, 0, 0, 0);
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if (errcounter != 0) {
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fprintf(stderr, "[ardrone_interface] init sequence incomplete, failed %d times", -errcounter);
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fflush(stdout);
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}
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return errcounter;
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}
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/**
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* Sets the leds on the motor controllers, 1 turns led on, 0 off.
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*/
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void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t led2_red, uint8_t led2_green, uint8_t led3_red, uint8_t led3_green, uint8_t led4_red, uint8_t led4_green)
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{
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/*
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* 2 bytes are sent. The first 3 bits describe the command: 011 means led control
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* the following 4 bits are the red leds for motor 4, 3, 2, 1
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* then 4 bits with unknown function, then 4 bits for green leds for motor 4, 3, 2, 1
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* the last bit is unknown.
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*
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* The packet is therefore:
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* 011 rrrr 0000 gggg 0
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*/
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uint8_t leds[2];
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leds[0] = 0x60 | ((led4_red & 0x01) << 4) | ((led3_red & 0x01) << 3) | ((led2_red & 0x01) << 2) | ((led1_red & 0x01) << 1);
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leds[1] = ((led4_green & 0x01) << 4) | ((led3_green & 0x01) << 3) | ((led2_green & 0x01) << 2) | ((led1_green & 0x01) << 1);
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write(ardrone_uart, leds, 2);
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}
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int ardrone_write_motor_commands(int ardrone_fd, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4) {
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const unsigned int min_motor_interval = 4900;
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static uint64_t last_motor_time = 0;
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static struct actuator_outputs_s outputs;
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outputs.timestamp = hrt_absolute_time();
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outputs.output[0] = motor1;
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outputs.output[1] = motor2;
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outputs.output[2] = motor3;
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outputs.output[3] = motor4;
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static orb_advert_t pub = 0;
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if (pub == 0) {
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pub = orb_advertise(ORB_ID_VEHICLE_CONTROLS, &outputs);
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}
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if (hrt_absolute_time() - last_motor_time > min_motor_interval) {
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uint8_t buf[5] = {0};
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ar_get_motor_packet(buf, motor1, motor2, motor3, motor4);
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int ret;
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ret = write(ardrone_fd, buf, sizeof(buf));
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fsync(ardrone_fd);
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/* publish just written values */
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orb_publish(ORB_ID_VEHICLE_CONTROLS, pub, &outputs);
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if (ret == sizeof(buf)) {
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return OK;
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} else {
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return ret;
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}
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} else {
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return -ERROR;
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}
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}
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void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators) {
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float roll_control = actuators->control[0];
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float pitch_control = actuators->control[1];
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float yaw_control = actuators->control[2];
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float motor_thrust = actuators->control[3];
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//printf("AMO: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",roll_control, pitch_control, yaw_control, motor_thrust);
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const float min_thrust = 0.02f; /**< 2% minimum thrust */
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const float max_thrust = 1.0f; /**< 100% max thrust */
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const float scaling = 500.0f; /**< 100% thrust equals a value of 500 which works, 512 leads to cutoff */
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const float min_gas = min_thrust * scaling; /**< value range sent to motors, minimum */
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const float max_gas = max_thrust * scaling; /**< value range sent to motors, maximum */
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/* initialize all fields to zero */
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uint16_t motor_pwm[4] = {0};
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float motor_calc[4] = {0};
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float output_band = 0.0f;
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float band_factor = 0.75f;
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const float startpoint_full_control = 0.25f; /**< start full control at 25% thrust */
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float yaw_factor = 1.0f;
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static bool initialized = false;
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/* publish effective outputs */
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static struct actuator_controls_effective_s actuator_controls_effective;
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static orb_advert_t actuator_controls_effective_pub;
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if (motor_thrust <= min_thrust) {
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motor_thrust = min_thrust;
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output_band = 0.0f;
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} else if (motor_thrust < startpoint_full_control && motor_thrust > min_thrust) {
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output_band = band_factor * (motor_thrust - min_thrust);
