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PX4-Autopilot/src/drivers/mkblctrl/mkblctrl.cpp
Lorenz Meier bf2ff98856 Merged master
2013-07-15 15:02:45 +02:00

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/****************************************************************************
*
* Copyright (C) 2012,2013 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 mkblctrl.cpp
*
* Driver/configurator for the Mikrokopter BL-Ctrl.
* Marco Bauer
*
*/
#include <nuttx/config.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <nuttx/arch.h>
#include <nuttx/i2c.h>
#include <drivers/device/device.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_gpio.h>
#include <drivers/boards/px4fmu/px4fmu_internal.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_rc_input.h>
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
#include <systemlib/mixer/mixer.h>
#include <drivers/drv_mixer.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/esc_status.h>
#include <systemlib/err.h>
#define I2C_BUS_SPEED 400000
#define UPDATE_RATE 400
#define MAX_MOTORS 8
#define BLCTRL_BASE_ADDR 0x29
#define BLCTRL_OLD 0
#define BLCTRL_NEW 1
#define BLCTRL_MIN_VALUE -0.920F
#define MOTOR_STATE_PRESENT_MASK 0x80
#define MOTOR_STATE_ERROR_MASK 0x7F
#define MOTOR_SPINUP_COUNTER 2500
#define ESC_UORB_PUBLISH_DELAY 200
class MK : public device::I2C
{
public:
enum Mode {
MODE_2PWM,
MODE_4PWM,
MODE_NONE
};
enum MappingMode {
MAPPING_MK = 0,
MAPPING_PX4,
};
enum FrameType {
FRAME_PLUS = 0,
FRAME_X,
};
MK(int bus);
~MK();
virtual int ioctl(file *filp, int cmd, unsigned long arg);
virtual int init(unsigned motors);
virtual ssize_t write(file *filp, const char *buffer, size_t len);
int set_mode(Mode mode);
int set_pwm_rate(unsigned rate);
int set_motor_count(unsigned count);
int set_motor_test(bool motortest);
int set_overrideSecurityChecks(bool overrideSecurityChecks);
int set_px4mode(int px4mode);
int set_frametype(int frametype);
unsigned int mk_check_for_blctrl(unsigned int count, bool showOutput);
private:
static const unsigned _max_actuators = MAX_MOTORS;
static const bool showDebug = false;
Mode _mode;
int _update_rate;
int _current_update_rate;
int _task;
int _t_actuators;
int _t_actuator_safety;
unsigned int _motor;
int _px4mode;
int _frametype;
orb_advert_t _t_outputs;
orb_advert_t _t_actuators_effective;
orb_advert_t _t_esc_status;
unsigned int _num_outputs;
bool _primary_pwm_device;
bool _motortest;
bool _overrideSecurityChecks;
volatile bool _task_should_exit;
bool _armed;
unsigned long debugCounter;
MixerGroup *_mixers;
actuator_controls_s _controls;
static void task_main_trampoline(int argc, char *argv[]);
void task_main() __attribute__((noreturn));
static int control_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input);
int pwm_ioctl(file *filp, int cmd, unsigned long arg);
struct GPIOConfig {
uint32_t input;
uint32_t output;
uint32_t alt;
};
static const GPIOConfig _gpio_tab[];
static const unsigned _ngpio;
void gpio_reset(void);
void gpio_set_function(uint32_t gpios, int function);
void gpio_write(uint32_t gpios, int function);
uint32_t gpio_read(void);
int gpio_ioctl(file *filp, int cmd, unsigned long arg);
int mk_servo_arm(bool status);
int mk_servo_set(unsigned int chan, short val);
int mk_servo_set_value(unsigned int chan, short val);
int mk_servo_test(unsigned int chan);
short scaling(float val, float inMin, float inMax, float outMin, float outMax);
};
const MK::GPIOConfig MK::_gpio_tab[] = {
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1},
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1},
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1},
{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
};
const unsigned MK::_ngpio = sizeof(MK::_gpio_tab) / sizeof(MK::_gpio_tab[0]);
const int blctrlAddr_quad_plus[] = { 2, 2, -2, -2, 0, 0, 0, 0 }; // Addresstranslator for Quad + configuration
const int blctrlAddr_hexa_plus[] = { 0, 2, 2, -2, 1, -3, 0, 0 }; // Addresstranslator for Hexa + configuration
const int blctrlAddr_octo_plus[] = { 0, 3, -1, 0, 3, 0, 0, -5 }; // Addresstranslator for Octo + configuration
const int blctrlAddr_quad_x[] = { 2, 2, -2, -2, 0, 0, 0, 0 }; // Addresstranslator for Quad X configuration
const int blctrlAddr_hexa_x[] = { 2, 4, -2, 0, -3, -1, 0, 0 }; // Addresstranslator for Hexa X configuration
const int blctrlAddr_octo_x[] = { 1, 4, 0, 1, -4, 1, 1, -4 }; // Addresstranslator for Octo X configuration
const int blctrlAddr_px4[] = { 0, 0, 0, 0, 0, 0, 0, 0};
int addrTranslator[] = {0, 0, 0, 0, 0, 0, 0, 0};
struct MotorData_t {
unsigned int Version; // the version of the BL (0 = old)
unsigned int SetPoint; // written by attitude controller
unsigned int SetPointLowerBits; // for higher Resolution of new BLs
float SetPoint_PX4; // Values from PX4
unsigned int State; // 7 bit for I2C error counter, highest bit indicates if motor is present
unsigned int ReadMode; // select data to read
unsigned short RawPwmValue; // length of PWM pulse
// the following bytes must be exactly in that order!
