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1434 lines
33 KiB
C++
1434 lines
33 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2012 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 mkblctrl.cpp
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*
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* Driver/configurator for the Mikrokopter BL-Ctrl.
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* Marco Bauer
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*
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*/
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#include <nuttx/config.h>
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#include <drivers/device/i2c.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <stdlib.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <nuttx/arch.h>
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#include <nuttx/i2c.h>
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#include <drivers/device/device.h>
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#include <drivers/drv_pwm_output.h>
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#include <drivers/drv_gpio.h>
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#include <drivers/boards/px4fmu/px4fmu_internal.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_rc_input.h>
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#include <systemlib/systemlib.h>
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#include <systemlib/err.h>
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#include <systemlib/mixer/mixer.h>
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#include <drivers/drv_mixer.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_controls_effective.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <systemlib/err.h>
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#include <systemlib/ppm_decode.h>
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#define I2C_BUS_SPEED 400000
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#define UPDATE_RATE 400
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#define MAX_MOTORS 8
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#define BLCTRL_BASE_ADDR 0x29
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#define BLCTRL_OLD 0
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#define BLCTRL_NEW 1
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#define BLCTRL_MIN_VALUE -0.920F
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#define MOTOR_STATE_PRESENT_MASK 0x80
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#define MOTOR_STATE_ERROR_MASK 0x7F
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#define MOTOR_SPINUP_COUNTER 2500
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class MK : public device::I2C
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{
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public:
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enum Mode {
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MODE_2PWM,
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MODE_4PWM,
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MODE_NONE
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};
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enum MappingMode {
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MAPPING_MK = 0,
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MAPPING_PX4,
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};
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enum FrameType {
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FRAME_PLUS = 0,
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FRAME_X,
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};
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MK(int bus);
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~MK();
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virtual int ioctl(file *filp, int cmd, unsigned long arg);
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virtual int init(unsigned motors);
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int set_mode(Mode mode);
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int set_pwm_rate(unsigned rate);
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int set_motor_count(unsigned count);
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int set_motor_test(bool motortest);
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int set_px4mode(int px4mode);
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int set_frametype(int frametype);
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private:
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static const unsigned _max_actuators = MAX_MOTORS;
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static const bool showDebug = false;
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Mode _mode;
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int _update_rate;
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int _current_update_rate;
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int _task;
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int _t_actuators;
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int _t_armed;
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unsigned int _motor;
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int _px4mode;
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int _frametype;
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orb_advert_t _t_outputs;
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orb_advert_t _t_actuators_effective;
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unsigned int _num_outputs;
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bool _primary_pwm_device;
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bool _motortest;
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volatile bool _task_should_exit;
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bool _armed;
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unsigned long debugCounter;
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MixerGroup *_mixers;
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actuator_controls_s _controls;
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static void task_main_trampoline(int argc, char *argv[]);
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void task_main() __attribute__((noreturn));
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static int 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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int pwm_ioctl(file *filp, int cmd, unsigned long arg);
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struct GPIOConfig {
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uint32_t input;
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uint32_t output;
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uint32_t alt;
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};
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static const GPIOConfig _gpio_tab[];
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static const unsigned _ngpio;
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void gpio_reset(void);
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void gpio_set_function(uint32_t gpios, int function);
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void gpio_write(uint32_t gpios, int function);
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uint32_t gpio_read(void);
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int gpio_ioctl(file *filp, int cmd, unsigned long arg);
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int mk_servo_arm(bool status);
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int mk_check_for_blctrl(unsigned int count);
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int mk_servo_set(unsigned int chan, float val);
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int mk_servo_set_test(unsigned int chan, float val);
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int mk_servo_test(unsigned int chan);
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};
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const MK::GPIOConfig MK::_gpio_tab[] = {
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{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
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{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
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{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
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{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1},
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{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1},
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{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1},
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{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
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{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
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};
