mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-04 04:00:34 +08:00
Merged with master
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,553 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file md25.cpp
|
||||
*
|
||||
* Driver for MD25 I2C Motor Driver
|
||||
*
|
||||
* references:
|
||||
* http://www.robot-electronics.co.uk/htm/md25tech.htm
|
||||
* http://www.robot-electronics.co.uk/files/rpi_md25.c
|
||||
*
|
||||
*/
|
||||
|
||||
#include "md25.hpp"
|
||||
#include <poll.h>
|
||||
#include <stdio.h>
|
||||
|
||||
#include <systemlib/err.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
// registers
|
||||
enum {
|
||||
// RW: read/write
|
||||
// R: read
|
||||
REG_SPEED1_RW = 0,
|
||||
REG_SPEED2_RW,
|
||||
REG_ENC1A_R,
|
||||
REG_ENC1B_R,
|
||||
REG_ENC1C_R,
|
||||
REG_ENC1D_R,
|
||||
REG_ENC2A_R,
|
||||
REG_ENC2B_R,
|
||||
REG_ENC2C_R,
|
||||
REG_ENC2D_R,
|
||||
REG_BATTERY_VOLTS_R,
|
||||
REG_MOTOR1_CURRENT_R,
|
||||
REG_MOTOR2_CURRENT_R,
|
||||
REG_SW_VERSION_R,
|
||||
REG_ACCEL_RATE_RW,
|
||||
REG_MODE_RW,
|
||||
REG_COMMAND_RW,
|
||||
};
|
||||
|
||||
MD25::MD25(const char *deviceName, int bus,
|
||||
uint16_t address, uint32_t speed) :
|
||||
I2C("MD25", deviceName, bus, address, speed),
|
||||
_controlPoll(),
|
||||
_actuators(NULL, ORB_ID(actuator_controls_0), 20),
|
||||
_version(0),
|
||||
_motor1Speed(0),
|
||||
_motor2Speed(0),
|
||||
_revolutions1(0),
|
||||
_revolutions2(0),
|
||||
_batteryVoltage(0),
|
||||
_motor1Current(0),
|
||||
_motor2Current(0),
|
||||
_motorAccel(0),
|
||||
_mode(MODE_UNSIGNED_SPEED),
|
||||
_command(CMD_RESET_ENCODERS)
|
||||
{
|
||||
// setup control polling
|
||||
_controlPoll.fd = _actuators.getHandle();
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||||
_controlPoll.events = POLLIN;
|
||||
|
||||
// if initialization fails raise an error, unless
|
||||
// probing
|
||||
int ret = I2C::init();
|
||||
|
||||
if (ret != OK) {
|
||||
warnc(ret, "I2C::init failed for bus: %d address: %d\n", bus, address);
|
||||
}
|
||||
|
||||
// setup default settings, reset encoders
|
||||
setMotor1Speed(0);
|
||||
setMotor2Speed(0);
|
||||
resetEncoders();
|
||||
_setMode(MD25::MODE_UNSIGNED_SPEED);
|
||||
setSpeedRegulation(true);
|
||||
setTimeout(true);
|
||||
}
|
||||
|
||||
MD25::~MD25()
|
||||
{
|
||||
}
|
||||
|
||||
int MD25::readData()
|
||||
{
|
||||
uint8_t sendBuf[1];
|
||||
sendBuf[0] = REG_SPEED1_RW;
|
||||
uint8_t recvBuf[17];
|
||||
int ret = transfer(sendBuf, sizeof(sendBuf),
|
||||
recvBuf, sizeof(recvBuf));
|
||||
|
||||
if (ret == OK) {
|
||||
_version = recvBuf[REG_SW_VERSION_R];
|
||||
_motor1Speed = _uint8ToNorm(recvBuf[REG_SPEED1_RW]);
|
||||
_motor2Speed = _uint8ToNorm(recvBuf[REG_SPEED2_RW]);
|
||||
_revolutions1 = -int32_t((recvBuf[REG_ENC1A_R] << 24) +
|
||||
(recvBuf[REG_ENC1B_R] << 16) +
|
||||
(recvBuf[REG_ENC1C_R] << 8) +
|
||||
recvBuf[REG_ENC1D_R]) / 360.0;
|
||||
_revolutions2 = -int32_t((recvBuf[REG_ENC2A_R] << 24) +
|
||||
(recvBuf[REG_ENC2B_R] << 16) +
|
||||
(recvBuf[REG_ENC2C_R] << 8) +
|
||||
recvBuf[REG_ENC2D_R]) / 360.0;
|
||||
_batteryVoltage = recvBuf[REG_BATTERY_VOLTS_R] / 10.0;
|
||||
_motor1Current = recvBuf[REG_MOTOR1_CURRENT_R] / 10.0;
|
||||
_motor2Current = recvBuf[REG_MOTOR2_CURRENT_R] / 10.0;
