forked from Archive/PX4-Autopilot
300 lines
7.7 KiB
C
300 lines
7.7 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2008-2012 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 "ardrone_motor_control.h"
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static const unsigned long motor_gpios = GPIO_EXT_1 | GPIO_EXT_2 | GPIO_MULTI_1 | GPIO_MULTI_2;
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static const 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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/**
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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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printf("GPIO: open fail\n");
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return fd;
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}
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/* deactivate all outputs */
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int ret = 0;
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ret += ioctl(fd, GPIO_SET, motor_gpios);
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if (ioctl(fd, GPIO_SET_OUTPUT, motor_gpios) != 0) {
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printf("GPIO: output set fail\n");
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close(fd);
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return -1;
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}
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if (ret < 0) {
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printf("GPIO: clearing pins fail\n");
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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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unsigned long gpioset;
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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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/* deselect all */
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ret += ioctl(fd, GPIO_SET, motor_gpios);
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/* select reqested motor */
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ret += ioctl(fd, GPIO_CLEAR, motor_gpio[motor - 1]);
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/* deselect all others */
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// gpioset = motor_gpios ^ motor_gpio[motor - 1];
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// ret += ioctl(fd, GPIO_SET, gpioset);
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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_pin)
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{
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/* Initialize multiplexing */
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*gpios_pin = ar_multiplexing_init();
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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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/* 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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for (i = 1; i < 5; ++i) {
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/* Initialize motors 1-4 */
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initbuf[3] = i;
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errcounter += ar_select_motor(*gpios_pin, i);
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write(ardrone_uart, initbuf + 0, 1);
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/* sleep 400 ms */
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usleep(200000);
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usleep(200000);
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write(ardrone_uart, initbuf + 1, 1);
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/* wait 50 ms */
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usleep(50000);
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write(ardrone_uart, initbuf + 2, 1);
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/* wait 50 ms */
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usleep(50000);
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write(ardrone_uart, initbuf + 3, 1);
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/* wait 50 ms */
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usleep(50000);
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write(ardrone_uart, initbuf + 4, 1);
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/* wait 50 ms */
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usleep(50000);
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/* enable multicast */
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write(ardrone_uart, multicastbuf + 0, 1);
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/* wait 1 ms */
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usleep(1000);
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write(ardrone_uart, multicastbuf + 1, 1);
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/* wait 1 ms */
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usleep(1000);
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write(ardrone_uart, multicastbuf + 2, 1);
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/* wait 1 ms */
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usleep(1000);
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write(ardrone_uart, multicastbuf + 3, 1);
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/* wait 1 ms */
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usleep(1000);
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write(ardrone_uart, multicastbuf + 4, 1);
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/* wait 1 ms */
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usleep(1000);
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write(ardrone_uart, multicastbuf + 5, 1);
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/* wait 5 ms */
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usleep(50000);
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}
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/* start the multicast part */
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errcounter += ar_select_motor(*gpios_pin, 0);
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if (errcounter != 0) {
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fprintf(stderr, "[ar motors] 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 int min_motor_interval = 20000;
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static uint64_t last_motor_time = 0;
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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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if ((ret = write(ardrone_fd, buf, sizeof(buf))) > 0) {
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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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