fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

RoboClaw: declutter, make it compile again

Browse Source
This commit is contained in:
Matthias Grob 2023-11-13 17:51:58 +01:00
parent 5b4031356e
commit 8f4ce28e84
10 changed files with 42 additions and 368 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
boards/px4/fmu-v5x/default.px4board
View File

@ -15,7 +15,7 @@ CONFIG_DRIVERS_BATT_SMBUS=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=n
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_ROBOCLAW=y
CONFIG_DRIVERS_GPIO_MCP23009=y

2
msg/CMakeLists.txt
View File

@ -234,8 +234,8 @@ set(msg_files
VehicleTrajectoryBezier.msg
VehicleTrajectoryWaypoint.msg
VtolVehicleStatus.msg
Wind.msg
WheelEncoders.msg
Wind.msg
YawEstimatorStatus.msg
)
list(SORT msg_files)

1
msg/WheelEncoders.msg
View File

@ -2,4 +2,3 @@ uint64 timestamp # time since system start (microseconds)
float32[4] wheel_angle #Wheel angle of encoder, if two wheels wheel_angle[0] = right wheel and wheel_angle[1] = left wheel. Else [0][1] = right and [2][3] are left.
float32[4] wheel_speed #Wheel speed of encoder, if two wheels wheel_angle[0] = right wheel and wheel_angle[1] = left wheel. Else [0][1] = right and [2][3] are left.

9
src/drivers/roboclaw/CMakeLists.txt
View File

@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
# Copyright (c) 2015-2023 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
@ -31,18 +31,11 @@
#
############################################################################
set(PARAM_PREFIX ROBOCLAW)
if(CONFIG_BOARD_IO)
set(PARAM_PREFIX ROBOCLAW)
endif()
px4_add_module(
MODULE drivers__roboclaw
MAIN roboclaw
COMPILE_FLAGS
SRCS
roboclaw_main.cpp
RoboClaw.cpp
MODULE_CONFIG
module.yaml

2
src/drivers/roboclaw/Kconfig
View File

@ -1,5 +1,5 @@
menuconfig DRIVERS_ROBOCLAW
bool "crsf_rc"
bool "roboclaw"
default n
---help---
Enable support for roboclaw

34
src/drivers/roboclaw/RoboClaw.cpp
View File

@ -78,9 +78,7 @@
using namespace time_literals;
RoboClaw::RoboClaw(const char *deviceName, const char *baudRateParam) :
// ModuleParams(nullptr),
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default)
// ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
{
strncpy(_storedDeviceName, deviceName, sizeof(_storedDeviceName) - 1);
_storedDeviceName[sizeof(_storedDeviceName) - 1] = '\0'; // Ensure null-termination
@ -251,9 +249,9 @@ void RoboClaw::Run()
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
// Read from topic to clear updated flag
parameter_update_s parameter_update;
_parameter_update_sub.copy(&parameter_update);
updateParams();
}
@ -530,11 +528,35 @@ RoboClaw::RoboClawError RoboClaw::writeCommandWithPayload(e_command cmd, uint8_t
int RoboClaw::custom_command(int argc, char *argv[])
{
return 0;
return print_usage("unknown command");
}
int RoboClaw::print_usage(const char *reason)
{
if (reason) {
PX4_WARN("%s\n", reason);
}
PRINT_MODULE_DESCRIPTION(R"DESCR_STR(
### Description
This driver communicates over UART with the [Roboclaw motor driver](https://www.basicmicro.com/motor-controller).
It performs two tasks:
- Control the motors based on the OutputModuleInterface.
- Read the wheel encoders and publish the raw data in the `wheel_encoders` uORB topic
In order to use this driver, the Roboclaw should be put into Packet Serial mode (see the linked documentation), and
your flight controller's UART port should be connected to the Roboclaw as shown in the documentation.
The driver needs to be enabled using the parameter `RBCLW_SER_CFG`, the baudrate needs to be set correctly and
the address `RBCLW_ADDRESS` needs to match the ESC configuration.
The command to start this driver is: `$ roboclaw start <UART device> <baud rate>`
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("roboclaw", "driver");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}