unsigned int Current; // in 0.1 A steps, read back from BL
unsigned int MaxPWM; // read back from BL is less than 255 if BL is in current limit
unsigned int Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in
unsigned int RoundCount;
};
MotorData_t Motor[MAX_MOTORS];
namespace
{
MK *g_mk;
} // namespace
MK::MK(int bus) :
I2C("mkblctrl", "/dev/mkblctrl", bus, 0, I2C_BUS_SPEED),
_mode(MODE_NONE),
_update_rate(50),
_task(-1),
_t_actuators(-1),
_t_actuator_safety(-1),
_t_outputs(0),
_t_actuators_effective(0),
_t_esc_status(0),
_num_outputs(0),
_motortest(false),
_overrideSecurityChecks(false),
_motor(-1),
_px4mode(MAPPING_MK),
_frametype(FRAME_PLUS),
_primary_pwm_device(false),
_task_should_exit(false),
_armed(false),
_mixers(nullptr)
{
_debug_enabled = true;
}
MK::~MK()
{
if (_task != -1) {
/* tell the task we want it to go away */
_task_should_exit = true;
unsigned i = 10;
do {
/* wait 50ms - it should wake every 100ms or so worst-case */
usleep(50000);
/* if we have given up, kill it */
if (--i == 0) {
task_delete(_task);
break;
}
} while (_task != -1);
}
/* clean up the alternate device node */
if (_primary_pwm_device)
unregister_driver(PWM_OUTPUT_DEVICE_PATH);
g_mk = nullptr;
}
int
MK::init(unsigned motors)
{
_num_outputs = motors;
debugCounter = 0;
int ret;
ASSERT(_task == -1);
ret = I2C::init();
if (ret != OK) {
warnx("I2C init failed");
return ret;
}
usleep(500000);
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
if (ret == OK) {
log("default PWM output device");
_primary_pwm_device = true;
}
/* reset GPIOs */
gpio_reset();
/* start the IO interface task */
_task = task_spawn_cmd("mkblctrl",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 20,
2048,
(main_t)&MK::task_main_trampoline,
nullptr);
if (_task < 0) {
debug("task start failed: %d", errno);
return -errno;
}
return OK;
}
void
MK::task_main_trampoline(int argc, char *argv[])
{
g_mk->task_main();
}
int
MK::set_mode(Mode mode)
{
/*
* Configure for PWM output.
*
* Note that regardless of the configured mode, the task is always
* listening and mixing; the mode just selects which of the channels
* are presented on the output pins.
*/
switch (mode) {
case MODE_2PWM:
up_pwm_servo_deinit();
_update_rate = UPDATE_RATE; /* default output rate */
break;
case MODE_4PWM:
up_pwm_servo_deinit();
_update_rate = UPDATE_RATE; /* default output rate */
break;
case MODE_NONE:
debug("MODE_NONE");
/* disable servo outputs and set a very low update rate */
up_pwm_servo_deinit();
_update_rate = UPDATE_RATE;
break;
default:
return -EINVAL;
}
_mode = mode;
return OK;
}
int
MK::set_pwm_rate(unsigned rate)
{
if ((rate > 500) || (rate < 10))
return -EINVAL;
_update_rate = rate;
return OK;
}
int
MK::set_px4mode(int px4mode)
{
_px4mode = px4mode;
}
int
MK::set_frametype(int frametype)
{
_frametype = frametype;
}
int
MK::set_motor_count(unsigned count)
{
if (count > 0) {
_num_outputs = count;
if (_px4mode == MAPPING_MK) {
if (_frametype == FRAME_PLUS) {
fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: +\n");
} else if (_frametype == FRAME_X) {
fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: X\n");
}
if (_num_outputs == 4) {
if (_frametype == FRAME_PLUS) {
memcpy(&addrTranslator, &blctrlAddr_quad_plus, sizeof(blctrlAddr_quad_plus));
} else if (_frametype == FRAME_X) {
memcpy(&addrTranslator, &blctrlAddr_quad_x, sizeof(blctrlAddr_quad_x));
}
} else if (_num_outputs == 6) {
if (_frametype == FRAME_PLUS) {
memcpy(&addrTranslator, &blctrlAddr_hexa_plus, sizeof(blctrlAddr_hexa_plus));
} else if (_frametype == FRAME_X) {
memcpy(&addrTranslator, &blctrlAddr_hexa_x, sizeof(blctrlAddr_hexa_x));
}
} else if (_num_outputs == 8) {
if (_frametype == FRAME_PLUS) {
memcpy(&addrTranslator, &blctrlAddr_octo_plus, sizeof(blctrlAddr_octo_plus));
} else if (_frametype == FRAME_X) {
