Michael Schaeuble
9 years ago
committed by
Lorenz Meier
4 changed files with 556 additions and 0 deletions
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############################################################################ |
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# |
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# Copyright (c) 2016 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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include_directories(../../../../lib/DriverFramework/drivers) |
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px4_add_module( |
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MODULE platforms__posix__drivers__df_bebop_bus_wrapper |
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MAIN df_bebop_bus_wrapper |
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SRCS |
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df_bebop_bus_wrapper.cpp |
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DEPENDS |
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platforms__common |
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df_driver_framework |
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df_bebop_bus |
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) |
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# vim: set noet ft=cmake fenc=utf-8 ff=unix : |
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@ -0,0 +1,507 @@ |
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/****************************************************************************
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* |
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* Copyright (c) 2016 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 df_bebop_bus_wrapper.cpp |
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* |
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* This is a wrapper around the Parrot Bebop bus driver of the DriverFramework. It sends the |
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* motor and contol commands to the Bebop and reads its status and informations. |
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*/ |
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#include <stdint.h> |
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#include <px4_tasks.h> |
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#include <px4_getopt.h> |
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#include <px4_posix.h> |
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#include <errno.h> |
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#include <string.h> |
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#include <uORB/topics/actuator_outputs.h> |
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#include <uORB/topics/actuator_controls.h> |
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#include <uORB/topics/actuator_armed.h> |
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#include <systemlib/mixer/mixer.h> |
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#include <systemlib/mixer/mixer_multirotor.generated.h> |
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#include <systemlib/pwm_limit/pwm_limit.h> |
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#include <bebop_bus/BebopBus.hpp> |
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#include <DevMgr.hpp> |
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extern "C" { __EXPORT int df_bebop_bus_wrapper_main(int argc, char *argv[]); } |
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using namespace DriverFramework; |
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class DfBebopBusWrapper : public BebopBus |
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{ |
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public: |
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DfBebopBusWrapper(); |
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~DfBebopBusWrapper() = default; |
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int start(); |
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int stop(); |
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int print_info(); |
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private: |
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}; |
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DfBebopBusWrapper::DfBebopBusWrapper() : |
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BebopBus(BEBOP_BUS_DEVICE_PATH) |
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{} |
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int DfBebopBusWrapper::start() |
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{ |
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/* Init device and start sensor. */ |
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int ret = init(); |
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if (ret != 0) { |
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PX4_ERR("BebopBus init fail: %d", ret); |
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return ret; |
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} |
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ret = BebopBus::start(); |
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if (ret < 0) { |
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PX4_ERR("BebopBus start fail: %d", ret); |
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return ret; |
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} |
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return 0; |
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} |
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int DfBebopBusWrapper::stop() { |
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int ret = BebopBus::stop(); |
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if (ret < 0) { |
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PX4_ERR("BebopBus stop fail: %d", ret); |
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return ret; |
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} |
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return 0; |
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} |
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int DfBebopBusWrapper::print_info() |
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{ |
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bebop_bus_info info; |
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int ret = _get_info(&info); |
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if (ret < 0) |
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{ |
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return -1; |
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} |
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PX4_INFO("Bebop Controller Info"); |
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PX4_INFO(" Software Version: %d.%d", info.version_major, info.version_minor); |
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PX4_INFO(" Software Type: %d", info.type); |
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PX4_INFO(" Number of controlled motors: %d", info.n_motors_controlled); |
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PX4_INFO(" Number of flights: %d", info.n_flights); |
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PX4_INFO(" Last flight time: %d", info.last_flight_time); |
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PX4_INFO(" Total flight time: %d", info.total_flight_time); |
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PX4_INFO(" Last Error: %d\n", info.last_error); |
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return 0; |
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} |
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namespace df_bebop_bus_wrapper |
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{ |
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DfBebopBusWrapper *g_dev = nullptr; |
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volatile bool _task_should_exit = false; // flag indicating if snapdragon_rc_pwm task should exit
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static bool _is_running = false; // flag indicating if snapdragon_rc_pwm app is running
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static px4_task_t _task_handle = -1; // handle to the task main thread
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static const int FREQUENCY_PWM = 400; |
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static const char *MIXER_FILENAME = ""; |
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// subscriptions
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int _controls_sub; |
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int _armed_sub; |
