mirror of
https://github.com/paparazzi/paparazzi.git
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[bebop] Added the new Parrot Bebop
This commit is contained in:
Freek van Tienen
committed by
Gautier Hattenberger
Gautier Hattenberger
parent
17de8fdc48
commit
01a8bb28e5
@@ -0,0 +1,39 @@
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# Hey Emacs, this is a -*- makefile -*-
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#
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# Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
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#
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# This file is part of paparazzi.
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#
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# paparazzi is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 2, or (at your option)
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# any later version.
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#
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# paparazzi is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with paparazzi; see the file COPYING. If not, see
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# <http://www.gnu.org/licenses/>.
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#
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#
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# This Makefile uses the generic Makefile.linux and adds upload rules for the ARDrone2
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#
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include $(PAPARAZZI_SRC)/conf/Makefile.linux
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DRONE = $(PAPARAZZI_SRC)/sw/ext/bebop.py
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# Allow modules or other raw makefiles to add actions to the upload
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upload_extra:
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# Program the device and start it.
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upload program: upload_extra $(OBJDIR)/$(TARGET).elf
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$(Q)$(DRONE) --host=$(HOST) upload_file_and_run $(OBJDIR)/$(TARGET).elf $(SUB_DIR)
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# Listing of phony targets.
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.PHONY : upload_extra upload program
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@@ -0,0 +1,217 @@
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<!DOCTYPE airframe SYSTEM "airframe.dtd">
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<airframe name="bebop">
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<firmware name="rotorcraft">
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<target name="ap" board="bebop">
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<subsystem name="telemetry" type="transparent_udp"/>
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<subsystem name="radio_control" type="datalink"/>
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</target>
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<target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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<subsystem name="radio_control" type="ppm"/>
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</target>
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<!--define name="USE_SONAR" value="TRUE"/-->
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<!-- Subsystem section -->
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="bebop"/>
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<subsystem name="imu" type="bebop"/>
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<subsystem name="gps" type="furuno"/>
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<subsystem name="stabilization" type="int_quat"/>
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<subsystem name="ahrs" type="int_cmpl_quat"/>
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<subsystem name="ins" type="extended"/>
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</firmware>
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<modules main_freq="512">
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<load name="send_imu_mag_current.xml"/>
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<load name="file_logger.xml">
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<define name="FILE_LOGGER_PATH" value="\\\"/data/ftp/internal_000/\\\""/>
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</load>
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</modules>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="6000"/>
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</commands>
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<servos driver="Default">
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<servo name="TOP_LEFT" no="0" min="3000" neutral="3000" max="12000"/>
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<servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="12000"/>
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<servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="12000"/>
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<servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="12000"/>
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</servos>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<define name="NB_MOTOR" value="4"/>
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<define name="SCALE" value="255"/>
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<define name="MAX_SATURATION_OFFSET" value="3*MAX_PPRZ"/>
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<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
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<define name="ROLL_COEF" value="{ -256, 256, 256, -256 }"/>
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<define name="PITCH_COEF" value="{ 256, 256, -256, -256 }"/>
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<define name="YAW_COEF" value="{ 256, -256, 256, -256 }"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
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</section>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
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<set servo="TOP_LEFT" value="motor_mixing.commands[0]"/>
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<set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
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<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[2]"/>
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[3]"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="18"/>
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<define name="MAG_Y_NEUTRAL" value="157"/>
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<define name="MAG_Z_NEUTRAL" value="49"/>
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<define name="MAG_X_SENS" value="10.5007722373" integer="16"/>
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<define name="MAG_Y_SENS" value="11.1147400462" integer="16"/>
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<define name="MAG_Z_SENS" value="11.6479371722" integer="16"/>
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<!-- Magneto current calibration -->
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<define name="MAG_X_CURRENT_COEF" value="0.0"/>
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<define name="MAG_Y_CURRENT_COEF" value="0.0"/>
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<define name="MAG_Z_CURRENT_COEF" value="0.0"/>