memcpy(&addrTranslator, &blctrlAddr_octo_x, sizeof(blctrlAddr_octo_x));
}
}
} else {
fprintf(stderr, "[mkblctrl] PX4 native addressing used.\n");
memcpy(&addrTranslator, &blctrlAddr_px4, sizeof(blctrlAddr_px4));
}
if (_num_outputs == 4) {
fprintf(stderr, "[mkblctrl] Quadrocopter Mode (4)\n");
} else if (_num_outputs == 6) {
fprintf(stderr, "[mkblctrl] Hexacopter Mode (6)\n");
} else if (_num_outputs == 8) {
fprintf(stderr, "[mkblctrl] Octocopter Mode (8)\n");
}
return OK;
} else {
return -1;
}
}
int
MK::set_motor_test(bool motortest)
{
_motortest = motortest;
return OK;
}
int
MK::set_overrideSecurityChecks(bool overrideSecurityChecks)
{
_overrideSecurityChecks = overrideSecurityChecks;
return OK;
}
short
MK::scaling(float val, float inMin, float inMax, float outMin, float outMax)
{
short retVal = 0;
retVal = (val - inMin) / (inMax - inMin) * (outMax - outMin) + outMin;
if (retVal < outMin) {
retVal = outMin;
} else if (retVal > outMax) {
retVal = outMax;
}
return retVal;
}
void
MK::task_main()
{
long update_rate_in_us = 0;
float tmpVal = 0;
/*
* Subscribe to the appropriate PWM output topic based on whether we are the
* primary PWM output or not.
*/
_t_actuators = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
/* force a reset of the update rate */
_current_update_rate = 0;
_t_actuator_safety = orb_subscribe(ORB_ID(actuator_safety));
orb_set_interval(_t_actuator_safety, 200); /* 5Hz update rate */
/* advertise the mixed control outputs */
actuator_outputs_s outputs;
memset(&outputs, 0, sizeof(outputs));
/* advertise the mixed control outputs */
_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
&outputs);
/* advertise the effective control inputs */
actuator_controls_effective_s controls_effective;
memset(&controls_effective, 0, sizeof(controls_effective));
/* advertise the effective control inputs */
_t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1),
&controls_effective);
/* advertise the blctrl status */
esc_status_s esc;
memset(&esc, 0, sizeof(esc));
_t_esc_status = orb_advertise(ORB_ID(esc_status), &esc);
pollfd fds[2];
fds[0].fd = _t_actuators;
fds[0].events = POLLIN;
fds[1].fd = _t_actuator_safety;
fds[1].events = POLLIN;
log("starting");
/* loop until killed */
while (!_task_should_exit) {
/* handle update rate changes */
if (_current_update_rate != _update_rate) {
int update_rate_in_ms = int(1000 / _update_rate);
update_rate_in_us = long(1000000 / _update_rate);
/* reject faster than 500 Hz updates */
if (update_rate_in_ms < 2) {
update_rate_in_ms = 2;
_update_rate = 500;
}
/* reject slower than 50 Hz updates */
if (update_rate_in_ms > 20) {
update_rate_in_ms = 20;
_update_rate = 50;
}
orb_set_interval(_t_actuators, update_rate_in_ms);
up_pwm_servo_set_rate(_update_rate);
_current_update_rate = _update_rate;
}
/* sleep waiting for data max 100ms */
int ret = ::poll(&fds[0], 2, 100);
/* this would be bad... */
if (ret < 0) {
log("poll error %d", errno);
usleep(1000000);
continue;
}
/* do we have a control update? */
if (fds[0].revents & POLLIN) {
/* get controls - must always do this to avoid spinning */
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
/* can we mix? */
if (_mixers != nullptr) {
/* do mixing */
outputs.noutputs = _mixers->mix(&outputs.output[0], _num_outputs);
outputs.timestamp = hrt_absolute_time();
// XXX output actual limited values
memcpy(&controls_effective, &_controls, sizeof(controls_effective));
/* iterate actuators */
for (unsigned int i = 0; i < _num_outputs; i++) {
/* last resort: catch NaN, INF and out-of-band errors */
if (i < outputs.noutputs &&
isfinite(outputs.output[i]) &&
outputs.output[i] >= -1.0f &&
outputs.output[i] <= 1.0f) {
/* scale for PWM output 900 - 2100us */
/* nothing to do here */
} else {
/*
* Value is NaN, INF or out of band - set to the minimum value.
