mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-26 09:26:25 +08:00
Merge pull request #258 from jgoppert/md25
MD25 Motor Controller Driver
This commit is contained in:
Lorenz Meier
@@ -53,6 +53,15 @@ namespace device __EXPORT
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class __EXPORT I2C : public CDev
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{
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public:
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/**
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* Get the address
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*/
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uint16_t get_address() {
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return _address;
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}
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protected:
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/**
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* The number of times a read or write operation will be retried on
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,293 @@
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/****************************************************************************
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*
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* Copyright (C) 2013 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
|
||||
* are met:
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||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
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||||
* 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.
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* 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.
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||||
*
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||||
* 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
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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 md25.cpp
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*
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* Driver for MD25 I2C Motor Driver
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*
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* references:
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* http://www.robot-electronics.co.uk/htm/md25tech.htm
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* http://www.robot-electronics.co.uk/files/rpi_md25.c
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*
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*/
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#pragma once
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#include <poll.h>
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#include <stdio.h>
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#include <controllib/block/UOrbSubscription.hpp>
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#include <uORB/topics/actuator_controls.h>
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#include <drivers/device/i2c.h>
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/**
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* This is a driver for the MD25 motor controller utilizing the I2C interface.
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*/
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class MD25 : public device::I2C
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{
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public:
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/**
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* modes
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*
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* NOTE: this driver assumes we are always
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* in mode 0!
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*
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* seprate speed mode:
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* motor speed1 = speed1
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* motor speed2 = speed2
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* turn speed mode:
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* motor speed1 = speed1 + speed2
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* motor speed2 = speed2 - speed2
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* unsigned:
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* full rev (0), stop(128), full fwd (255)
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* signed:
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* full rev (-127), stop(0), full fwd (128)
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*
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* modes numbers:
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* 0 : unsigned separate (default)
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* 1 : signed separate
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* 2 : unsigned turn
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* 3 : signed turn
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*/
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enum e_mode {
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MODE_UNSIGNED_SPEED = 0,
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MODE_SIGNED_SPEED,
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MODE_UNSIGNED_SPEED_TURN,
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MODE_SIGNED_SPEED_TURN,
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};
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/** commands */
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enum e_cmd {
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CMD_RESET_ENCODERS = 32,
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CMD_DISABLE_SPEED_REGULATION = 48,
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CMD_ENABLE_SPEED_REGULATION = 49,
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CMD_DISABLE_TIMEOUT = 50,
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CMD_ENABLE_TIMEOUT = 51,
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CMD_CHANGE_I2C_SEQ_0 = 160,
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CMD_CHANGE_I2C_SEQ_1 = 170,
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CMD_CHANGE_I2C_SEQ_2 = 165,
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};
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/** control channels */
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enum e_channels {
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CH_SPEED_LEFT = 0,
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CH_SPEED_RIGHT
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};
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/**
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* constructor
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* @param deviceName the name of the device e.g. "/dev/md25"
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* @param bus the I2C bus
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* @param address the adddress on the I2C bus
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* @param speed the speed of the I2C communication
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*/
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MD25(const char *deviceName,
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int bus,
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uint16_t address,
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uint32_t speed = 100000);
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/**
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* deconstructor
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*/
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virtual ~MD25();
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/**
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* @return software version
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*/
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uint8_t getVersion();
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/**
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* @return speed of motor, normalized (-1, 1)
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*/
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float getMotor1Speed();
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/**
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* @return speed of motor 2, normalized (-1, 1)
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*/
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float getMotor2Speed();
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/**
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* @return number of rotations since reset
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*/
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float getRevolutions1();
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/**
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* @return number of rotations since reset
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*/
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float getRevolutions2();
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/**
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* @return battery voltage, volts
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*/
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float getBatteryVolts();
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/**
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* @return motor 1 current, amps
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*/
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float getMotor1Current();
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/**
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* @return motor 2 current, amps
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*/
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float getMotor2Current();
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/**
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* @return the motor acceleration
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* controls motor speed change (1-10)
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* accel rate | time for full fwd. to full rev.