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<!-- local magnetic field -->
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<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<section name="AHRS" prefix="AHRS_">
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<!-- Toulouse -->
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<!--define name="H_X" value="0.513081"/>
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<define name="H_Y" value="-0.00242783"/>
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<define name="H_Z" value="0.858336"/-->
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<!-- Delft -->
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<define name="H_X" value="0.3892503"/>
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<define name="H_Y" value="0.0017972"/>
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<define name="H_Z" value="0.9211303"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="SONAR_MAX_RANGE" value="2.2"/>
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<define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<!-- setpoints -->
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<define name="SP_MAX_P" value="10000"/>
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<define name="SP_MAX_Q" value="10000"/>
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<define name="SP_MAX_R" value="10000"/>
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<define name="DEADBAND_P" value="20"/>
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<define name="DEADBAND_Q" value="20"/>
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<define name="DEADBAND_R" value="200"/>
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<define name="REF_TAU" value="4"/>
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<!-- feedback -->
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<define name="GAIN_P" value="400"/>
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<define name="GAIN_Q" value="400"/>
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<define name="GAIN_R" value="350"/>
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<define name="IGAIN_P" value="75"/>
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<define name="IGAIN_Q" value="75"/>
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<define name="IGAIN_R" value="50"/>
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<!-- feedforward -->
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<define name="DDGAIN_P" value="300"/>
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<define name="DDGAIN_Q" value="300"/>
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<define name="DDGAIN_R" value="300"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="45" unit="deg"/>
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<define name="SP_MAX_THETA" value="45" unit="deg"/>
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<define name="SP_MAX_R" value="300" unit="deg/s"/>
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<define name="DEADBAND_A" value="0"/>
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<define name="DEADBAND_E" value="0"/>
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<define name="DEADBAND_R" value="50"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="450" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.9"/>
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<define name="REF_MAX_P" value="600." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.9"/>
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<define name="REF_MAX_Q" value="600." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
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<define name="REF_OMEGA_R" value="450" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.9"/>
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<define name="REF_MAX_R" value="600." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="650"/>
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<define name="PHI_DGAIN" value="300"/>
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<define name="PHI_IGAIN" value="0"/>
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<define name="THETA_PGAIN" value="650"/>
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<define name="THETA_DGAIN" value="300"/>
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<define name="THETA_IGAIN" value="0"/>
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<define name="PSI_PGAIN" value="4000"/>
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<define name="PSI_DGAIN" value="350"/>
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<define name="PSI_IGAIN" value="0"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value="0"/>
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<define name="THETA_DDGAIN" value="0"/>
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<define name="PSI_DDGAIN" value="0"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="HOVER_KP" value="283"/>
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<define name="HOVER_KD" value="82"/>
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<define name="HOVER_KI" value="13"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<!-- Good weather -->
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<define name="MAX_BANK" value="20" unit="deg"/>
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<!-- Bad weather -->
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<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
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<define name="PGAIN" value="79"/>
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<define name="DGAIN" value="100"/>
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<define name="IGAIN" value="30"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="{"nw_motor", "ne_motor", "se_motor", "sw_motor"}"/>
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<define name="JSBSIM_MODEL" value=""simple_ardrone2""/>
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<define name="JSBSIM_INIT" value=""reset00""/>
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<define name="SENSORS_PARAMS" value=""nps_sensors_params_ardrone2.h""/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
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</section>
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</airframe>
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@@ -0,0 +1,39 @@
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# Hey Emacs, this is a -*- makefile -*-
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#
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# bebop.makefile
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#
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# http://wiki.paparazziuav.org/wiki/Bebop
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#
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BOARD=bebop
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BOARD_CFG=\"boards/$(BOARD).h\"
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ARCH=linux
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$(TARGET).ARCHDIR = $(ARCH)
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# include conf/Makefile.bebop (with specific upload rules) instead of only Makefile.linux:
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ap.MAKEFILE = bebop
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# -----------------------------------------------------------------------
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USER=foobar