* This will be clearly visible on the servo status and will limit the risk of accidentally
* spinning motors. It would be deadly in flight.
*/
if (outputs.output[i] < -1.0f) {
outputs.output[i] = -1.0f;
} else if (outputs.output[i] > 1.0f) {
outputs.output[i] = 1.0f;
} else {
outputs.output[i] = -1.0f;
}
}
if(!_overrideSecurityChecks) {
/* don't go under BLCTRL_MIN_VALUE */
if (outputs.output[i] < BLCTRL_MIN_VALUE) {
outputs.output[i] = BLCTRL_MIN_VALUE;
}
}
/* output to BLCtrl's */
if (_motortest == true) {
mk_servo_test(i);
} else {
//mk_servo_set_value(i, scaling(outputs.output[i], -1.0f, 1.0f, 0, 1024)); // scale the output to 0 - 1024 and sent to output routine
// 11 Bit
Motor[i].SetPoint_PX4 = outputs.output[i];
mk_servo_set(i, scaling(outputs.output[i], -1.0f, 1.0f, 0, 2047)); // scale the output to 0 - 2047 and sent to output routine
}
}
}
}
/* how about an arming update? */
if (fds[1].revents & POLLIN) {
actuator_safety_s as;
/* get new value */
orb_copy(ORB_ID(actuator_safety), _t_actuator_safety, &as);
/* update PWM servo armed status if armed and not locked down */
mk_servo_arm(as.armed && !as.lockdown);
}
/*
* Only update esc topic every half second.
*/
if (hrt_absolute_time() - esc.timestamp > 500000) {
esc.counter++;
esc.timestamp = hrt_absolute_time();
esc.esc_count = (uint8_t) _num_outputs;
esc.esc_connectiontype = ESC_CONNECTION_TYPE_I2C;
for (unsigned int i = 0; i < _num_outputs; i++) {
esc.esc[i].esc_address = (uint8_t) BLCTRL_BASE_ADDR + i;
esc.esc[i].esc_vendor = ESC_VENDOR_MIKROKOPTER;
esc.esc[i].esc_version = (uint16_t) Motor[i].Version;
esc.esc[i].esc_voltage = (uint16_t) 0;
esc.esc[i].esc_current = (uint16_t) Motor[i].Current;
esc.esc[i].esc_rpm = (uint16_t) 0;
esc.esc[i].esc_setpoint = (float) Motor[i].SetPoint_PX4;
if (Motor[i].Version == 1) {
// BLCtrl 2.0 (11Bit)
esc.esc[i].esc_setpoint_raw = (uint16_t) (Motor[i].SetPoint<<3) | Motor[i].SetPointLowerBits;
} else {
// BLCtrl < 2.0 (8Bit)
esc.esc[i].esc_setpoint_raw = (uint16_t) Motor[i].SetPoint;
}
esc.esc[i].esc_temperature = (uint16_t) Motor[i].Temperature;
esc.esc[i].esc_state = (uint16_t) Motor[i].State;
esc.esc[i].esc_errorcount = (uint16_t) 0;
}
orb_publish(ORB_ID(esc_status), _t_esc_status, &esc);
}
}
//::close(_t_esc_status);
::close(_t_actuators);
::close(_t_actuators_effective);
::close(_t_actuator_safety);
/* make sure servos are off */
up_pwm_servo_deinit();
log("stopping");
/* note - someone else is responsible for restoring the GPIO config */
/* tell the dtor that we are exiting */
_task = -1;
_exit(0);
}
int
MK::mk_servo_arm(bool status)
{
_armed = status;
return 0;
}
unsigned int
MK::mk_check_for_blctrl(unsigned int count, bool showOutput)
{
_retries = 50;
uint8_t foundMotorCount = 0;
for (unsigned i = 0; i < MAX_MOTORS; i++) {
Motor[i].Version = 0;
Motor[i].SetPoint = 0;
Motor[i].SetPointLowerBits = 0;
Motor[i].State = 0;
Motor[i].ReadMode = 0;
Motor[i].RawPwmValue = 0;
Motor[i].Current = 0;
Motor[i].MaxPWM = 0;
Motor[i].Temperature = 0;
Motor[i].RoundCount = 0;
}
uint8_t msg = 0;
uint8_t result[3];
for (unsigned i = 0; i < count; i++) {
result[0] = 0;
result[1] = 0;
result[2] = 0;
set_address(BLCTRL_BASE_ADDR + i);
if (OK == transfer(&msg, 1, &result[0], 3)) {
Motor[i].Current = result[0];
Motor[i].MaxPWM = result[1];
Motor[i].Temperature = result[2];
Motor[i].State |= MOTOR_STATE_PRESENT_MASK; // set present bit;
foundMotorCount++;
if (Motor[i].MaxPWM == 250) {
Motor[i].Version = BLCTRL_NEW;
} else {
Motor[i].Version = BLCTRL_OLD;
}
}
}
if (showOutput) {
fprintf(stderr, "[mkblctrl] MotorsFound: %i\n", foundMotorCount);
for (unsigned i = 0; i < foundMotorCount; i++) {
fprintf(stderr, "[mkblctrl] blctrl[%i] : found=%i\tversion=%i\tcurrent=%i\tmaxpwm=%i\ttemperature=%i\n", i, Motor[i].State, Motor[i].Version, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature);