|
||||
_motorAccel = recvBuf[REG_ACCEL_RATE_RW];
|
||||
_mode = e_mode(recvBuf[REG_MODE_RW]);
|
||||
_command = e_cmd(recvBuf[REG_COMMAND_RW]);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void MD25::status(char *string, size_t n)
|
||||
{
|
||||
snprintf(string, n,
|
||||
"version:\t%10d\n" \
|
||||
"motor 1 speed:\t%10.2f\n" \
|
||||
"motor 2 speed:\t%10.2f\n" \
|
||||
"revolutions 1:\t%10.2f\n" \
|
||||
"revolutions 2:\t%10.2f\n" \
|
||||
"battery volts :\t%10.2f\n" \
|
||||
"motor 1 current :\t%10.2f\n" \
|
||||
"motor 2 current :\t%10.2f\n" \
|
||||
"motor accel :\t%10d\n" \
|
||||
"mode :\t%10d\n" \
|
||||
"command :\t%10d\n",
|
||||
getVersion(),
|
||||
double(getMotor1Speed()),
|
||||
double(getMotor2Speed()),
|
||||
double(getRevolutions1()),
|
||||
double(getRevolutions2()),
|
||||
double(getBatteryVolts()),
|
||||
double(getMotor1Current()),
|
||||
double(getMotor2Current()),
|
||||
getMotorAccel(),
|
||||
getMode(),
|
||||
getCommand());
|
||||
}
|
||||
|
||||
uint8_t MD25::getVersion()
|
||||
{
|
||||
return _version;
|
||||
}
|
||||
|
||||
float MD25::getMotor1Speed()
|
||||
{
|
||||
return _motor1Speed;
|
||||
}
|
||||
|
||||
float MD25::getMotor2Speed()
|
||||
{
|
||||
return _motor2Speed;
|
||||
}
|
||||
|
||||
float MD25::getRevolutions1()
|
||||
{
|
||||
return _revolutions1;
|
||||
}
|
||||
|
||||
float MD25::getRevolutions2()
|
||||
{
|
||||
return _revolutions2;
|
||||
}
|
||||
|
||||
float MD25::getBatteryVolts()
|
||||
{
|
||||
return _batteryVoltage;
|
||||
}
|
||||
|
||||
float MD25::getMotor1Current()
|
||||
{
|
||||
return _motor1Current;
|
||||
}
|
||||
float MD25::getMotor2Current()
|
||||
{
|
||||
return _motor2Current;
|
||||
}
|
||||
|
||||
uint8_t MD25::getMotorAccel()
|
||||
{
|
||||
return _motorAccel;
|
||||
}
|
||||
|
||||
MD25::e_mode MD25::getMode()
|
||||
{
|
||||
return _mode;
|
||||
}
|
||||
|
||||
MD25::e_cmd MD25::getCommand()
|
||||
{
|
||||
return _command;
|
||||
}
|
||||
|
||||
int MD25::resetEncoders()
|
||||
{
|
||||
return _writeUint8(REG_COMMAND_RW,
|
||||
CMD_RESET_ENCODERS);
|
||||
}
|
||||
|
||||
int MD25::_setMode(e_mode mode)
|
||||
{
|
||||
return _writeUint8(REG_MODE_RW,
|
||||
mode);
|
||||
}
|
||||
|
||||
int MD25::setSpeedRegulation(bool enable)
|
||||
{
|
||||
if (enable) {
|
||||
return _writeUint8(REG_COMMAND_RW,
|
||||
CMD_ENABLE_SPEED_REGULATION);
|
||||
|
||||
} else {
|
||||
return _writeUint8(REG_COMMAND_RW,
|
||||
CMD_DISABLE_SPEED_REGULATION);
|
||||
}
|
||||
}
|
||||
|
||||
int MD25::setTimeout(bool enable)
|
||||
{
|
||||
if (enable) {
|
||||
return _writeUint8(REG_COMMAND_RW,
|
||||
CMD_ENABLE_TIMEOUT);
|
||||
|
||||
} else {
|
||||
return _writeUint8(REG_COMMAND_RW,
|
||||
CMD_DISABLE_TIMEOUT);
|
||||
}
|
||||
}
|
||||
|
||||
int MD25::setDeviceAddress(uint8_t address)
|
||||
{
|
||||
uint8_t sendBuf[1];
|
||||
sendBuf[0] = CMD_CHANGE_I2C_SEQ_0;
|
||||
int ret = OK;
|
||||
ret = transfer(sendBuf, sizeof(sendBuf),
|
||||
nullptr, 0);
|
||||
|
||||
if (ret != OK) {
|
||||
warnc(ret, "MD25::setDeviceAddress");
|
||||
return ret;
|
||||
}
|
||||
|
||||
usleep(5000);
|
||||
sendBuf[0] = CMD_CHANGE_I2C_SEQ_1;
|
||||
ret = transfer(sendBuf, sizeof(sendBuf),
|
||||
nullptr, 0);
|
||||
|
