forked from Archive/PX4-Autopilot
282 lines
8.2 KiB
C
282 lines
8.2 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @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_interface.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 <stdlib.h>
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#include <string.h>
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#include <stdbool.h>
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#include <unistd.h>
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#include <math.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <debug.h>
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#include <termios.h>
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#include <time.h>
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#include <sys/prctl.h>
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#include <arch/board/up_hrt.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/actuator_controls.h>
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#include "ardrone_motor_control.h"
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__EXPORT int ardrone_interface_main(int argc, char *argv[]);
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static bool thread_should_exit = false; /**< Deamon exit flag */
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static bool thread_running = false; /**< Deamon status flag */
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static int ardrone_interface_task; /**< Handle of deamon task / thread */
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/**
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* Mainloop of ardrone_interface.
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*/
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int ardrone_interface_thread_main(int argc, char *argv[]);
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/**
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* Print the correct usage.
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*/
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static void usage(const char *reason);
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static void
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usage(const char *reason)
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{
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if (reason)
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fprintf(stderr, "%s\n", reason);
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fprintf(stderr, "usage: ardrone_interface {start|stop|status} [-d <UART>]\n\n");
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exit(1);
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}
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/**
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* The deamon app only briefly exists to start
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* the background job. The stack size assigned in the
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* Makefile does only apply to this management task.
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*
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* The actual stack size should be set in the call
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* to task_create().
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*/
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int ardrone_interface_main(int argc, char *argv[])
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{
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if (argc < 1)
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usage("missing command");
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if (!strcmp(argv[1], "start")) {
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if (thread_running) {
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printf("ardrone_interface already running\n");
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/* this is not an error */
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exit(0);
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}
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thread_should_exit = false;
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ardrone_interface_task = task_create("ardrone_interface", SCHED_PRIORITY_MAX - 15, 4096, ardrone_interface_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
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thread_running = true;
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exit(0);
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}
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if (!strcmp(argv[1], "stop")) {
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thread_should_exit = true;
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exit(0);
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}
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if (!strcmp(argv[1], "status")) {
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if (thread_running) {
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printf("\tardrone_interface is running\n");
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} else {
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printf("\tardrone_interface not started\n");
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}
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exit(0);
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}
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usage("unrecognized command");
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exit(1);
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}
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int ardrone_interface_thread_main(int argc, char *argv[])
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{
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/* welcome user */
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printf("[ardrone_interface] Control started, taking over motors\n");
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/* default values for arguments */
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char *ardrone_uart_name = "/dev/ttyS1";
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/* File descriptors */
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int ardrone_write;
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int gpios;
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enum {
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CONTROL_MODE_RATES = 0,
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CONTROL_MODE_ATTITUDE = 1,
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} control_mode = CONTROL_MODE_ATTITUDE;
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char *commandline_usage = "\tusage: ardrone_interface -d ardrone-devicename -m mode\n\tmodes are:\n\t\trates\n\t\tattitude\n";
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bool motor_test_mode = false;
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/* read commandline arguments */
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for (int i = 1; i < argc; i++) {
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if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //ardrone set
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if (argc > i + 1) {
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ardrone_uart_name = argv[i + 1];
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} else {
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printf(commandline_usage);
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return ERROR;
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}
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} else if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--mode") == 0) {
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if (argc > i + 1) {
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if (strcmp(argv[i + 1], "rates") == 0) {
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control_mode = CONTROL_MODE_RATES;
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} else if (strcmp(argv[i + 1], "attitude") == 0) {
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control_mode = CONTROL_MODE_ATTITUDE;
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} else {
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printf(commandline_usage);
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return ERROR;
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}
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} else {
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printf(commandline_usage);
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return ERROR;
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}
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} else if (strcmp(argv[i], "-t") == 0 || strcmp(argv[i], "--test") == 0) {
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motor_test_mode = true;
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}
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}
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/* open uarts */
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printf("[ardrone_interface] AR.Drone UART is %s\n", ardrone_uart_name);
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ardrone_write = open(ardrone_uart_name, O_RDWR | O_NOCTTY | O_NDELAY);
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if (ardrone_write < 0) {
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fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
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exit(ERROR);
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}
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/* initialize motors */
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if (OK != ar_init_motors(ardrone_write, &gpios)) {
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close(ardrone_write);
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fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
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exit(ERROR);
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}
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/* Led animation */
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int counter = 0;
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int led_counter = 0;
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/* declare and safely initialize all structs */
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struct vehicle_status_s state;
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memset(&state, 0, sizeof(state));
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struct actuator_controls_s actuator_controls;
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memset(&actuator_controls, 0, sizeof(actuator_controls));
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/* subscribe to attitude, motor setpoints and system state */
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int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
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int state_sub = orb_subscribe(ORB_ID(vehicle_status));
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while (!thread_should_exit) {
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/* get a local copy of the vehicle state */
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orb_copy(ORB_ID(vehicle_status), state_sub, &state);
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/* get a local copy of the actuator controls */
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orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls);
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// if ..
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ardrone_mixing_and_output(ardrone_write, &actuator_controls, motor_test_mode);
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// } else {
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// /* Silently lock down motor speeds to zero */
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// ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0);
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// }
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if (counter % 30 == 0) {
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if (led_counter == 0) ar_set_leds(ardrone_write, 0, 1, 0, 0, 0, 0, 0 , 0);
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if (led_counter == 1) ar_set_leds(ardrone_write, 1, 1, 0, 0, 0, 0, 0 , 0);
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if (led_counter == 2) ar_set_leds(ardrone_write, 1, 0, 0, 0, 0, 0, 0 , 0);
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if (led_counter == 3) ar_set_leds(ardrone_write, 0, 0, 0, 1, 0, 0, 0 , 0);
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if (led_counter == 4) ar_set_leds(ardrone_write, 0, 0, 1, 1, 0, 0, 0 , 0);
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if (led_counter == 5) ar_set_leds(ardrone_write, 0, 0, 1, 0, 0, 0, 0 , 0);
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if (led_counter == 6) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 1, 0 , 0);
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if (led_counter == 7) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 1, 0 , 0);
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if (led_counter == 8) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 0, 0 , 0);
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if (led_counter == 9) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 0 , 1);
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if (led_counter == 10) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 1);
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if (led_counter == 11) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 0);
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led_counter++;
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if (led_counter == 12) led_counter = 0;
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}
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/* run at approximately 50 Hz */
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usleep(20000);
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// This is a hardcore debug code piece to validate
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// the motor interface
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// uint8_t motorSpeedBuf[5] = {1, 2, 3, 4, 5};
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// ar_get_motor_packet(motorSpeedBuf, 20, 20, 20, 20);
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// write(ardrone_write, motorSpeedBuf, 5);
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// usleep(15000);
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counter++;
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}
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/* close uarts */
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close(ardrone_write);
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ar_multiplexing_deinit(gpios);
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printf("[ardrone_interface] ending now...\n\n");
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fflush(stdout);
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thread_running = false;
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return OK;
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}
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