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HOST?=192.168.42.1
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SUB_DIR=paparazzi
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FTP_DIR=/data/ftp
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TARGET_DIR=$(FTP_DIR)/$(SUB_DIR)
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# -----------------------------------------------------------------------
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# The datalink default uses UDP
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MODEM_HOST ?= \"192.168.42.255\"
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# The GPS sensor is connected internally
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GPS_PORT ?= UART1
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GPS_BAUD ?= B230400
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$(TARGET).CFLAGS += -DUART1_DEV=\"/dev/ttyPA1\"
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# -----------------------------------------------------------------------
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# default LED configuration
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RADIO_CONTROL_LED ?= none
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BARO_LED ?= none
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AHRS_ALIGNER_LED ?= 1
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GPS_LED ?= none
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SYS_TIME_LED ?= 0
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@@ -219,6 +219,17 @@
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settings_modules=""
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gui_color="blue"
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/>
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<aircraft
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name="bebop"
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ac_id="202"
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airframe="airframes/bebop.xml"
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radio="radios/cockpitSX.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/rotorcraft_basic.xml"
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settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
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settings_modules=""
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gui_color="red"
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/>
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<aircraft
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name="krooz_quad"
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ac_id="23"
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@@ -124,6 +124,8 @@ else ifeq ($(BOARD)$(BOARD_TYPE), ardronesdk)
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ns_srcs += $(SRC_BOARD)/electrical_dummy.c
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else ifeq ($(BOARD)$(BOARD_TYPE), ardroneraw)
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ns_srcs += $(SRC_BOARD)/electrical_raw.c
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else ifeq ($(BOARD), bebop)
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ns_srcs += $(SRC_BOARD)/electrical.c
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endif
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#
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@@ -0,0 +1,11 @@
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# Actuator drivers for the bebop
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BEBOP_ACTUATORS_I2C_DEV ?= i2c1
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BEBOP_ACTUATORS_I2C_DEV_UPPER=$(shell echo $(BEBOP_ACTUATORS_I2C_DEV) | tr a-z A-Z)
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BEBOP_ACTUATORS_I2C_DEV_LOWER=$(shell echo $(BEBOP_ACTUATORS_I2C_DEV) | tr A-Z a-z)
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BEBOP_ACTUATORS_CFLAGS += -DBEBOP_ACTUATORS_I2C_DEV=$(BEBOP_ACTUATORS_I2C_DEV_LOWER) -DUSE_$(BEBOP_ACTUATORS_I2C_DEV_UPPER)=1
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$(TARGET).CFLAGS += -DACTUATORS $(BEBOP_ACTUATORS_CFLAGS)
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$(TARGET).srcs += $(SRC_BOARD)/actuators.c
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@@ -29,6 +29,15 @@ else ifeq ($(BOARD), navstik)
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else ifeq ($(BOARD)$(BOARD_TYPE), ardroneraw)
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BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
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# Bebop baro
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else ifeq ($(BOARD), bebop)
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BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C -DBB_MS5611_SLAVE_ADDR=0x77
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BARO_BOARD_CFLAGS += -DUSE_I2C1
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BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c1
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BARO_BOARD_SRCS += peripherals/ms5611.c
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BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
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BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
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# Lisa/M baro
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else ifeq ($(BOARD), lisa_m)
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ifeq ($(BOARD_VERSION), 1.0)
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@@ -0,0 +1,49 @@
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# Hey Emacs, this is a -*- makefile -*-
|
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#
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# Bebop onboard IMU
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#
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#
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# if ACCEL and GYRO SENS/NEUTRAL are not defined,
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# the defaults from the datasheet will be used
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#
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# required xml:
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# <section name="IMU" prefix="IMU_">
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#
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# <define name="MAG_X_NEUTRAL" value="2358"/>
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# <define name="MAG_Y_NEUTRAL" value="2362"/>
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# <define name="MAG_Z_NEUTRAL" value="2119"/>
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#
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# <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
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# <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
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# <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
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#
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# </section>
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#
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IMU_CFLAGS = -DUSE_IMU -DIMU_BEBOP -DIMU_TYPE_H=\"imu/imu_bebop.h\"
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IMU_SRCS = $(SRC_SUBSYSTEMS)/imu.c $(SRC_SUBSYSTEMS)/imu/imu_bebop.c
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IMU_SRCS += peripherals/mpu60x0.c peripherals/mpu60x0_i2c.c