}
if(!_overrideSecurityChecks) {
if (foundMotorCount != 4 && foundMotorCount != 6 && foundMotorCount != 8) {
_task_should_exit = true;
}
}
}
return foundMotorCount;
}
int
MK::mk_servo_set(unsigned int chan, short val)
{
short tmpVal = 0;
_retries = 0;
uint8_t result[3] = { 0, 0, 0 };
uint8_t msg[2] = { 0, 0 };
uint8_t rod = 0;
uint8_t bytesToSendBL2 = 2;
tmpVal = val;
if (tmpVal > 2047) {
tmpVal = 2047;
} else if (tmpVal < 0) {
tmpVal = 0;
}
Motor[chan].SetPoint = (uint8_t)(tmpVal>>3)&0xff;
Motor[chan].SetPointLowerBits = ((uint8_t)tmpVal%8)&0x07;
if (_armed == false) {
Motor[chan].SetPoint = 0;
Motor[chan].SetPointLowerBits = 0;
}
//if(Motor[chan].State & MOTOR_STATE_PRESENT_MASK) {
set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
if (Motor[chan].Version == BLCTRL_OLD) {
/*
* Old BL-Ctrl 8Bit served. Version < 2.0
*/
msg[0] = Motor[chan].SetPoint;
if (Motor[chan].RoundCount >= 16) {
// on each 16th cyle we read out the status messages from the blctrl
if (OK == transfer(&msg[0], 1, &result[0], 2)) {
Motor[chan].Current = result[0];
Motor[chan].MaxPWM = result[1];
Motor[chan].Temperature = 255;;
} else {
if ((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++; // error
}
Motor[chan].RoundCount = 0;
} else {
if (OK != transfer(&msg[0], 1, nullptr, 0)) {
if ((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++; // error
}
}
} else {
/*
* New BL-Ctrl 11Bit served. Version >= 2.0
*/
msg[0] = Motor[chan].SetPoint;
msg[1] = Motor[chan].SetPointLowerBits;
if (Motor[chan].SetPointLowerBits == 0) {
bytesToSendBL2 = 1; // if setpoint lower bits are zero, we send only the higher bits - this saves time
}
if (Motor[chan].RoundCount >= 16) {
// on each 16th cyle we read out the status messages from the blctrl
if (OK == transfer(&msg[0], bytesToSendBL2, &result[0], 3)) {
Motor[chan].Current = result[0];
Motor[chan].MaxPWM = result[1];
Motor[chan].Temperature = result[2];
} else {
if ((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++; // error
}
Motor[chan].RoundCount = 0;
} else {
if (OK != transfer(&msg[0], bytesToSendBL2, nullptr, 0)) {
if ((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++; // error
}
}
}
Motor[chan].RoundCount++;
//}
if (showDebug == true) {
debugCounter++;
if (debugCounter == 2000) {
debugCounter = 0;
for (int i = 0; i < _num_outputs; i++) {
if (Motor[i].State & MOTOR_STATE_PRESENT_MASK) {
fprintf(stderr, "[mkblctrl] #%i:\tVer: %i\tVal: %i\tCurr: %i\tMaxPWM: %i\tTemp: %i\tState: %i\n", i, Motor[i].Version, Motor[i].SetPoint, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature, Motor[i].State);
}
}
fprintf(stderr, "\n");
}
}
return 0;
}
int
MK::mk_servo_set_value(unsigned int chan, short val)
{
_retries = 0;
int ret;
short tmpVal = 0;
uint8_t msg[2] = { 0, 0 };
tmpVal = val;
if (tmpVal > 1024) {
tmpVal = 1024;
} else if (tmpVal < 0) {
tmpVal = 0;
}
Motor[chan].SetPoint = (uint8_t)(tmpVal / 4);
if (_armed == false) {
Motor[chan].SetPoint = 0;
Motor[chan].SetPointLowerBits = 0;
}
msg[0] = Motor[chan].SetPoint;
set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
ret = transfer(&msg[0], 1, nullptr, 0);
ret = OK;
return ret;
}
int
MK::mk_servo_test(unsigned int chan)
{
int ret = 0;
float tmpVal = 0;
float val = -1;
_retries = 0;
uint8_t msg[2] = { 0, 0 };
if (debugCounter >= MOTOR_SPINUP_COUNTER) {
debugCounter = 0;
_motor++;
if (_motor < _num_outputs) {
fprintf(stderr, "[mkblctrl] Motortest - #%i:\tspinup\n", _motor);
}
if (_motor >= _num_outputs) {
_motor = -1;
_motortest = false;
}
}
debugCounter++;
if (_motor == chan) {
val = BLCTRL_MIN_VALUE;
} else {
val = -1;
}
tmpVal = (511 + (511 * val));
if (tmpVal > 1024) {
tmpVal = 1024;
}
Motor[chan].SetPoint = (uint8_t)(tmpVal / 4);
if (_motor != chan) {
Motor[chan].SetPoint = 0;