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* 1 | 6.375 s
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* 2 | 1.6 s
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* 3 | 0.675 s
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* 5(default) | 1.275 s
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* 10 | 0.65 s
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*/
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uint8_t getMotorAccel();
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/**
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* @return motor output mode
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* */
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e_mode getMode();
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/**
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* @return current command register value
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*/
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e_cmd getCommand();
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/**
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* resets the encoders
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* @return non-zero -> error
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* */
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int resetEncoders();
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/**
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* enable/disable speed regulation
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* @return non-zero -> error
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*/
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int setSpeedRegulation(bool enable);
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/**
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* set the timeout for the motors
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* enable/disable timeout (motor stop)
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* after 2 sec of no i2c messages
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* @return non-zero -> error
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*/
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int setTimeout(bool enable);
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/**
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* sets the device address
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* can only be done with one MD25
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* on the bus
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* @return non-zero -> error
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*/
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int setDeviceAddress(uint8_t address);
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/**
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* set motor 1 speed
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* @param normSpeed normalize speed between -1 and 1
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* @return non-zero -> error
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*/
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int setMotor1Speed(float normSpeed);
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/**
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* set motor 2 speed
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* @param normSpeed normalize speed between -1 and 1
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* @return non-zero -> error
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*/
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int setMotor2Speed(float normSpeed);
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/**
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* main update loop that updates MD25 motor
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* speeds based on actuator publication
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*/
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void update();
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/**
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* probe for device
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*/
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virtual int probe();
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/**
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* search for device
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*/
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int search();
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/**
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* read data from i2c
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*/
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int readData();
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/**
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* print status
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*/
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void status(char *string, size_t n);
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private:
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/** poll structure for control packets */
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struct pollfd _controlPoll;
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/** actuator controls subscription */
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control::UOrbSubscription<actuator_controls_s> _actuators;
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// local copy of data from i2c device
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uint8_t _version;
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float _motor1Speed;
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float _motor2Speed;
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float _revolutions1;
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float _revolutions2;
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float _batteryVoltage;
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float _motor1Current;
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float _motor2Current;
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uint8_t _motorAccel;
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e_mode _mode;
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e_cmd _command;
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// private methods
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int _writeUint8(uint8_t reg, uint8_t value);
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int _writeInt8(uint8_t reg, int8_t value);
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float _uint8ToNorm(uint8_t value);
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uint8_t _normToUint8(float value);
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/**
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* set motor control mode,
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* this driver assumed we are always in mode 0
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* so we don't let the user change the mode
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* @return non-zero -> error
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*/
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int _setMode(e_mode);
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};
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// unit testing
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int md25Test(const char *deviceName, uint8_t bus, uint8_t address);
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// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
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@@ -0,0 +1,43 @@
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############################################################################
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#
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# Copyright (C) 2013 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
|
||||
# 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.
|
||||
#
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############################################################################
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#
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# MD25 I2C Based Motor Controller
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# http://www.robot-electronics.co.uk/htm/md25tech.htm
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#
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APPNAME = md25
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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include $(APPDIR)/mk/app.mk
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@@ -0,0 +1,264 @@
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/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* @ file md25.cpp
|
||||
*
|
||||
* Driver for MD25 I2C Motor Driver
|
||||
*
|
||||
* references:
|
||||
* http://www.robot-electronics.co.uk/htm/md25tech.htm
|
||||
* http://www.robot-electronics.co.uk/files/rpi_md25.c
|
||||
*
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <math.h>
|
||||
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <systemlib/param/param.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include "MD25.hpp"
|
||||
|
||||
static bool thread_should_exit = false; /**< Deamon exit flag */
|
||||
static bool thread_running = false; /**< Deamon status flag */
|
||||
static int deamon_task; /**< Handle of deamon task / thread */
|
||||
|
||||
/**
|
||||
* Deamon management function.
|
||||
*/
|
||||
extern "C" __EXPORT int md25_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Mainloop of deamon.
|
||||
*/
|
||||
int md25_thread_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Print the correct usage.