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IMU_SRCS += peripherals/ak8963.c
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BEBOP_MAG_I2C_DEV ?= i2c1
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BEBOP_MPU_I2C_DEV ?= i2c2
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BEBOP_MAG_I2C_DEV_UPPER=$(shell echo $(BEBOP_MAG_I2C_DEV) | tr a-z A-Z)
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BEBOP_MAG_I2C_DEV_LOWER=$(shell echo $(BEBOP_MAG_I2C_DEV) | tr A-Z a-z)
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BEBOP_MPU_I2C_DEV_UPPER=$(shell echo $(BEBOP_MPU_I2C_DEV) | tr a-z A-Z)
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BEBOP_MPU_I2C_DEV_LOWER=$(shell echo $(BEBOP_MPU_I2C_DEV) | tr A-Z a-z)
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|
||||
IMU_CFLAGS += -DBEBOP_MAG_I2C_DEV=$(BEBOP_MAG_I2C_DEV_LOWER) -DBEBOP_MPU_I2C_DEV=$(BEBOP_MPU_I2C_DEV_LOWER)
|
||||
IMU_CFLAGS += -DUSE_$(BEBOP_MAG_I2C_DEV_UPPER)=1 -DUSE_$(BEBOP_MPU_I2C_DEV_UPPER)=1
|
||||
|
||||
ap.CFLAGS += $(IMU_CFLAGS)
|
||||
ap.srcs += $(IMU_SRCS)
|
||||
|
||||
test_imu.CFLAGS += $(IMU_CFLAGS)
|
||||
test_imu.srcs += $(IMU_SRCS)
|
||||
|
||||
#
|
||||
# NPS simulator
|
||||
#
|
||||
include $(CFG_SHARED)/imu_nps.makefile
|
||||
+15
-1
@@ -1907,7 +1907,21 @@
|
||||
|
||||
<!--216 is free -->
|
||||
<!--217 is free -->
|
||||
<!--218 is free -->
|
||||
|
||||
<message name="BEBOP_ACTUATORS" id="218">
|
||||
<field name="cmd_thrust" type="int32"/>
|
||||
<field name="cmd_roll" type="int32"/>
|
||||
<field name="cmd_pitch" type="int32"/>
|
||||
<field name="cmd_yaw" type="int32"/>
|
||||
<field name="rpm_ref_lf" type="uint16" unit="rpm"/>
|
||||
<field name="rpm_ref_rf" type="uint16" unit="rpm"/>
|
||||
<field name="rpm_ref_rb" type="uint16" unit="rpm"/>
|
||||
<field name="rpm_ref_lb" type="uint16" unit="rpm"/>
|
||||
<field name="rpm_obs_lf" type="uint16" unit="rpm"/>
|
||||
<field name="rpm_obs_rf" type="uint16" unit="rpm"/>
|
||||
<field name="rpm_obs_rb" type="uint16" unit="rpm"/>
|
||||
<field name="rpm_obs_lb" type="uint16" unit="rpm"/>
|
||||
</message>
|
||||
|
||||
<message name="WEATHER" id="219">
|
||||
<field name="p_amb" type="float" unit="Pa" alt_unit="mBar" alt_unit_coef="0.01"/>
|
||||
|
||||
@@ -29,6 +29,7 @@
|
||||
<message name="RC" period="0.5"/>
|
||||
<message name="ROTORCRAFT_RADIO_CONTROL" period="0.5"/>
|
||||
<message name="ROTORCRAFT_STATUS" period="1"/>
|
||||
<message name="ACTUATORS_BEBOP" period="0.2"/>
|
||||
</mode>
|
||||
|
||||
<mode name="raw_sensors">
|
||||
|
||||
@@ -0,0 +1,40 @@
|
||||
/*
|
||||
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef CONFIG_BEBOP
|
||||
#define CONFIG_BEBOP
|
||||
|
||||
#define BOARD_BEBOP
|
||||
|
||||
/* Default actuators driver */
|
||||
#define DEFAULT_ACTUATORS "boards/bebop/actuators.h"
|
||||
#define ActuatorDefaultSet(_x,_y) ActuatorsBebopSet(_x,_y)
|
||||
#define ActuatorsDefaultInit() ActuatorsBebopInit()
|
||||
#define ActuatorsDefaultCommit() ActuatorsBebopCommit()
|
||||
|
||||
|
||||
/* by default activate onboard baro */
|
||||
#ifndef USE_BARO_BOARD
|
||||
#define USE_BARO_BOARD 1
|
||||
#endif
|
||||
|
||||
#endif /* CONFIG_BEBOP */
|
||||
@@ -0,0 +1,179 @@
|
||||
/*
|
||||
*
|
||||
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file boards/bebop/actuators.c
|
||||
* Actuator driver for the bebop
|
||||
*/
|
||||
|
||||
#include "subsystems/actuators.h"
|
||||
#include "subsystems/actuators/motor_mixing.h"
|
||||
#include "subsystems/electrical.h"
|
||||
#include "actuators.h"
|
||||
#include "led_hw.h"
|
||||
#include "autopilot.h"
|
||||
|
||||
#if PERIODIC_TELEMETRY
|
||||
#include "subsystems/datalink/telemetry.h"
|
||||
#include "firmwares/rotorcraft/stabilization.h"
|
||||
|
||||
static void send_actuators_bebop(struct transport_tx *trans, struct link_device *dev)
|
||||
{
|
||||
pprz_msg_send_BEBOP_ACTUATORS(trans, dev, AC_ID,
|
||||
&stabilization_cmd[COMMAND_THRUST],
|
||||
&stabilization_cmd[COMMAND_ROLL],
|
||||
&stabilization_cmd[COMMAND_PITCH],
|
||||
&stabilization_cmd[COMMAND_YAW],
|
||||
&actuators_bebop.rpm_ref[0],
|
||||
&actuators_bebop.rpm_ref[1],
|
||||
&actuators_bebop.rpm_ref[2],
|
||||
&actuators_bebop.rpm_ref[3],
|
||||
&actuators_bebop.rpm_obs[0],
|
||||
&actuators_bebop.rpm_obs[1],
|
||||
&actuators_bebop.rpm_obs[2],
|
||||
&actuators_bebop.rpm_obs[3]);
|
||||
}
|
||||
#endif
|
||||
|
||||
uint32_t led_hw_values;
|
||||
struct ActuatorsBebop actuators_bebop;
|
||||
static uint8_t actuators_bebop_checksum(uint8_t *bytes, uint8_t size);
|
||||
|
||||
void actuators_bebop_init(void)
|
||||
{
|
||||
/* Initialize the I2C connection */
|
||||
actuators_bebop.i2c_trans.slave_addr = ACTUATORS_BEBOP_ADDR;
|
||||
actuators_bebop.i2c_trans.status = I2CTransDone;
|
||||
actuators_bebop.led = 0;
|
||||
|
||||
#if PERIODIC_TELEMETRY
|
||||
register_periodic_telemetry(DefaultPeriodic, "ACTUATORS_BEBOP", send_actuators_bebop);
|
||||
#endif
|
||||
}
|
||||
|
||||
void actuators_bebop_commit(void)
|
||||
{
|
||||
// Receive the status
|
||||
actuators_bebop.i2c_trans.buf[0] = ACTUATORS_BEBOP_GET_OBS_DATA;
|
||||
i2c_transceive(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 1, 13);
|
||||
|
||||
// Update status
|
||||
electrical.vsupply = (actuators_bebop.i2c_trans.buf[9] + (actuators_bebop.i2c_trans.buf[8] << 8)) / 100;
|
||||
actuators_bebop.rpm_obs[0] = (actuators_bebop.i2c_trans.buf[1] + (actuators_bebop.i2c_trans.buf[0] << 8));
|
||||
actuators_bebop.rpm_obs[1] = (actuators_bebop.i2c_trans.buf[3] + (actuators_bebop.i2c_trans.buf[2] << 8));
|
||||
actuators_bebop.rpm_obs[2] = (actuators_bebop.i2c_trans.buf[5] + (actuators_bebop.i2c_trans.buf[4] << 8));
|
||||
actuators_bebop.rpm_obs[3] = (actuators_bebop.i2c_trans.buf[7] + (actuators_bebop.i2c_trans.buf[6] << 8));
|
||||
|
||||
// Saturate the bebop motors
|
||||
//actuators_bebop_saturate();
|
||||
|
||||
// When detected a suicide
|
||||
actuators_bebop.i2c_trans.buf[10] = actuators_bebop.i2c_trans.buf[10] & 0x7;
|
||||
if (actuators_bebop.i2c_trans.buf[11] == 2 && actuators_bebop.i2c_trans.buf[10] != 1) {
|
||||
autopilot_set_motors_on(FALSE);
|
||||
}
|
||||
|
||||
// Start the motors
|
||||
if (actuators_bebop.i2c_trans.buf[10] != 4 && actuators_bebop.i2c_trans.buf[10] != 2 && autopilot_motors_on) {
|
||||
// Reset the error
|
||||
actuators_bebop.i2c_trans.buf[0] = ACTUATORS_BEBOP_CLEAR_ERROR;
|
||||
i2c_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 1);
|
||||
|
||||
// Start the motors
|
||||
actuators_bebop.i2c_trans.buf[0] = ACTUATORS_BEBOP_START_PROP;
|
||||
i2c_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 1);
|
||||
}
|
||||
// Stop the motors
|
||||
else if (actuators_bebop.i2c_trans.buf[10] == 4 && !autopilot_motors_on) {
|
||||
actuators_bebop.i2c_trans.buf[0] = ACTUATORS_BEBOP_STOP_PROP;
|
||||
i2c_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 1);
|
||||
} else if (actuators_bebop.i2c_trans.buf[10] == 4 && autopilot_motors_on) {
|
||||
// Send the commands
|
||||
actuators_bebop.i2c_trans.buf[0] = ACTUATORS_BEBOP_SET_REF_SPEED;
|
||||
actuators_bebop.i2c_trans.buf[1] = actuators_bebop.rpm_ref[0] >> 8;
|
||||
actuators_bebop.i2c_trans.buf[2] = actuators_bebop.rpm_ref[0] & 0xFF;
|
||||
actuators_bebop.i2c_trans.buf[3] = actuators_bebop.rpm_ref[1] >> 8;
|
||||
actuators_bebop.i2c_trans.buf[4] = actuators_bebop.rpm_ref[1] & 0xFF;
|
||||
actuators_bebop.i2c_trans.buf[5] = actuators_bebop.rpm_ref[2] >> 8;
|
||||
actuators_bebop.i2c_trans.buf[6] = actuators_bebop.rpm_ref[2] & 0xFF;
|
||||
actuators_bebop.i2c_trans.buf[7] = actuators_bebop.rpm_ref[3] >> 8;
|
||||
actuators_bebop.i2c_trans.buf[8] = actuators_bebop.rpm_ref[3] & 0xFF;
|
||||
actuators_bebop.i2c_trans.buf[9] = 0x00; //UNK?