Motor[chan].SetPointLowerBits = 0;
}
if (Motor[chan].Version == BLCTRL_OLD) {
msg[0] = Motor[chan].SetPoint;
} else {
msg[0] = Motor[chan].SetPoint;
msg[1] = Motor[chan].SetPointLowerBits;
}
set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
if (Motor[chan].Version == BLCTRL_OLD) {
ret = transfer(&msg[0], 1, nullptr, 0);
} else {
ret = transfer(&msg[0], 2, nullptr, 0);
}
return ret;
}
int
MK::control_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input)
{
const actuator_controls_s *controls = (actuator_controls_s *)handle;
input = controls->control[control_index];
return 0;
}
int
MK::ioctl(file *filp, int cmd, unsigned long arg)
{
int ret;
// XXX disabled, confusing users
/* try it as a GPIO ioctl first */
ret = gpio_ioctl(filp, cmd, arg);
if (ret != -ENOTTY)
return ret;
/* if we are in valid PWM mode, try it as a PWM ioctl as well */
switch (_mode) {
case MODE_2PWM:
case MODE_4PWM:
ret = pwm_ioctl(filp, cmd, arg);
break;
default:
debug("not in a PWM mode");
break;
}
/* if nobody wants it, let CDev have it */
if (ret == -ENOTTY)
ret = CDev::ioctl(filp, cmd, arg);
return ret;
}
int
MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
{
int ret = OK;
lock();
switch (cmd) {
case PWM_SERVO_ARM:
mk_servo_arm(true);
break;
case PWM_SERVO_SET_ARM_OK:
case PWM_SERVO_CLEAR_ARM_OK:
// these are no-ops, as no safety switch
break;
case PWM_SERVO_DISARM:
mk_servo_arm(false);
break;
case PWM_SERVO_SET_UPDATE_RATE:
ret = OK;
break;
case PWM_SERVO_SELECT_UPDATE_RATE:
ret = OK;
break;
case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
if (arg < 2150) {
Motor[cmd - PWM_SERVO_SET(0)].RawPwmValue = (unsigned short)arg;
mk_servo_set(cmd - PWM_SERVO_SET(0), scaling(arg, 1010, 2100, 0, 2047));
} else {
ret = -EINVAL;
}
break;
case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1):
/* copy the current output value from the channel */
*(servo_position_t *)arg = Motor[cmd - PWM_SERVO_SET(0)].RawPwmValue;
break;
case PWM_SERVO_GET_RATEGROUP(0):
case PWM_SERVO_GET_RATEGROUP(1):
case PWM_SERVO_GET_RATEGROUP(2):
case PWM_SERVO_GET_RATEGROUP(3):
//*(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0));
break;
case PWM_SERVO_GET_COUNT:
case MIXERIOCGETOUTPUTCOUNT:
*(unsigned *)arg = _num_outputs;
break;
case MIXERIOCRESET:
if (_mixers != nullptr) {
delete _mixers;
_mixers = nullptr;
}
break;
case MIXERIOCADDSIMPLE: {
mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
SimpleMixer *mixer = new SimpleMixer(control_callback,
(uintptr_t)&_controls, mixinfo);
if (mixer->check()) {
delete mixer;
ret = -EINVAL;
} else {
if (_mixers == nullptr)
_mixers = new MixerGroup(control_callback,
(uintptr_t)&_controls);
_mixers->add_mixer(mixer);
}
break;
}
case MIXERIOCLOADBUF: {
const char *buf = (const char *)arg;
unsigned buflen = strnlen(buf, 1024);
if (_mixers == nullptr)
_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
if (_mixers == nullptr) {
ret = -ENOMEM;
} else {
ret = _mixers->load_from_buf(buf, buflen);
if (ret != 0) {
debug("mixer load failed with %d", ret);
delete _mixers;
_mixers = nullptr;
ret = -EINVAL;
}
}
break;
}
default:
ret = -ENOTTY;
break;
}
unlock();
return ret;
}
/*
this implements PWM output via a write() method, for compatibility
with px4io
*/
ssize_t
MK::write(file *filp, const char *buffer, size_t len)
{
unsigned count = len / 2;
uint16_t values[8];
if (count > _num_outputs) {
// we only have 8 I2C outputs in the driver
count = _num_outputs;
}
// allow for misaligned values
memcpy(values, buffer, count * 2);
for (uint8_t i = 0; i < count; i++) {
Motor[i].RawPwmValue = (unsigned short)values[i];
mk_servo_set(i, scaling(values[i], 1010, 2100, 0, 2047));
}
return count * 2;
}
void
MK::gpio_reset(void)
{
/*
* Setup default GPIO config - all pins as GPIOs, GPIO driver chip
* to input mode.