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} else if (motor_thrust >= startpoint_full_control && motor_thrust < max_thrust - band_factor * startpoint_full_control) {
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output_band = band_factor * startpoint_full_control;
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} else if (motor_thrust >= max_thrust - band_factor * startpoint_full_control) {
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output_band = band_factor * (max_thrust - motor_thrust);
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}
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//add the yaw, nick and roll components to the basic thrust //TODO:this should be done by the mixer
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// FRONT (MOTOR 1)
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motor_calc[0] = motor_thrust + (roll_control / 2 + pitch_control / 2 - yaw_control);
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// RIGHT (MOTOR 2)
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motor_calc[1] = motor_thrust + (-roll_control / 2 + pitch_control / 2 + yaw_control);
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// BACK (MOTOR 3)
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motor_calc[2] = motor_thrust + (-roll_control / 2 - pitch_control / 2 - yaw_control);
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// LEFT (MOTOR 4)
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motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control);
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// if we are not in the output band
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if (!(motor_calc[0] < motor_thrust + output_band && motor_calc[0] > motor_thrust - output_band
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&& motor_calc[1] < motor_thrust + output_band && motor_calc[1] > motor_thrust - output_band
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&& motor_calc[2] < motor_thrust + output_band && motor_calc[2] > motor_thrust - output_band
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&& motor_calc[3] < motor_thrust + output_band && motor_calc[3] > motor_thrust - output_band)) {
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yaw_factor = 0.5f;
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yaw_control *= yaw_factor;
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// FRONT (MOTOR 1)
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motor_calc[0] = motor_thrust + (roll_control / 2 + pitch_control / 2 - yaw_control);
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// RIGHT (MOTOR 2)
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motor_calc[1] = motor_thrust + (-roll_control / 2 + pitch_control / 2 + yaw_control);
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// BACK (MOTOR 3)
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motor_calc[2] = motor_thrust + (-roll_control / 2 - pitch_control / 2 - yaw_control);
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// LEFT (MOTOR 4)
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motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control);
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}
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for (int i = 0; i < 4; i++) {
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//check for limits
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if (motor_calc[i] < motor_thrust - output_band) {
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motor_calc[i] = motor_thrust - output_band;
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}
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if (motor_calc[i] > motor_thrust + output_band) {
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motor_calc[i] = motor_thrust + output_band;
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}
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}
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/* publish effective outputs */
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actuator_controls_effective.control_effective[0] = roll_control;
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actuator_controls_effective.control_effective[1] = pitch_control;
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/* yaw output after limiting */
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actuator_controls_effective.control_effective[2] = yaw_control;
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/* possible motor thrust limiting */
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actuator_controls_effective.control_effective[3] = (motor_calc[0] + motor_calc[1] + motor_calc[2] + motor_calc[3]) / 4.0f;
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if (!initialized) {
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/* advertise and publish */
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actuator_controls_effective_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, &actuator_controls_effective);
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initialized = true;
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} else {
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/* already initialized, just publishing */
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orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, actuator_controls_effective_pub, &actuator_controls_effective);
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}
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/* set the motor values */
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/* scale up from 0..1 to 10..512) */
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motor_pwm[0] = (uint16_t) (motor_calc[0] * ((float)max_gas - min_gas) + min_gas);
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motor_pwm[1] = (uint16_t) (motor_calc[1] * ((float)max_gas - min_gas) + min_gas);
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motor_pwm[2] = (uint16_t) (motor_calc[2] * ((float)max_gas - min_gas) + min_gas);
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motor_pwm[3] = (uint16_t) (motor_calc[3] * ((float)max_gas - min_gas) + min_gas);
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/* Keep motors spinning while armed and prevent overflows */
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/* Failsafe logic - should never be necessary */
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motor_pwm[0] = (motor_pwm[0] > 0) ? motor_pwm[0] : 10;
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motor_pwm[1] = (motor_pwm[1] > 0) ? motor_pwm[1] : 10;
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motor_pwm[2] = (motor_pwm[2] > 0) ? motor_pwm[2] : 10;
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motor_pwm[3] = (motor_pwm[3] > 0) ? motor_pwm[3] : 10;
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/* Failsafe logic - should never be necessary */
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motor_pwm[0] = (motor_pwm[0] <= 512) ? motor_pwm[0] : 512;
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motor_pwm[1] = (motor_pwm[1] <= 512) ? motor_pwm[1] : 512;
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motor_pwm[2] = (motor_pwm[2] <= 512) ? motor_pwm[2] : 512;
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motor_pwm[3] = (motor_pwm[3] <= 512) ? motor_pwm[3] : 512;
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/* send motors via UART */
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ardrone_write_motor_commands(ardrone_write, motor_pwm[0], motor_pwm[1], motor_pwm[2], motor_pwm[3]);
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}
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