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const unsigned MK::_ngpio = sizeof(MK::_gpio_tab) / sizeof(MK::_gpio_tab[0]);
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const int blctrlAddr_quad_plus[] = { 2, 2, -2, -2, 0, 0, 0, 0 }; // Addresstranslator for Quad + configuration
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const int blctrlAddr_hexa_plus[] = { 0, 2, 2, -2, 1, -3, 0, 0 }; // Addresstranslator for Hexa + configuration
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const int blctrlAddr_octo_plus[] = { 0, 3, -1, 0, 3, 0, 0, -5 }; // Addresstranslator for Octo + configuration
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const int blctrlAddr_quad_x[] = { 2, 2, -2, -2, 0, 0, 0, 0 }; // Addresstranslator for Quad X configuration
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const int blctrlAddr_hexa_x[] = { 2, 4, -2, 0, -3, -1, 0, 0 }; // Addresstranslator for Hexa X configuration
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const int blctrlAddr_octo_x[] = { 1, 4, 0, 1, -4, 1, 1, -4 }; // Addresstranslator for Octo X configuration
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const int blctrlAddr_px4[] = { 0, 0, 0, 0, 0, 0, 0, 0};
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int addrTranslator[] = {0,0,0,0,0,0,0,0};
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struct MotorData_t
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{
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unsigned int Version; // the version of the BL (0 = old)
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unsigned int SetPoint; // written by attitude controller
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unsigned int SetPointLowerBits; // for higher Resolution of new BLs
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unsigned int State; // 7 bit for I2C error counter, highest bit indicates if motor is present
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unsigned int ReadMode; // select data to read
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// the following bytes must be exactly in that order!
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unsigned int Current; // in 0.1 A steps, read back from BL
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unsigned int MaxPWM; // read back from BL is less than 255 if BL is in current limit
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unsigned int Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in <20>C
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unsigned int RoundCount;
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};
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MotorData_t Motor[MAX_MOTORS];
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namespace
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{
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MK *g_mk;
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} // namespace
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MK::MK(int bus) :
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I2C("mkblctrl", "/dev/mkblctrl", bus, 0, I2C_BUS_SPEED),
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_mode(MODE_NONE),
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_update_rate(50),
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_task(-1),
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_t_actuators(-1),
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_t_armed(-1),
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_t_outputs(0),
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_t_actuators_effective(0),
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_num_outputs(0),
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_motortest(false),
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_motor(-1),
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_px4mode(MAPPING_MK),
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_frametype(FRAME_PLUS),
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_primary_pwm_device(false),
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_task_should_exit(false),
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_armed(false),
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_mixers(nullptr)
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{
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_debug_enabled = true;
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}
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MK::~MK()
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{
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if (_task != -1) {
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/* tell the task we want it to go away */
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_task_should_exit = true;
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unsigned i = 10;
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do {
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/* wait 50ms - it should wake every 100ms or so worst-case */
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usleep(50000);
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/* if we have given up, kill it */
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if (--i == 0) {
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task_delete(_task);
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break;
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}
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} while (_task != -1);
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}
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/* clean up the alternate device node */
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if (_primary_pwm_device)
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unregister_driver(PWM_OUTPUT_DEVICE_PATH);
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g_mk = nullptr;
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}
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int
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MK::init(unsigned motors)
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{
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_num_outputs = motors;
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debugCounter = 0;
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int ret;
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ASSERT(_task == -1);
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ret = I2C::init();
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if (ret != OK) {
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warnx("I2C init failed");
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return ret;
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}
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usleep(500000);
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/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
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ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
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if (ret == OK) {
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log("default PWM output device");
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_primary_pwm_device = true;
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}
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/* reset GPIOs */
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gpio_reset();
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/* check for connected blctrls */
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//mk_check_for_blctrl(_num_outputs);
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/* start the IO interface task */
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_task = task_spawn("mkblctrl",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX -20,
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2048,
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(main_t)&MK::task_main_trampoline,
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nullptr);
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if (_task < 0) {
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debug("task start failed: %d", errno);
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return -errno;
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}
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return OK;
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}
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void
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MK::task_main_trampoline(int argc, char *argv[])
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{
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g_mk->task_main();
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}
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int
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MK::set_mode(Mode mode)
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{
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/*
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* Configure for PWM output.