|
||||
*/
|
||||
static void usage(const char *reason);
|
||||
|
||||
static void
|
||||
usage(const char *reason)
|
||||
{
|
||||
if (reason)
|
||||
fprintf(stderr, "%s\n", reason);
|
||||
|
||||
fprintf(stderr, "usage: md25 {start|stop|status|search|test|change_address}\n\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
/**
|
||||
* 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 md25_main(int argc, char *argv[])
|
||||
{
|
||||
|
||||
if (argc < 1)
|
||||
usage("missing command");
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (thread_running) {
|
||||
printf("md25 already running\n");
|
||||
/* this is not an error */
|
||||
exit(0);
|
||||
}
|
||||
|
||||
thread_should_exit = false;
|
||||
deamon_task = task_spawn("md25",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 10,
|
||||
2048,
|
||||
md25_thread_main,
|
||||
(const char **)argv);
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "test")) {
|
||||
|
||||
if (argc < 4) {
|
||||
printf("usage: md25 test bus address\n");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
const char *deviceName = "/dev/md25";
|
||||
|
||||
uint8_t bus = strtoul(argv[2], nullptr, 0);
|
||||
|
||||
uint8_t address = strtoul(argv[3], nullptr, 0);
|
||||
|
||||
md25Test(deviceName, bus, address);
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "probe")) {
|
||||
if (argc < 4) {
|
||||
printf("usage: md25 probe bus address\n");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
const char *deviceName = "/dev/md25";
|
||||
|
||||
uint8_t bus = strtoul(argv[2], nullptr, 0);
|
||||
|
||||
uint8_t address = strtoul(argv[3], nullptr, 0);
|
||||
|
||||
MD25 md25(deviceName, bus, address);
|
||||
|
||||
int ret = md25.probe();
|
||||
|
||||
if (ret == OK) {
|
||||
printf("MD25 found on bus %d at address 0x%X\n", bus, md25.get_address());
|
||||
|
||||
} else {
|
||||
printf("MD25 not found on bus %d\n", bus);
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "search")) {
|
||||
if (argc < 3) {
|
||||
printf("usage: md25 search bus\n");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
const char *deviceName = "/dev/md25";
|
||||
|
||||
uint8_t bus = strtoul(argv[2], nullptr, 0);
|
||||
|
||||
uint8_t address = strtoul(argv[3], nullptr, 0);
|
||||
|
||||
MD25 md25(deviceName, bus, address);
|
||||
|
||||
md25.search();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "change_address")) {
|
||||
if (argc < 5) {
|
||||
printf("usage: md25 change_address bus old_address new_address\n");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
const char *deviceName = "/dev/md25";
|
||||
|
||||
uint8_t bus = strtoul(argv[2], nullptr, 0);
|
||||
|
||||
uint8_t old_address = strtoul(argv[3], nullptr, 0);
|
||||
|
||||
uint8_t new_address = strtoul(argv[4], nullptr, 0);
|
||||
|
||||
MD25 md25(deviceName, bus, old_address);
|
||||
|
||||
int ret = md25.setDeviceAddress(new_address);
|
||||
|
||||
if (ret == OK) {
|
||||
printf("MD25 new address set to 0x%X\n", new_address);
|
||||
|
||||
} else {
|
||||
printf("MD25 failed to set address to 0x%X\n", new_address);
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
thread_should_exit = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
printf("\tmd25 app is running\n");
|
||||
|
||||
} else {
|
||||
printf("\tmd25 app not started\n");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
usage("unrecognized command");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
int md25_thread_main(int argc, char *argv[])
|
||||
{
|
||||
printf("[MD25] starting\n");
|
||||
|
||||
if (argc < 5) {
|
||||
// extra md25 in arg list since this is a thread
|
||||
printf("usage: md25 start bus address\n");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
const char *deviceName = "/dev/md25";
|
||||
|
||||
uint8_t bus = strtoul(argv[3], nullptr, 0);
|
||||
|
||||
uint8_t address = strtoul(argv[4], nullptr, 0);
|
||||
|
||||
// start
|
||||
MD25 md25("/dev/md25", bus, address);
|
||||
|
||||
thread_running = true;
|
||||
|
||||
// loop
|
||||
while (!thread_should_exit) {
|
||||
md25.update();
|
||||
}
|
||||
|
||||
// exit
|
||||
printf("[MD25] exiting.\n");
|
||||
thread_running = false;
|
||||
return 0;
|
||||
}
|
||||
|
||||
// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
|
||||
@@ -128,6 +128,7 @@ CONFIGURED_APPS += drivers/mkblctrl
|
||||
CONFIGURED_APPS += drivers/hil
|
||||
CONFIGURED_APPS += drivers/gps
|
||||
CONFIGURED_APPS += drivers/mb12xx
|
||||
CONFIGURED_APPS += drivers/md25
|
||||
|
||||
# Testing stuff
|
||||
CONFIGURED_APPS += px4/sensors_bringup
|
||||
|
||||
@@ -647,10 +647,14 @@ CONFIG_DISABLE_POLL=n
|
||||
# CONFIG_LIBC_FIXEDPRECISION - Sets 7 digits after dot for printing:
|
||||
# 5.1234567
|
||||
# CONFIG_HAVE_LONG_LONG - Enabled printf("%llu)
|
||||
# CONFIG_LIBC_STRERR - allow printing of error text
|
||||
# CONFIG_LIBC_STRERR_SHORT - allow printing of short error text
|
||||
#
|
||||
CONFIG_NOPRINTF_FIELDWIDTH=n
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_HAVE_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=n
|
||||
CONFIG_LIBC_STRERROR_SHORT=n
|
||||
|
||||
#
|
||||
# Allow for architecture optimized implementations
|
||||
|
||||
Reference in New Issue
Block a user