39
src/drivers/roboclaw/RoboClaw.hpp
View File

@ -36,41 +36,23 @@
*
* RoboClaw Motor Driver
*
* references:
* http://downloads.orionrobotics.com/downloads/datasheets/motor_controller_robo_claw_R0401.pdf
*
* Product page: https://www.basicmicro.com/motor-controller
* Manual: https://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf
*/
#pragma once
#include <poll.h>
#include <stdio.h>
#include <termios.h>
#include <lib/parameters/param.h>
#include <drivers/device/i2c.h>
#include <sys/select.h>
#include <sys/time.h>
#include <pthread.h>
#include <unistd.h>
#include <uORB/Subscription.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/wheel_encoders.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/differential_drive_control.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <lib/mixer_module/mixer_module.hpp>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <sys/select.h>
#include <lib/mixer_module/mixer_module.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/wheel_encoders.h>
/**
* This is a driver for the RoboClaw motor controller
@ -216,11 +198,8 @@ private:
struct timeval _uart_fd_timeout;
uORB::SubscriptionData<actuator_armed_s> _actuator_armed_sub{ORB_ID(actuator_armed)};
uORB::Subscription _differential_drive_control_sub{ORB_ID(differential_drive_control)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
differential_drive_control_s _diff_drive_control{};
matrix::Vector2f _motor_control{0.0f, 0.0f};
uORB::Publication<wheel_encoders_s> _wheel_encoders_pub {ORB_ID(wheel_encoders)};

66
src/drivers/roboclaw/RoboclawSerialDevice.hpp
View File

@ -1,66 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2021 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 RoboclawSerialDevice.hpp
* @brief
* @author Matthias Grob <maetugr@gmail.com>
*/
#include "RoboclawDriver/RoboclawDriver.hpp"
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
class RoboclawDevice : public RoboclawWritableInterface
{
public:
RoboclawDevice(const char *port);
~RoboclawDevice();
int init();
void printStatus();
private:
void Run();
size_t writeCallback(const uint8_t *buffer, const uint16_t length) override;
int setBaudrate(const unsigned baudrate);
static constexpr size_t READ_BUFFER_SIZE{256};
static constexpr int DISARM_VALUE = 0;
static constexpr int MIN_THROTTLE = 100;
static constexpr int MAX_THROTTLE = 1000;
char _port[20] {};
int _serial_fd{-1};
VescDriver _vesc_driver;
MixingOutput _mixing_output{4, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
};

