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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Add DF wrapper for BebopBus driver
This commit is contained in:
Michael Schaeuble
committed by
Lorenz Meier
Lorenz Meier
parent
8dfbb43e00
commit
5d3e9df731
@@ -25,6 +25,7 @@ set(config_module_list
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platforms/posix/drivers/df_ms5607_wrapper
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platforms/posix/drivers/df_mpu6050_wrapper
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platforms/posix/drivers/df_ak8963_wrapper
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platforms/posix/drivers/df_bebop_bus_wrapper
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#
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# System commands
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@@ -101,4 +102,5 @@ set(config_df_driver_list
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ms5607
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mpu6050
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ak8963
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bebop_bus
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)
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@@ -6,6 +6,7 @@ param set MAV_BROADCAST 1
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df_ms5607_wrapper start
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df_mpu6050_wrapper start -R 8
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df_ak8963_wrapper start -R 4
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df_bebop_bus_wrapper start
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sensors start
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attitude_estimator_q start
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position_estimator_inav start
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@@ -0,0 +1,46 @@
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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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}
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DevMgr::releaseHandle(h);
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// Start the task to forward the motor control commands
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ASSERT(_task_handle == -1);
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/* start the task */
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_task_handle = px4_task_spawn_cmd("bebop_bus_esc_main",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX,
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2000,
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(px4_main_t)&task_main,
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nullptr);
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if (_task_handle < 0) {
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warn("task start failed");
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return -1;
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}
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_is_running = true;
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return 0;
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}
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int stop()
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{
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// Stop bebop motor control task
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_task_should_exit = true;
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while (_is_running) {
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usleep(200000);
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PX4_INFO(".");
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}
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_task_handle = -1;
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if (g_dev == nullptr) {
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PX4_ERR("driver not running");
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return 1;
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}
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// Stop DF device
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int ret = g_dev->stop();
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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;
|
||||
}
|
||||
Reference in New Issue
Block a user