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*
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* Note that regardless of the configured mode, the task is always
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* listening and mixing; the mode just selects which of the channels
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* are presented on the output pins.
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*/
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switch (mode) {
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case MODE_2PWM:
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if(_num_outputs == 4) {
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debug("MODE_QUAD");
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} else if(_num_outputs == 6) {
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debug("MODE_HEXA");
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} else if(_num_outputs == 8) {
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debug("MODE_OCTO");
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}
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//up_pwm_servo_init(0x3);
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up_pwm_servo_deinit();
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_update_rate = UPDATE_RATE; /* default output rate */
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break;
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case MODE_4PWM:
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if(_num_outputs == 4) {
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debug("MODE_QUADRO");
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} else if(_num_outputs == 6) {
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debug("MODE_HEXA");
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} else if(_num_outputs == 8) {
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debug("MODE_OCTO");
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}
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//up_pwm_servo_init(0xf);
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up_pwm_servo_deinit();
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_update_rate = UPDATE_RATE; /* default output rate */
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break;
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case MODE_NONE:
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debug("MODE_NONE");
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/* disable servo outputs and set a very low update rate */
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up_pwm_servo_deinit();
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_update_rate = UPDATE_RATE;
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break;
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default:
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return -EINVAL;
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}
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_mode = mode;
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return OK;
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}
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int
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MK::set_pwm_rate(unsigned rate)
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{
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if ((rate > 500) || (rate < 10))
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return -EINVAL;
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_update_rate = rate;
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return OK;
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}
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int
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MK::set_px4mode(int px4mode)
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{
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_px4mode = px4mode;
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}
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int
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MK::set_frametype(int frametype)
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{
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_frametype = frametype;
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}
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int
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MK::set_motor_count(unsigned count)
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{
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_num_outputs = count;
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if(_px4mode == MAPPING_MK) {
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if(_frametype == FRAME_PLUS) {
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fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: +\n");
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} else if(_frametype == FRAME_X) {
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fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: X\n");
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}
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if(_num_outputs == 4) {
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if(_frametype == FRAME_PLUS) {
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memcpy(&addrTranslator, &blctrlAddr_quad_plus, sizeof(blctrlAddr_quad_plus));
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} else if(_frametype == FRAME_X) {
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memcpy(&addrTranslator, &blctrlAddr_quad_x, sizeof(blctrlAddr_quad_x));
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}
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} else if(_num_outputs == 6) {
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if(_frametype == FRAME_PLUS) {
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memcpy(&addrTranslator, &blctrlAddr_hexa_plus, sizeof(blctrlAddr_hexa_plus));
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} else if(_frametype == FRAME_X) {
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memcpy(&addrTranslator, &blctrlAddr_hexa_x, sizeof(blctrlAddr_hexa_x));
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}
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} else if(_num_outputs == 8) {
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if(_frametype == FRAME_PLUS) {
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memcpy(&addrTranslator, &blctrlAddr_octo_plus, sizeof(blctrlAddr_octo_plus));
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} else if(_frametype == FRAME_X) {
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memcpy(&addrTranslator, &blctrlAddr_octo_x, sizeof(blctrlAddr_octo_x));
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}
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}
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} else {
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fprintf(stderr, "[mkblctrl] PX4 native addressing used.\n");
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memcpy(&addrTranslator, &blctrlAddr_px4, sizeof(blctrlAddr_px4));
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}
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|
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/* check for connected blctrls */
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mk_check_for_blctrl(_num_outputs);
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|
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return OK;
|
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}
|
||
|
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int
|
||
MK::set_motor_test(bool motortest)
|
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{
|
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_motortest = motortest;
|
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return OK;
|
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}
|
||
|
||
|
||
void
|
||
MK::task_main()
|
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{
|
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/*
|
||
* Subscribe to the appropriate PWM output topic based on whether we are the
|
||
* primary PWM output or not.