|
||||
#pragma GCC diagnostic push
|
||||
#pragma GCC diagnostic ignored "-Wcast-qual"
|
||||
actuators_bebop.i2c_trans.buf[10] = actuators_bebop_checksum((uint8_t *)actuators_bebop.i2c_trans.buf, 9);
|
||||
#pragma GCC diagnostic pop
|
||||
i2c_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 11);
|
||||
}
|
||||
|
||||
// Update the LEDs
|
||||
if (actuators_bebop.led != (led_hw_values & 0x3)) {
|
||||
actuators_bebop.i2c_trans.buf[0] = ACTUATORS_BEBOP_TOGGLE_GPIO;
|
||||
actuators_bebop.i2c_trans.buf[1] = (led_hw_values & 0x3);
|
||||
i2c_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 2);
|
||||
|
||||
actuators_bebop.led = led_hw_values & 0x3;
|
||||
}
|
||||
}
|
||||
|
||||
static uint8_t actuators_bebop_checksum(uint8_t *bytes, uint8_t size)
|
||||
{
|
||||
uint8_t checksum = 0;
|
||||
for (int i = 0; i < size; i++) {
|
||||
checksum = checksum ^ bytes[i];
|
||||
}
|
||||
|
||||
return checksum;
|
||||
}
|
||||
|
||||
/*static void actuators_bebop_saturate(void) {
|
||||
// Find the lowest and highest commands
|
||||
int32_t max_cmd = 9000; // Should be gotton from airframe file per motor
|
||||
int32_t min_cmd = 3000; // Should be gotton from airframe file per motor
|
||||
for(int i = 0; i < 4; i++) {
|
||||
if(actuators_bebop.rpm_ref[i] > max_cmd)
|
||||
max_cmd = actuators_bebop.rpm_ref[i];
|
||||
if(actuators_bebop.rpm_ref[i] < min_cmd)
|
||||
min_cmd = actuators_bebop.rpm_ref[i];
|
||||
}
|
||||
|
||||
// Find the maximum motor command (Saturated motor or either MOTOR_MIXING_MAX_MOTOR)
|
||||
int32_t max_motor = 9000;
|
||||
for(int i = 0; i < 4; i++) {
|
||||
if(actuators_bebop.rpm_obs[i] & (1<<15) && max_cmd > (actuators_bebop.rpm_obs[i] & ~(1<<15)))
|
||||
max_motor = actuators_bebop.rpm_obs[i] & ~(1<<15);
|
||||
}
|
||||
|
||||
// Saturate the offsets
|
||||
if(max_cmd > max_motor) {
|
||||
int32_t saturation_offset = 9000 - max_cmd;
|
||||
for(int i = 0; i < 4; i++)
|
||||
actuators_bebop.rpm_ref[i] += saturation_offset;
|
||||
motor_mixing.nb_saturation++;
|
||||
}
|
||||
else if(min_cmd < 3000) {
|
||||
int32_t saturation_offset = 3000 - min_cmd;
|
||||
for(int i = 0; i < 4; i++)
|
||||
actuators_bebop.rpm_ref[i] += saturation_offset;
|
||||
motor_mixing.nb_saturation++;
|
||||
}
|
||||
}*/
|
||||
@@ -0,0 +1,62 @@
|
||||
/*
|
||||
*
|
||||
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file boards/bebop/actuators.h
|
||||
* Actuator driver for the bebop
|
||||
*/
|
||||
|
||||
#ifndef ACTUATORS_BEBOP_RAW_H_
|
||||
#define ACTUATORS_BEBOP_RAW_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include "mcu_periph/i2c.h"
|
||||
|
||||
#define ACTUATORS_BEBOP_ADDR 0x8
|
||||
|
||||
// I2C Commands
|
||||
#define ACTUATORS_BEBOP_SET_REF_SPEED 0x02 ///< Set reference speed
|
||||
#define ACTUATORS_BEBOP_GET_OBS_DATA 0x20 ///< Get observation data
|
||||
#define ACTUATORS_BEBOP_START_PROP 0x40 ///< Start the propellers
|
||||
#define ACTUATORS_BEBOP_TOGGLE_GPIO 0x4D ///< Toggle GPIO (reset, red led, green led)
|
||||
#define ACTUATORS_BEBOP_STOP_PROP 0x60 ///< Stop the propellers
|
||||
#define ACTUATORS_BEBOP_CLEAR_ERROR 0x80 ///< Clear all current erros
|
||||
#define ACTUATORS_BEBOP_PLAY_SOUND 0x82 ///< Play a sound (0=stop, 1=short beep, 2=boot beep, 3=Be-Bop-Ah-Lula, negative=repeat)
|
||||
#define ACTUATORS_BEBOP_GET_INFO 0xA0 ///< Get version information
|
||||
|
||||
|
||||
struct ActuatorsBebop {
|
||||
struct i2c_transaction i2c_trans; ///< I2C transaction for communicating with the bebop BLDC driver
|
||||
uint16_t rpm_ref[4]; ///< Reference RPM
|
||||
uint16_t rpm_obs[4]; ///< Observed RPM
|
||||
uint8_t led; ///< Current led status
|
||||
};
|
||||
|
||||
#define ActuatorsBebopSet(_i, _v) { actuators_bebop.rpm_ref[_i] = _v; }
|
||||
#define ActuatorsBebopCommit() actuators_bebop_commit();
|
||||
#define ActuatorsBebopInit() actuators_bebop_init();
|
||||
|
||||
extern struct ActuatorsBebop actuators_bebop;
|
||||
extern void actuators_bebop_commit(void);
|
||||
extern void actuators_bebop_init(void);
|
||||
|
||||
#endif /* ACTUATORS_BEBOP_RAW_H_ */
|
||||
@@ -0,0 +1,38 @@