200
src/drivers/roboclaw/roboclaw_main.cpp
View File

@ -1,200 +0,0 @@
/****************************************************************************
*
* 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 roboclaw_main.cpp
*
* RoboClaw Motor Driver
*
* references:
* http://downloads.ionmc.com/docs/roboclaw_user_manual.pdf
*
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <parameters/param.h>
#include "RoboClaw.hpp"
static bool thread_running = false; /**< Deamon status flag */
px4_task_t deamon_task;
/**
* Deamon management function.
*/
extern "C" __EXPORT int roboclaw_main(int argc, char *argv[]);
/**
* Mainloop of deamon.
*/
int roboclaw_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage();
static void usage()
{
PRINT_MODULE_USAGE_NAME("roboclaw", "driver");
PRINT_MODULE_DESCRIPTION(R"DESCR_STR(
### Description
This driver communicates over UART with the [Roboclaw motor driver](https://www.basicmicro.com/motor-controller).
It performs two tasks:
- Control the motors based on the `actuator_controls_0` uORB topic.
- Read the wheel encoders and publish the raw data in the `wheel_encoders` uORB topic
In order to use this driver, the Roboclaw should be put into Packet Serial mode (see the linked documentation), and
your flight controller's UART port should be connected to the Roboclaw as shown in the documentation. For Pixhawk 4,
use the `UART & I2C B` port, which corresponds to `/dev/ttyS3`.
### Implementation
The main loop of this module (Located in `RoboClaw.cpp::task_main()`) performs 2 tasks:
1. Write `actuator_controls_0` messages to the Roboclaw as they become available
2. Read encoder data from the Roboclaw at a constant, fixed rate.
Because of the latency of UART, this driver does not write every single `actuator_controls_0` message to the Roboclaw
immediately. Instead, it is rate limited based on the parameter `RBCLW_WRITE_PER`.
On startup, this driver will attempt to read the status of the Roboclaw to verify that it is connected. If this fails,
the driver terminates immediately.
### Examples
The command to start this driver is:
$ roboclaw start <device> <baud>
`<device>` is the name of the UART port. On the Pixhawk 4, this is `/dev/ttyS3`.
`<baud>` is te baud rate.
All available commands are:
- `$ roboclaw start <device> <baud>`
- `$ roboclaw status`
- `$ roboclaw stop`
)DESCR_STR");
}
/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
*/
int roboclaw_main(int argc, char *argv[])
{
if (!strcmp(argv[1], "start") && (argc >= 4)) {
if (thread_running) {
printf("roboclaw already running\n");
/* this is not an error */
return 0;
}
RoboClaw::taskShouldExit = false;
deamon_task = px4_task_spawn_cmd("roboclaw",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10,
2000,
roboclaw_thread_main,
(char *const *)argv);
return 0;
} else if (!strcmp(argv[1], "stop")) {
RoboClaw::taskShouldExit = true;
return 0;
} else if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\troboclaw app is running\n");
} else {
printf("\troboclaw app not started\n");
}
return 0;
}
usage();
return 1;
}
int roboclaw_thread_main(int argc, char *argv[])
{
printf("[roboclaw] starting\n");
// skip parent process args
argc -= 2;
argv += 2;
if (argc < 2) {
printf("usage: roboclaw start <device> <baud>\n");
return -1;
}
const char *deviceName = argv[1];
const char *baudRate = argv[2];
// start
RoboClaw roboclaw(deviceName, baudRate);
thread_running = true;
roboclaw.taskMain();
// exit
printf("[roboclaw] exiting.\n");
thread_running = false;
return 0;
}

55
src/drivers/roboclaw/roboclaw_params.c
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2023 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
@ -31,40 +31,6 @@
*
****************************************************************************/
/**
* @file roboclaw_params.c
*
* Parameters defined by the Roboclaw driver.
*
* The Roboclaw will need to be configured to match these parameters. For information about configuring the
* Roboclaw, see http://downloads.ionmc.com/docs/roboclaw_user_manual.pdf
*
* @author Timothy Scott <timothy@auterion.com>
*/
/**
* Uart write period
*
* How long to wait, in Milliseconds, between writing actuator controls over Uart to the Roboclaw
* @unit ms
* @min 1
* @max 1000
* @group Roboclaw driver
*/
PARAM_DEFINE_INT32(RBCLW_WRITE_PER, 10);
/**
* Encoder read period
*
* How long to wait, in Milliseconds, between reading wheel encoder values over Uart from the Roboclaw
* @unit ms
* @min 1
* @max 1000
* @group Roboclaw driver
*/
PARAM_DEFINE_INT32(RBCLW_READ_PER, 10);
/**
* Encoder counts per revolution
*
@ -93,22 +59,3 @@ PARAM_DEFINE_INT32(RBCLW_COUNTS_REV, 1200);
* @group Roboclaw driver
*/
PARAM_DEFINE_INT32(RBCLW_ADDRESS, 128);
/**
* Roboclaw serial baud rate
*
* Baud rate of the serial communication with the Roboclaw. The Roboclaw must be configured to match this rate.
* @min 2400
* @max 460800
* @value 2400 2400 baud
* @value 9600 9600 baud
* @value 19200 19200 baud
* @value 38400 38400 baud
* @value 57600 57600 baud
* @value 115200 115200 baud
* @value 230400 230400 baud
* @value 460800 460800 baud
* @group Roboclaw driver
* @reboot_required true
*/
PARAM_DEFINE_INT32(RBCLW_BAUD, 57600);