|
||
*/
|
||
_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
|
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ORB_ID(actuator_controls_1));
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/* force a reset of the update rate */
|
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_current_update_rate = 0;
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|
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_t_armed = orb_subscribe(ORB_ID(actuator_armed));
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orb_set_interval(_t_armed, 200); /* 5Hz update rate */
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|
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/* advertise the mixed control outputs */
|
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actuator_outputs_s outputs;
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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),
|
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&outputs);
|
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|
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/* advertise the effective control inputs */
|
||
actuator_controls_effective_s controls_effective;
|
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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),
|
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&controls_effective);
|
||
|
||
pollfd fds[2];
|
||
fds[0].fd = _t_actuators;
|
||
fds[0].events = POLLIN;
|
||
fds[1].fd = _t_armed;
|
||
fds[1].events = POLLIN;
|
||
|
||
// rc input, published to ORB
|
||
struct rc_input_values rc_in;
|
||
orb_advert_t to_input_rc = 0;
|
||
|
||
memset(&rc_in, 0, sizeof(rc_in));
|
||
rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM;
|
||
|
||
|
||
log("starting");
|
||
long update_rate_in_us = 0;
|
||
|
||
/* 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, but no more than a second */
|
||
int ret = ::poll(&fds[0], 2, 1000);
|
||
|
||
/* 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(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : ORB_ID(actuator_controls_1), _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));
|
||
|
||
orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &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 */
|
||
//outputs.output[i] = 1500 + (600 * outputs.output[i]);
|
||
//outputs.output[i] = 127 + (127 * outputs.output[i]);
|
||
} 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;
|
||
}
|
||
}
|
||
|
||
/* don't go under BLCTRL_MIN_VALUE */
|
||
if(outputs.output[i] < BLCTRL_MIN_VALUE) {
|
||
outputs.output[i] = BLCTRL_MIN_VALUE;
|
||
}
|
||
//_motortest = true;
|
||
/* output to BLCtrl's */
|
||
if(_motortest == true) {
|
||
mk_servo_test(i);
|
||
} else {
|
||
//mk_servo_set(i, outputs.output[i]);
|
||
mk_servo_set_test(i, outputs.output[i]); // 8Bit
|
||
}
|
||
|
||
|
||
}
|
||
|
||
/* and publish for anyone that cares to see */
|
||
orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &outputs);
|
||
}
|
||
}
|
||
|
||
/* how about an arming update? */
|
||
if (fds[1].revents & POLLIN) {
|
||
actuator_armed_s aa;
|
||
|
||
/* get new value */
|
||
orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
|
||
|
||
/* update PWM servo armed status if armed and not locked down */
|
||
////up_pwm_servo_arm(aa.armed && !aa.lockdown);
|
||
mk_servo_arm(aa.armed && !aa.lockdown);
|
||
}
|
||
|
||
// see if we have new PPM input data
|
||
if (ppm_last_valid_decode != rc_in.timestamp) {
|
||
// we have a new PPM frame. Publish it.