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// publications
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orb_advert_t _outputs_pub = nullptr; |
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orb_advert_t _rc_pub = nullptr; |
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// topic structures
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actuator_controls_s _controls; |
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actuator_outputs_s _outputs; |
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actuator_armed_s _armed; |
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pwm_limit_t _pwm_limit; |
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// esc parameters
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int32_t _pwm_disarmed; |
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int32_t _pwm_min; |
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int32_t _pwm_max; |
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MultirotorMixer *_mixer = nullptr; |
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int start(); |
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int stop(); |
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int info(); |
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void usage(); |
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void send_outputs_pwm(const uint16_t *pwm); |
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void task_main(int argc, char *argv[]); |
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/* mixer initialization */ |
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int initialize_mixer(const char *mixer_filename); |
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int mixer_control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input); |
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int mixer_control_callback(uintptr_t handle, |
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uint8_t control_group, |
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uint8_t control_index, |
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float &input) |
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{ |
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const actuator_controls_s *controls = (actuator_controls_s *)handle; |
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input = controls[control_group].control[control_index]; |
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return 0; |
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} |
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int initialize_mixer(const char *mixer_filename) |
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{ |
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char buf[2048]; |
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size_t buflen = sizeof(buf); |
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PX4_INFO("Trying to initialize mixer from config file %s", mixer_filename); |
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int fd_load = ::open(mixer_filename, O_RDONLY); |
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if (fd_load != -1) { |
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int nRead = ::read(fd_load, buf, buflen); |
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close(fd_load); |
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if (nRead > 0) { |
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_mixer = MultirotorMixer::from_text(mixer_control_callback, (uintptr_t)&_controls, buf, buflen); |
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if (_mixer != nullptr) { |
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PX4_INFO("Successfully initialized mixer from config file"); |
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return 0; |
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} else { |
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PX4_ERR("Unable to parse from mixer config file"); |
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return -1; |
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} |
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} else { |
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PX4_WARN("Unable to read from mixer config file"); |
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return -2; |
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} |
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} else { |
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PX4_WARN("No mixer config file found, using default mixer."); |
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/* Mixer file loading failed, fall back to default mixer configuration for
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* QUAD_X airframe. */ |
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float roll_scale = 1; |
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float pitch_scale = 1; |
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float yaw_scale = 1; |
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float deadband = 0; |
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_mixer = new MultirotorMixer(mixer_control_callback, (uintptr_t)&_controls, |
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MultirotorGeometry::QUAD_X, |
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roll_scale, pitch_scale, yaw_scale, deadband); |
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// TODO: temporary hack to make this compile
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(void)_config_index[0]; |
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if (_mixer == nullptr) { |
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PX4_ERR("Mixer initialization failed"); |
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return -1; |
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} |
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return 0; |
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} |
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} |
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void send_outputs_pwm(const uint16_t *pwm) |
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{ |
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PX4_INFO("%d %d %d %d", pwm[0], pwm[1], pwm[2], pwm[3]); |
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} |
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void task_main(int argc, char *argv[]) |
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{ |
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_is_running = true; |
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// Subscribe for orb topics
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_controls_sub = orb_subscribe(ORB_ID(actuator_controls_0)); |
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_armed_sub = orb_subscribe(ORB_ID(actuator_armed)); |
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// Start disarmed
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_armed.armed = false; |
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_armed.prearmed = false; |
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// Set up poll topic
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px4_pollfd_struct_t fds[1]; |
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fds[0].fd = _controls_sub; |
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fds[0].events = POLLIN; |
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/* Don't limit poll intervall for now, 250 Hz should be fine. */ |
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//orb_set_interval(_controls_sub, 10);
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// Set up mixer
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if (initialize_mixer(MIXER_FILENAME) < 0) { |
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PX4_ERR("Mixer initialization failed."); |
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return; |
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} |
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pwm_limit_init(&_pwm_limit); |
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// Main loop
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while (!_task_should_exit) { |
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int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 10); |
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/* Timed out, do a periodic check for _task_should_exit. */ |
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if (pret == 0) { |
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continue; |
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} |
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/* This is undesirable but not much we can do. */ |
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if (pret < 0) { |