*/
for (unsigned i = 0; i < _ngpio; i++)
stm32_configgpio(_gpio_tab[i].input);
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
stm32_configgpio(GPIO_GPIO_DIR);
}
void
MK::gpio_set_function(uint32_t gpios, int function)
{
/*
* GPIOs 0 and 1 must have the same direction as they are buffered
* by a shared 2-port driver. Any attempt to set either sets both.
*/
if (gpios & 3) {
gpios |= 3;
/* flip the buffer to output mode if required */
if (GPIO_SET_OUTPUT == function)
stm32_gpiowrite(GPIO_GPIO_DIR, 1);
}
/* configure selected GPIOs as required */
for (unsigned i = 0; i < _ngpio; i++) {
if (gpios & (1 << i)) {
switch (function) {
case GPIO_SET_INPUT:
stm32_configgpio(_gpio_tab[i].input);
break;
case GPIO_SET_OUTPUT:
stm32_configgpio(_gpio_tab[i].output);
break;
case GPIO_SET_ALT_1:
if (_gpio_tab[i].alt != 0)
stm32_configgpio(_gpio_tab[i].alt);
break;
}
}
}
/* flip buffer to input mode if required */
if ((GPIO_SET_INPUT == function) && (gpios & 3))
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
}
void
MK::gpio_write(uint32_t gpios, int function)
{
int value = (function == GPIO_SET) ? 1 : 0;
for (unsigned i = 0; i < _ngpio; i++)
if (gpios & (1 << i))
stm32_gpiowrite(_gpio_tab[i].output, value);
}
uint32_t
MK::gpio_read(void)
{
uint32_t bits = 0;
for (unsigned i = 0; i < _ngpio; i++)
if (stm32_gpioread(_gpio_tab[i].input))
bits |= (1 << i);
return bits;
}
int
MK::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
{
int ret = OK;
lock();
switch (cmd) {
case GPIO_RESET:
gpio_reset();
break;
case GPIO_SET_OUTPUT:
case GPIO_SET_INPUT:
case GPIO_SET_ALT_1:
gpio_set_function(arg, cmd);
break;
case GPIO_SET_ALT_2:
case GPIO_SET_ALT_3:
case GPIO_SET_ALT_4:
ret = -EINVAL;
break;
case GPIO_SET:
case GPIO_CLEAR:
gpio_write(arg, cmd);
break;
case GPIO_GET:
*(uint32_t *)arg = gpio_read();
break;
default:
ret = -ENOTTY;
}
unlock();
return ret;
}
namespace
{
enum PortMode {
PORT_MODE_UNSET = 0,
PORT_FULL_GPIO,
PORT_FULL_SERIAL,
PORT_FULL_PWM,
PORT_GPIO_AND_SERIAL,
PORT_PWM_AND_SERIAL,
PORT_PWM_AND_GPIO,
};
enum MappingMode {
MAPPING_MK = 0,
MAPPING_PX4,
};
enum FrameType {
FRAME_PLUS = 0,
FRAME_X,
};
PortMode g_port_mode;
int
mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, int px4mode, int frametype, bool overrideSecurityChecks)
{
uint32_t gpio_bits;
int shouldStop = 0;
MK::Mode servo_mode;
/* reset to all-inputs */
g_mk->ioctl(0, GPIO_RESET, 0);
gpio_bits = 0;
servo_mode = MK::MODE_NONE;
switch (new_mode) {
case PORT_FULL_GPIO:
case PORT_MODE_UNSET:
/* nothing more to do here */
break;
case PORT_FULL_SERIAL:
/* set all multi-GPIOs to serial mode */
gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4;
break;
case PORT_FULL_PWM:
/* select 4-pin PWM mode */
servo_mode = MK::MODE_4PWM;
break;
case PORT_GPIO_AND_SERIAL:
/* set RX/TX multi-GPIOs to serial mode */
gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
break;
case PORT_PWM_AND_SERIAL:
/* select 2-pin PWM mode */
servo_mode = MK::MODE_2PWM;
/* set RX/TX multi-GPIOs to serial mode */
gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
break;
case PORT_PWM_AND_GPIO:
/* select 2-pin PWM mode */
servo_mode = MK::MODE_2PWM;
break;
}
/* adjust GPIO config for serial mode(s) */
if (gpio_bits != 0)
g_mk->ioctl(0, GPIO_SET_ALT_1, gpio_bits);
/* native PX4 addressing) */
g_mk->set_px4mode(px4mode);
/* set frametype (geometry) */
g_mk->set_frametype(frametype);
/* motortest if enabled */