|
||
rc_in.channel_count = ppm_decoded_channels;
|
||
if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) {
|
||
rc_in.channel_count = RC_INPUT_MAX_CHANNELS;
|
||
}
|
||
for (uint8_t i=0; i<rc_in.channel_count; i++) {
|
||
rc_in.values[i] = ppm_buffer[i];
|
||
}
|
||
rc_in.timestamp = ppm_last_valid_decode;
|
||
|
||
/* lazily advertise on first publication */
|
||
if (to_input_rc == 0) {
|
||
to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_in);
|
||
} else {
|
||
orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in);
|
||
}
|
||
}
|
||
|
||
}
|
||
|
||
::close(_t_actuators);
|
||
::close(_t_actuators_effective);
|
||
::close(_t_armed);
|
||
|
||
|
||
/* 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;
|
||
}
|
||
|
||
|
||
int
|
||
MK::mk_check_for_blctrl(unsigned int count)
|
||
{
|
||
_retries = 10;
|
||
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].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;
|
||
}
|
||
}
|
||
}
|
||
|
||
fprintf(stderr, "[mkblctrl] MotorsRequiered: %i\tMotorsFound: %i\n", count,foundMotorCount);
|
||
for(unsigned i=0; i< count; 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(foundMotorCount == count) {
|
||
return true;
|
||
} else {
|
||
return false;
|
||
}
|
||
}
|
||
|
||
|
||
|
||
|
||
int
|
||
MK::mk_servo_set(unsigned int chan, float val)
|
||
{
|
||
float 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 = (1023 + (1023 * val));
|
||
if(tmpVal > 2047) {
|
||
tmpVal = 2047;
|
||
}
|
||
|
||
|
||
Motor[chan].SetPoint = (uint8_t) tmpVal / 3; // divide 8
|
||
Motor[chan].SetPointLowerBits = (uint8_t) tmpVal % 8; // rest of divide 8
|
||
//rod = (uint8_t) tmpVal % 8;
|
||
//Motor[chan].SetPointLowerBits = rod<<1; // rest of divide 8
|
||
Motor[chan].SetPointLowerBits = 0;
|
||
|
||
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_test(unsigned int chan, float val)
|
||
{
|
||
_retries = 0;
|
||
int ret;
|
||
|
||
float tmpVal = 0;
|
||
|
||
uint8_t msg[2] = { 0,0 };
|
||
|
||
tmpVal = (1023 + (1023 * val));
|
||
if(tmpVal > 2048) {
|
||
tmpVal = 2048;
|
||
}
|
||
|
||
Motor[chan].SetPoint = (uint8_t) (tmpVal / 8);
|
||
|
||
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 = (1023 + (1023 * val));
|
||
if(tmpVal > 2048) {
|
||
tmpVal = 2048;
|
||
}
|
||
|
||
//Motor[chan].SetPoint = (uint8_t) (tmpVal / 8);
|
||
//Motor[chan].SetPointLowerBits = (uint8_t) (tmpVal % 8) & 0x07;
|
||
Motor[chan].SetPoint = (uint8_t) tmpVal>>3;
|
||
Motor[chan].SetPointLowerBits = (uint8_t) tmpVal & 0x07;
|
||
|
||
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
|
||
//debug("ioctl 0x%04x 0x%08x", cmd, arg);
|
||
|
||
/* 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;
|
||
int channel;
|
||
|
||
lock();
|
||
|
||
switch (cmd) {
|
||
case PWM_SERVO_ARM:
|
||
////up_pwm_servo_arm(true);
|
||
mk_servo_arm(true);
|
||
break;
|
||
|
||
case PWM_SERVO_DISARM:
|
||
////up_pwm_servo_arm(false);
|
||
mk_servo_arm(false);
|
||
break;
|
||
|
||
case PWM_SERVO_SET_UPDATE_RATE:
|
||
set_pwm_rate(arg);
|
||
break;
|
||
|
||
|
||
case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
|
||
|
||
/* fake an update to the selected 'servo' channel */
|
||
if ((arg >= 0) && (arg <= 255)) {
|
||
channel = cmd - PWM_SERVO_SET(0);
|
||
//mk_servo_set(channel, arg);
|
||
} 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 = cmd - PWM_SERVO_GET(0);
|
||
break;
|
||
|
||
case MIXERIOCGETOUTPUTCOUNT:
|
||
/*
|
||
if (_mode == MODE_4PWM) {
|
||
*(unsigned *)arg = 4;
|
||
} else {
|
||
*(unsigned *)arg = 2;
|
||
}
|
||
*/
|
||
|
||
*(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;
|
||
}
|
||
|
||
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)
|
||
{
|
||
uint32_t gpio_bits;
|
||
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);
|
||
|
||
/* (re)set count of used motors */
|
||
g_mk->set_motor_count(motorcount);
|
||
|
||
/* (re)set the PWM output mode */
|
||
g_mk->set_mode(servo_mode);
|
||
|
||
/* motortest if enabled */
|
||
g_mk->set_motor_test(motortest);
|
||
|
||
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 new_mode = PORT_MODE_UNSET;
|
||
int pwm_update_rate_in_hz = UPDATE_RATE;
|
||
int motorcount = 0;
|
||
int bus = 1;
|
||
bool motortest = false;
|
||
int px4mode = MAPPING_MK;
|
||
int frametype = FRAME_PLUS; // + plus is default
|
||
|
||
/*
|
||
* Mode switches.