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PX4_WARN("poll error %d, %d", pret, errno); |
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/* sleep a bit before next try */ |
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usleep(100000); |
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continue; |
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} |
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if (fds[0].revents & POLLIN) { |
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orb_copy(ORB_ID(actuator_controls_0), _controls_sub, &_controls); |
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_outputs.timestamp = _controls.timestamp; |
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/* do mixing */ |
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_outputs.noutputs = _mixer->mix(_outputs.output, |
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0 /* not used */, |
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NULL); |
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/* disable unused ports by setting their output to NaN */ |
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for (size_t i = _outputs.noutputs; |
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i < sizeof(_outputs.output) / sizeof(_outputs.output[0]); |
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i++) { |
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_outputs.output[i] = NAN; |
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} |
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const uint16_t reverse_mask = 0; |
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uint16_t disarmed_pwm[4]; |
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uint16_t min_pwm[4]; |
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uint16_t max_pwm[4]; |
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for (unsigned int i = 0; i < 4; i++) { |
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disarmed_pwm[i] = _pwm_disarmed; |
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min_pwm[i] = _pwm_min; |
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max_pwm[i] = _pwm_max; |
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} |
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uint16_t pwm[4]; |
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// TODO FIXME: pre-armed seems broken
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pwm_limit_calc(_armed.armed, |
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false/*_armed.prearmed*/, |
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_outputs.noutputs, |
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reverse_mask, |
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disarmed_pwm, |
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min_pwm, |
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max_pwm, |
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_outputs.output, |
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pwm, |
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&_pwm_limit); |
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send_outputs_pwm(pwm); |
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if (_outputs_pub != nullptr) { |
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orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_outputs); |
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} else { |
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_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs); |
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} |
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} |
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bool updated; |
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orb_check(_armed_sub, &updated); |
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if (updated) { |
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orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed); |
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} |
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} |
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orb_unsubscribe(_controls_sub); |
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orb_unsubscribe(_armed_sub); |
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_is_running = false; |
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} |
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int start() |
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{ |
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g_dev = new DfBebopBusWrapper(); |
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if (g_dev == nullptr) { |
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PX4_ERR("failed instantiating DfBebopBusWrapper object"); |
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return -1; |
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} |
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int ret = g_dev->start(); |
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if (ret != 0) { |
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PX4_ERR("DfBebopBusWrapper start failed"); |
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return ret; |
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} |
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// Open the MAG sensor
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DevHandle h; |
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DevMgr::getHandle(BEBOP_BUS_DEVICE_PATH, h); |
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if (!h.isValid()) { |
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DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)", |
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BEBOP_BUS_DEVICE_PATH, h.getError()); |
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return -1; |
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|
} |
||||||
|
|
||||||
|
DevMgr::releaseHandle(h); |
||||||
|
|
||||||
|
// Start the task to forward the motor control commands
|
||||||
|
ASSERT(_task_handle == -1); |
||||||
|
|
||||||
|
/* start the task */ |
||||||
|
_task_handle = px4_task_spawn_cmd("bebop_bus_esc_main", |
||||||
|
SCHED_DEFAULT, |
||||||
|
SCHED_PRIORITY_MAX, |
||||||
|
2000, |
||||||
|
(px4_main_t)&task_main, |
||||||
|
nullptr); |
||||||
|
|
||||||
|
if (_task_handle < 0) { |
||||||
|
warn("task start failed"); |
||||||
|
return -1; |
||||||
|
} |
||||||
|
|
||||||
|
_is_running = true; |
||||||
|
return 0; |
||||||
|
} |
||||||
|
|
||||||
|
int stop() |
||||||
|
{ |
||||||
|
// Stop bebop motor control task
|
||||||
|
_task_should_exit = true; |
||||||
|
|
||||||
|
while (_is_running) { |
||||||
|
usleep(200000); |
||||||
|
PX4_INFO("."); |
||||||
|
} |
||||||
|
|
||||||
|
_task_handle = -1; |
||||||
|
|
||||||
|
if (g_dev == nullptr) { |
||||||
|
PX4_ERR("driver not running"); |
||||||
|
return 1; |
||||||
|
} |
||||||
|
|
||||||
|
// Stop DF device
|
||||||
|
int ret = g_dev->stop(); |
||||||
|
|
||||||
|
if (ret != 0) { |
||||||
|
PX4_ERR("driver could not be stopped"); |
||||||
|
return ret; |
||||||
|
} |
||||||
|
|
||||||
|
delete g_dev; |
||||||
|
g_dev = nullptr; |
||||||
|
return 0; |
||||||
|
} |
||||||
|
|
||||||
|
/**
|
||||||
|
* Print a little info about the driver. |
||||||
|
*/ |
||||||
|
int |
||||||
|
info() |
||||||
|
{ |
||||||
|
if (g_dev == nullptr) { |
||||||
|
PX4_ERR("driver not running"); |
||||||
|
return 1; |
||||||
|
} |
||||||
|
|
||||||
|
PX4_DEBUG("state @ %p", g_dev); |
||||||
|
|
||||||
|
int ret = g_dev->print_info(); |
||||||
|
if (ret != 0) { |
||||||
|
PX4_ERR("Unable to print info"); |
||||||
|
return ret; |
||||||
|
} |
||||||
|
|
||||||
|
return 0; |
||||||
|
} |
||||||
|
|
||||||
|
void |
||||||
|
usage() |
||||||
|
{ |
||||||
|
PX4_INFO("Usage: df_bebop_bus_wrapper 'start', 'info', 'stop'"); |
||||||
|
} |
||||||
|
|
||||||
|
} /* df_bebop_bus_wrapper */
|
||||||
|
|
||||||
|
|
||||||
|
int |
||||||
|
df_bebop_bus_wrapper_main(int argc, char *argv[]) |
||||||
|
{ |
||||||
|
int ret = 0; |
||||||
|
int myoptind = 1; |
||||||
|
|
||||||
|
if (argc <= 1) { |
||||||
|
df_bebop_bus_wrapper::usage(); |
||||||
|
return 1; |
||||||
|
} |
||||||
|
|
||||||
|
const char *verb = argv[myoptind]; |
||||||
|
|
||||||
|
|
||||||
|
if (!strcmp(verb, "start")) { |
||||||
|
ret = df_bebop_bus_wrapper::start(); |
||||||
|
} |
||||||
|
|
||||||
|
else if (!strcmp(verb, "stop")) { |
||||||
|
ret = df_bebop_bus_wrapper::stop(); |
||||||
|
} |
||||||
|
|
||||||
|
else if (!strcmp(verb, "info")) { |
||||||
|
ret = df_bebop_bus_wrapper::info(); |
||||||
|
} |
||||||
|
|
||||||
|
else { |
||||||
|
df_bebop_bus_wrapper::usage(); |
||||||
|
return 1; |
||||||
|
} |
||||||
|
|
||||||
|
return ret; |
||||||
|
} |
||||||
Loading…
Reference in new issue