|
||||
/*
|
||||
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
|
||||
*
|
||||
* This file is part of Paparazzi.
|
||||
*
|
||||
* Paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* Paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file boards/bebop/baro_board.h
|
||||
* Paparazzi Bebop Baro Sensor implementation using the ms5611.
|
||||
*/
|
||||
|
||||
#ifndef BOARDS_BEBOP_BARO_H
|
||||
#define BOARDS_BEBOP_BARO_H
|
||||
|
||||
// only for printing the baro type during compilation
|
||||
#ifndef BARO_BOARD
|
||||
#define BARO_BOARD BARO_MS5611_I2C
|
||||
#endif
|
||||
|
||||
extern void baro_event(void);
|
||||
#define BaroEvent baro_event
|
||||
|
||||
#endif /* BOARDS_BEBOP_BARO_H */
|
||||
@@ -0,0 +1,42 @@
|
||||
/*
|
||||
*
|
||||
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file boards/bebop/electrical.c
|
||||
* Dummy electrical status readings for the bebop.
|
||||
* Because the voltage measurements is done trough the motor controllers.
|
||||
*/
|
||||
|
||||
#include "subsystems/electrical.h"
|
||||
#include <stdlib.h>
|
||||
|
||||
struct Electrical electrical;
|
||||
|
||||
void electrical_init(void)
|
||||
{
|
||||
// First we try to kill the dragon-prog and its respawner if it is running (done here because initializes first)
|
||||
int ret = system("killall -9 watchdog.sh; killall -9 dragon-prog");
|
||||
(void) ret;
|
||||
}
|
||||
|
||||
void electrical_periodic(void) { }
|
||||
@@ -0,0 +1,137 @@
|
||||
/*
|
||||
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file subsystems/imu/imu_bebop.c
|
||||
* Driver for the Bebop magnetometer, accelerometer and gyroscope
|
||||
*/
|
||||
|
||||
#include "subsystems/imu.h"
|
||||
#include "mcu_periph/i2c.h"
|
||||
|
||||
|
||||
/* defaults suitable for Bebop */
|
||||
#ifndef BEBOP_MAG_I2C_DEV
|
||||
#define BEBOP_MAG_I2C_DEV i2c1
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(BEBOP_MAG_I2C_DEV)
|
||||
|
||||
#ifndef BEBOP_MPU_I2C_DEV
|
||||
#define BEBOP_MPU_I2C_DEV i2c2
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(BEBOP_MPU_I2C_DEV)
|
||||
|
||||
#if !defined BEBOP_LOWPASS_FILTER && !defined BEBOP_SMPLRT_DIV
|
||||
#if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
|
||||
/* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
|
||||
* Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
|
||||
*/
|
||||
#define BEBOP_LOWPASS_FILTER MPU60X0_DLPF_42HZ
|
||||
#define BEBOP_SMPLRT_DIV 9
|
||||
PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
|
||||
#elif PERIODIC_FREQUENCY == 512
|
||||
/* Accelerometer: Bandwidth 260Hz, Delay 0ms
|
||||
* Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
|
||||
*/
|
||||
#define BEBOP_LOWPASS_FILTER MPU60X0_DLPF_256HZ
|
||||
#define BEBOP_SMPLRT_DIV 3
|
||||
PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
|
||||
#endif
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(BEBOP_SMPLRT_DIV)
|
||||
PRINT_CONFIG_VAR(BEBOP_LOWPASS_FILTER)
|
||||
|
||||
#ifndef BEBOP_GYRO_RANGE
|
||||
#define BEBOP_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(BEBOP_GYRO_RANGE)
|
||||
|
||||
#ifndef BEBOP_ACCEL_RANGE
|
||||
#define BEBOP_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(BEBOP_ACCEL_RANGE)
|
||||
|
||||
/** Basic Navstik IMU data */
|
||||
struct ImuBebop imu_bebop;
|
||||
|
||||
/**
|
||||
* Navstik IMU initializtion of the MPU-60x0 and HMC58xx
|
||||
*/
|
||||
void imu_impl_init(void)
|
||||
{
|
||||
imu_bebop.accel_valid = FALSE;
|
||||
imu_bebop.gyro_valid = FALSE;
|
||||
imu_bebop.mag_valid = FALSE;
|
||||
|
||||
/* MPU-60X0 */
|
||||
mpu60x0_i2c_init(&imu_bebop.mpu, &(BEBOP_MPU_I2C_DEV), MPU60X0_ADDR >> 1);
|
||||
imu_bebop.mpu.config.smplrt_div = BEBOP_SMPLRT_DIV;
|
||||
imu_bebop.mpu.config.dlpf_cfg = BEBOP_LOWPASS_FILTER;
|
||||
imu_bebop.mpu.config.gyro_range = BEBOP_GYRO_RANGE;
|
||||
imu_bebop.mpu.config.accel_range = BEBOP_ACCEL_RANGE;
|
||||
|
||||
/* AKM8963 */
|
||||
ak8963_init(&imu_bebop.ak, &(BEBOP_MAG_I2C_DEV), AK8963_ADDR >> 1);
|
||||
}
|
||||
|
||||
/**
|
||||
* Handle all the periodic tasks of the Navstik IMU components.