||||
if (ret != OK) {
|
||||
warnc(ret, "MD25::setDeviceAddress");
|
||||
return ret;
|
||||
}
|
||||
|
||||
usleep(5000);
|
||||
sendBuf[0] = CMD_CHANGE_I2C_SEQ_2;
|
||||
ret = transfer(sendBuf, sizeof(sendBuf),
|
||||
nullptr, 0);
|
||||
|
||||
if (ret != OK) {
|
||||
warnc(ret, "MD25::setDeviceAddress");
|
||||
return ret;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int MD25::setMotor1Speed(float value)
|
||||
{
|
||||
return _writeUint8(REG_SPEED1_RW,
|
||||
_normToUint8(value));
|
||||
}
|
||||
|
||||
int MD25::setMotor2Speed(float value)
|
||||
{
|
||||
return _writeUint8(REG_SPEED2_RW,
|
||||
_normToUint8(value));
|
||||
}
|
||||
|
||||
void MD25::update()
|
||||
{
|
||||
// wait for an actuator publication,
|
||||
// check for exit condition every second
|
||||
// note "::poll" is required to distinguish global
|
||||
// poll from member function for driver
|
||||
if (::poll(&_controlPoll, 1, 1000) < 0) return; // poll error
|
||||
|
||||
// if new data, send to motors
|
||||
if (_actuators.updated()) {
|
||||
_actuators.update();
|
||||
setMotor1Speed(_actuators.control[CH_SPEED_LEFT]);
|
||||
setMotor2Speed(_actuators.control[CH_SPEED_RIGHT]);
|
||||
}
|
||||
}
|
||||
|
||||
int MD25::probe()
|
||||
{
|
||||
uint8_t goodAddress = 0;
|
||||
bool found = false;
|
||||
int ret = OK;
|
||||
|
||||
// try initial address first, if good, then done
|
||||
if (readData() == OK) return ret;
|
||||
|
||||
// try all other addresses
|
||||
uint8_t testAddress = 0;
|
||||
|
||||
//printf("searching for MD25 address\n");
|
||||
while (true) {
|
||||
set_address(testAddress);
|
||||
ret = readData();
|
||||
|
||||
if (ret == OK && !found) {
|
||||
//printf("device found at address: 0x%X\n", testAddress);
|
||||
if (!found) {
|
||||
found = true;
|
||||
goodAddress = testAddress;
|
||||
}
|
||||
}
|
||||
|
||||
if (testAddress > 254) {
|
||||
break;
|
||||
}
|
||||
|
||||
testAddress++;
|
||||
}
|
||||
|
||||
if (found) {
|
||||
set_address(goodAddress);
|
||||
return OK;
|
||||
|
||||
} else {
|
||||
set_address(0);
|
||||
return ret;
|
||||
}
|
||||
}
|
||||
|
||||
int MD25::search()
|
||||
{
|
||||
uint8_t goodAddress = 0;
|
||||
bool found = false;
|
||||
int ret = OK;
|
||||
// try all other addresses
|
||||
uint8_t testAddress = 0;
|
||||
|
||||
//printf("searching for MD25 address\n");
|
||||
while (true) {
|
||||
set_address(testAddress);
|
||||
ret = readData();
|
||||
|
||||
if (ret == OK && !found) {
|
||||
printf("device found at address: 0x%X\n", testAddress);
|
||||
|
||||
if (!found) {
|
||||
found = true;
|
||||
goodAddress = testAddress;
|
||||
}
|
||||
}
|
||||
|
||||
if (testAddress > 254) {
|
||||
break;
|
||||
}
|
||||
|
||||
testAddress++;
|
||||
}
|
||||
|
||||
if (found) {
|
||||
set_address(goodAddress);
|
||||
return OK;
|
||||
|
||||
} else {
|
||||
set_address(0);
|
||||
return ret;
|
||||
}
|
||||
}
|
||||
|
||||
int MD25::_writeUint8(uint8_t reg, uint8_t value)
|
||||
{
|
||||
uint8_t sendBuf[2];
|
||||
sendBuf[0] = reg;
|
||||
sendBuf[1] = value;
|
||||
return transfer(sendBuf, sizeof(sendBuf),
|
||||
nullptr, 0);
|
||||
}
|
||||
|
||||
int MD25::_writeInt8(uint8_t reg, int8_t value)
|
||||
{
|
||||
uint8_t sendBuf[2];
|
||||
sendBuf[0] = reg;
|
||||