g_mk->set_motor_test(motortest);
/* ovveride security checks if enabled */
g_mk->set_overrideSecurityChecks(overrideSecurityChecks);
/* count used motors */
do {
if (g_mk->mk_check_for_blctrl(8, false) != 0) {
shouldStop = 4;
} else {
shouldStop++;
}
sleep(1);
} while (shouldStop < 3);
g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, true));
/* (re)set the PWM output mode */
g_mk->set_mode(servo_mode);
if ((servo_mode != MK::MODE_NONE) && (update_rate != 0))
g_mk->set_pwm_rate(update_rate);
return OK;
}
int
mk_start(unsigned bus, unsigned motors)
{
int ret = OK;
if (g_mk == nullptr) {
g_mk = new MK(bus);
if (g_mk == nullptr) {
ret = -ENOMEM;
} else {
ret = g_mk->init(motors);
if (ret != OK) {
delete g_mk;
g_mk = nullptr;
}
}
}
return ret;
}
} // namespace
extern "C" __EXPORT int mkblctrl_main(int argc, char *argv[]);
int
mkblctrl_main(int argc, char *argv[])
{
PortMode port_mode = PORT_FULL_PWM;
int pwm_update_rate_in_hz = UPDATE_RATE;
int motorcount = 8;
int bus = 1;
int px4mode = MAPPING_PX4;
int frametype = FRAME_PLUS; // + plus is default
bool motortest = false;
bool overrideSecurityChecks = false;
bool showHelp = false;
bool newMode = false;
/*
* optional parameters
*/
for (int i = 1; i < argc; i++) {
/* look for the optional i2c bus parameter */
if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
if (argc > i + 1) {
bus = atoi(argv[i + 1]);
newMode = true;
} else {
errx(1, "missing argument for i2c bus (-b)");
return 1;
}
}
/* look for the optional frame parameter */
if (strcmp(argv[i], "-mkmode") == 0 || strcmp(argv[i], "--mkmode") == 0) {
if (argc > i + 1) {
if (strcmp(argv[i + 1], "+") == 0 || strcmp(argv[i + 1], "x") == 0 || strcmp(argv[i + 1], "X") == 0) {
px4mode = MAPPING_MK;
newMode = true;
if (strcmp(argv[i + 1], "+") == 0) {
frametype = FRAME_PLUS;
} else {
frametype = FRAME_X;
}
} else {
errx(1, "only + or x for frametype supported !");
}
} else {
errx(1, "missing argument for mkmode (-mkmode)");
return 1;
}
}
/* look for the optional test parameter */
if (strcmp(argv[i], "-t") == 0) {
motortest = true;
newMode = true;
}
/* look for the optional -h --help parameter */
if (strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "--help") == 0) {
showHelp = true;
}
/* look for the optional --override-security-checks parameter */
if (strcmp(argv[i], "--override-security-checks") == 0) {
overrideSecurityChecks = true;
newMode = true;
}
}
if (showHelp) {
fprintf(stderr, "mkblctrl: help:\n");
fprintf(stderr, " [-mkmode frame{+/x}] [-b i2c_bus_number] [-t motortest] [--override-security-checks] [-h / --help]\n\n");
fprintf(stderr, "\t -mkmode frame {+/x} \t\t Type of frame, if Mikrokopter motor order is used.\n");
fprintf(stderr, "\t -b i2c_bus_number \t\t Set the i2c bus where the ESCs are connected to (default 1).\n");
fprintf(stderr, "\t -t motortest \t\t\t Spin up once every motor in order of motoraddress. (DANGER !!!)\n");
fprintf(stderr, "\t --override-security-checks \t\t Disable all security checks (arming and number of ESCs). Used to test single Motors etc. (DANGER !!!)\n");
exit(1);
}
if (g_mk == nullptr) {
if (mk_start(bus, motorcount) != OK) {
errx(1, "failed to start the MK-BLCtrl driver");
} else {
newMode = true;
}
}
/* parameter set ? */
if (newMode) {
/* switch parameter */
return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks);
}
/* test, etc. here g*/
exit(1);
}
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