|
||||
* Read the MPU60x0 every periodic call and the HMC58XX every 10th call.
|
||||
*/
|
||||
void imu_periodic(void)
|
||||
{
|
||||
// Start reading the latest gyroscope data
|
||||
mpu60x0_i2c_periodic(&imu_bebop.mpu);
|
||||
|
||||
// AKM8963
|
||||
ak8963_periodic(&imu_bebop.ak);
|
||||
}
|
||||
|
||||
/**
|
||||
* Handle all the events of the Navstik IMU components.
|
||||
* When there is data available convert it to the correct axis and save it in the imu structure.
|
||||
*/
|
||||
void imu_bebop_event(void)
|
||||
{
|
||||
/* MPU-60x0 event taks */
|
||||
mpu60x0_i2c_event(&imu_bebop.mpu);
|
||||
|
||||
if (imu_bebop.mpu.data_available) {
|
||||
/* default orientation of the MPU is upside down sor corrigate this here */
|
||||
RATES_ASSIGN(imu.gyro_unscaled, imu_bebop.mpu.data_rates.rates.p, -imu_bebop.mpu.data_rates.rates.q, -imu_bebop.mpu.data_rates.rates.r);
|
||||
VECT3_ASSIGN(imu.accel_unscaled, imu_bebop.mpu.data_accel.vect.x, -imu_bebop.mpu.data_accel.vect.y, -imu_bebop.mpu.data_accel.vect.z);
|
||||
|
||||
imu_bebop.mpu.data_available = FALSE;
|
||||
imu_bebop.gyro_valid = TRUE;
|
||||
imu_bebop.accel_valid = TRUE;
|
||||
}
|
||||
|
||||
/* AKM8963 event task */
|
||||
ak8963_event(&imu_bebop.ak);
|
||||
|
||||
if (imu_bebop.ak.data_available) {
|
||||
//32760 to -32760
|
||||
VECT3_ASSIGN(imu.mag_unscaled, -imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.x, imu_bebop.ak.data.vect.z);
|
||||
|
||||
imu_bebop.ak.data_available = FALSE;
|
||||
imu_bebop.mag_valid = TRUE;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,101 @@
|
||||
/*
|
||||
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file subsystems/imu/imu_bebop.h
|
||||
* Interface for the Bebop magnetometer, accelerometer and gyroscope
|
||||
*/
|
||||
|
||||
|
||||
#ifndef IMU_BEBOP_H
|
||||
#define IMU_BEBOP_H
|
||||
|
||||
#include "generated/airframe.h"
|
||||
#include "subsystems/imu.h"
|
||||
|
||||
#include "peripherals/ak8963.h"
|
||||
#include "peripherals/mpu60x0_i2c.h"
|
||||
|
||||
/** default gyro sensitivy and neutral from the datasheet
|
||||
* MPU with 1000 deg/s has 32.8 LSB/(deg/s)
|
||||
* sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC
|
||||
* sens = 1/32.8 * pi/180 * 4096 = 2.17953
|
||||
*/
|
||||
#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
|
||||
// FIXME
|
||||
#define IMU_GYRO_P_SENS 2.17953
|
||||
#define IMU_GYRO_P_SENS_NUM 18271
|
||||
#define IMU_GYRO_P_SENS_DEN 8383
|
||||
#define IMU_GYRO_Q_SENS 2.17953
|
||||
#define IMU_GYRO_Q_SENS_NUM 18271
|
||||
#define IMU_GYRO_Q_SENS_DEN 8383
|
||||
#define IMU_GYRO_R_SENS 2.17953
|
||||
#define IMU_GYRO_R_SENS_NUM 18271
|
||||
#define IMU_GYRO_R_SENS_DEN 8383
|
||||
#endif
|
||||
|
||||
/** default accel sensitivy from the datasheet
|
||||
* MPU with 8g has 4096 LSB/g
|
||||
* sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525
|
||||
*/
|
||||
#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
|
||||
// FIXME
|
||||
#define IMU_ACCEL_X_SENS 2.4525
|
||||
#define IMU_ACCEL_X_SENS_NUM 981
|
||||
#define IMU_ACCEL_X_SENS_DEN 400
|
||||
#define IMU_ACCEL_Y_SENS 2.4525
|
||||
#define IMU_ACCEL_Y_SENS_NUM 981
|
||||
#define IMU_ACCEL_Y_SENS_DEN 400
|
||||
#define IMU_ACCEL_Z_SENS 2.4525
|
||||
#define IMU_ACCEL_Z_SENS_NUM 981
|
||||
#define IMU_ACCEL_Z_SENS_DEN 400
|
||||
#endif
|
||||
|
||||
/** Everything that is in the bebop IMU */
|
||||
struct ImuBebop {
|
||||
volatile uint8_t accel_valid; ///< Shows when the accelerometer is valid
|
||||
volatile uint8_t gyro_valid; ///< Shows when the gyrometer is valid
|
||||