sendBuf[1] = value;
|
||||
return transfer(sendBuf, sizeof(sendBuf),
|
||||
nullptr, 0);
|
||||
}
|
||||
|
||||
float MD25::_uint8ToNorm(uint8_t value)
|
||||
{
|
||||
// TODO, should go from 0 to 255
|
||||
// possibly should handle this differently
|
||||
return (value - 128) / 127.0;
|
||||
}
|
||||
|
||||
uint8_t MD25::_normToUint8(float value)
|
||||
{
|
||||
if (value > 1) value = 1;
|
||||
|
||||
if (value < -1) value = -1;
|
||||
|
||||
// TODO, should go from 0 to 255
|
||||
// possibly should handle this differently
|
||||
return 127 * value + 128;
|
||||
}
|
||||
|
||||
int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
|
||||
{
|
||||
printf("md25 test: starting\n");
|
||||
|
||||
// setup
|
||||
MD25 md25("/dev/md25", bus, address);
|
||||
|
||||
// print status
|
||||
char buf[200];
|
||||
md25.status(buf, sizeof(buf));
|
||||
printf("%s\n", buf);
|
||||
|
||||
// setup for test
|
||||
md25.setSpeedRegulation(true);
|
||||
md25.setTimeout(true);
|
||||
float dt = 0.1;
|
||||
float speed = 0.2;
|
||||
float t = 0;
|
||||
|
||||
// motor 1 test
|
||||
printf("md25 test: spinning motor 1 forward for 1 rev at 0.1 speed\n");
|
||||
t = 0;
|
||||
|
||||
while (true) {
|
||||
t += dt;
|
||||
md25.setMotor1Speed(speed);
|
||||
md25.readData();
|
||||
usleep(1000000 * dt);
|
||||
|
||||
if (md25.getRevolutions1() > 1) {
|
||||
printf("finished 1 revolution fwd\n");
|
||||
break;
|
||||
}
|
||||
|
||||
if (t > 2.0f) break;
|
||||
}
|
||||
|
||||
md25.setMotor1Speed(0);
|
||||
printf("revolution of wheel 1: %8.4f\n", double(md25.getRevolutions1()));
|
||||
md25.resetEncoders();
|
||||
|
||||
t = 0;
|
||||
|
||||
while (true) {
|
||||
t += dt;
|
||||
md25.setMotor1Speed(-speed);
|
||||
md25.readData();
|
||||
usleep(1000000 * dt);
|
||||
|
||||
if (md25.getRevolutions1() < -1) {
|
||||
printf("finished 1 revolution rev\n");
|
||||
break;
|
||||
}
|
||||
|
||||
if (t > 2.0f) break;
|
||||
}
|
||||
|
||||
md25.setMotor1Speed(0);
|
||||
printf("revolution of wheel 1: %8.4f\n", double(md25.getRevolutions1()));
|
||||
md25.resetEncoders();
|
||||
|
||||
// motor 2 test
|
||||
printf("md25 test: spinning motor 2 forward for 1 rev at 0.1 speed\n");
|
||||
t = 0;
|
||||
|
||||
while (true) {
|
||||
t += dt;
|
||||
md25.setMotor2Speed(speed);
|
||||
md25.readData();
|
||||
usleep(1000000 * dt);
|
||||
|
||||
if (md25.getRevolutions2() > 1) {
|
||||
printf("finished 1 revolution fwd\n");
|
||||
break;
|
||||
}
|
||||
|
||||
if (t > 2.0f) break;
|
||||
}
|
||||
|
||||
md25.setMotor2Speed(0);
|
||||
printf("revolution of wheel 2: %8.4f\n", double(md25.getRevolutions2()));
|
||||
md25.resetEncoders();
|
||||
|
||||
t = 0;
|
||||
|
||||
while (true) {
|
||||
t += dt;
|
||||
md25.setMotor2Speed(-speed);
|
||||
md25.readData();
|
||||
usleep(1000000 * dt);
|
||||
|
||||
if (md25.getRevolutions2() < -1) {
|
||||
printf("finished 1 revolution rev\n");
|
||||
break;
|
||||
}
|
||||
|
||||
if (t > 2.0f) break;
|
||||
}
|
||||
|
||||
md25.setMotor2Speed(0);
|
||||
printf("revolution of wheel 2: %8.4f\n", double(md25.getRevolutions2()));
|
||||
md25.resetEncoders();
|
||||
|
||||
printf("Test complete\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
|
||||
Reference in New Issue
Block a user