|
||
*
|
||
* XXX use getopt?
|
||
*/
|
||
for (int i = 1; i < argc; i++) { /* argv[0] is "mk" */
|
||
if (!strcmp(argv[i], "mode_quad")) {
|
||
new_mode = PORT_FULL_PWM;
|
||
motorcount = 4;
|
||
} else if (!strcmp(argv[i], "mode_hexa")) {
|
||
new_mode = PORT_FULL_PWM;
|
||
motorcount = 6;
|
||
} else if (!strcmp(argv[i], "mode_octo")) {
|
||
new_mode = PORT_FULL_PWM;
|
||
motorcount = 8;
|
||
}
|
||
|
||
/* look for the optional update rate for the supported modes */
|
||
if (strcmp(argv[i], "-u") == 0 || strcmp(argv[i], "--update-rate") == 0) {
|
||
if (argc > i + 1) {
|
||
pwm_update_rate_in_hz = atoi(argv[i + 1]);
|
||
} else {
|
||
errx(1, "missing argument for update rate (-u)");
|
||
return 1;
|
||
}
|
||
}
|
||
|
||
/* 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]);
|
||
} else {
|
||
errx(1, "missing argument for i2c bus (-b)");
|
||
return 1;
|
||
}
|
||
}
|
||
|
||
/* look for the optional frame parameter */
|
||
if (strcmp(argv[i], "-f") == 0 || strcmp(argv[i], "--frame") == 0) {
|
||
if (argc > i + 1) {
|
||
if(strcmp(argv[i + 1], "+") == 0 || strcmp(argv[i + 1], "x") == 0 || strcmp(argv[i + 1], "X") == 0) {
|
||
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 frametype (-f)");
|
||
return 1;
|
||
}
|
||
}
|
||
|
||
/* look for the optional geometry parameter */
|
||
if (strcmp(argv[i], "-px4mode") == 0) {
|
||
px4mode = MAPPING_PX4;
|
||
}
|
||
|
||
/* look for the optional test parameter */
|
||
if (strcmp(argv[i], "-t") == 0) {
|
||
motortest = true;
|
||
}
|
||
|
||
}
|
||
|
||
if(new_mode == PORT_MODE_UNSET) {
|
||
fprintf(stderr, "mkblctrl: unrecognised command, try:\n");
|
||
fprintf(stderr, " mode_quad, mode_hexa, mode_octo [-b i2c_bus_number] [-u update_rate_in_hz] [-t motortest] [-px4mode] [-f frame{+/x}]\n");
|
||
exit(1);
|
||
}
|
||
|
||
if (mk_start(bus, motorcount) != OK)
|
||
errx(1, "failed to start the MK-BLCtrl driver");
|
||
|
||
|
||
/* was a new mode set? */
|
||
if (new_mode != PORT_MODE_UNSET) {
|
||
|
||
/* yes but it's the same mode */
|
||
//if (new_mode == g_port_mode)
|
||
//return OK;
|
||
|
||
/* switch modes */
|
||
fprintf(stderr, "[mkblctrl] %iHz Update Rate\n",pwm_update_rate_in_hz);
|
||
return mk_new_mode(new_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype);
|
||
}
|
||
|
||
/* test, etc. here g*/
|
||
|
||
exit(1);
|
||
}
|