volatile uint8_t mag_valid; ///< Shows when the Magneto is valid
|
||||
struct Mpu60x0_I2c mpu; ///< The MPU gyro/accel device
|
||||
struct Ak8963 ak; ///< The AK8963 mag
|
||||
};
|
||||
|
||||
extern struct ImuBebop imu_bebop;
|
||||
extern void imu_bebop_event(void);
|
||||
|
||||
static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
|
||||
{
|
||||
imu_bebop_event();
|
||||
if (imu_bebop.gyro_valid) {
|
||||
imu_bebop.gyro_valid = FALSE;
|
||||
_gyro_handler();
|
||||
}
|
||||
if (imu_bebop.accel_valid) {
|
||||
imu_bebop.accel_valid = FALSE;
|
||||
_accel_handler();
|
||||
}
|
||||
if (imu_bebop.mag_valid) {
|
||||
imu_bebop.mag_valid = FALSE;
|
||||
_mag_handler();
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* IMU_BEBOP_H */
|
||||
Executable
+488
@@ -0,0 +1,488 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
from __future__ import print_function
|
||||
import re
|
||||
import argparse
|
||||
import socket
|
||||
import telnetlib
|
||||
import os
|
||||
from time import sleep
|
||||
from ftplib import FTP
|
||||
|
||||
|
||||
# Check if IP is valid
|
||||
def is_ip(address):
|
||||
try:
|
||||
socket.inet_aton(address)
|
||||
ip = True
|
||||
except socket.error:
|
||||
ip = False
|
||||
return ip
|
||||
|
||||
# Execute a command
|
||||
def execute_command(command):
|
||||
tn.write(command + '\n')
|
||||
return tn.read_until('# ')[len(command) + 2:-4]
|
||||
|
||||
# Helper function
|
||||
def split_into_path_and_file(name):
|
||||
if name.count('/') <= 0:
|
||||
return ["./", name]
|
||||
return name.rsplit('/', 1)
|
||||
|
||||
# Read from config.ini
|
||||
def read_from_config(name, config=''):
|
||||
if config == '':
|
||||
config = execute_command('cat /data/config.ini')
|
||||
search = re.search(name + '[^=]+=[\r\n\t ]([^\r\n\t ]+)', config)
|
||||
if search is None:
|
||||
return ''
|
||||
else:
|
||||
return search.group(1)
|
||||
|
||||
# Write to config
|
||||
def write_to_config(name, value):
|
||||
if read_from_config(name) == '':
|
||||
execute_command('echo "' + name + ' = ' + value + '\" >> /data/config.ini')
|
||||
else:
|
||||
execute_command('sed -i "s/\(' + name + ' *= *\).*/\\1' + value + '/g" /data/config.ini')
|
||||
|
||||
# Check the version
|
||||
def check_version():
|
||||
return execute_command('cat /firmware/version.txt')
|
||||
|
||||
# Check what currently is running on the drone
|
||||
def check_running():
|
||||
ps_aux = execute_command('ps')
|
||||
running = ""
|
||||
|
||||
if 'program.elf' in ps_aux:
|
||||
running += ' Native (program.elf),'
|
||||
if 'ap.elf' in ps_aux:
|
||||
running += ' Paparazzi (ap.elf),'
|
||||
if 'gst-launch' in ps_aux:
|
||||
running += ' GStreamer (gst-launch)'
|
||||
return running[1:]
|
||||
|
||||
# Check if vision framework is installed
|
||||
def check_vision_installed():
|
||||
du_opt = execute_command('du -d 2 /data/video/opt')
|
||||
return '/data/video/opt/arm/gst' in du_opt or '/data/video/opt/arm/lib' in du_opt or '/data/video/opt/arm/tidsp-binaries-23.i3.8' in du_opt
|
||||
|
||||
# Check if the vision framework is running
|
||||
def check_vision_running():
|
||||
du_opt = execute_command('du -d 2 /opt')
|
||||
return '/opt/arm/gst' in du_opt and '/opt/arm/lib' in du_opt and '/opt/arm/tidsp-binaries-23.i3.8' in du_opt
|
||||
|
||||
# Check if autoboot is installed
|
||||
def check_autoboot():
|
||||
check_update = execute_command('grep "START_PAPARAZZI" /bin/check_update.sh')
|
||||
wifi_setup = execute_command('grep "BASE_ADRESS" /bin/wifi_setup.sh')
|
||||
if "START_PAPARAZZI" in check_update and "BASE_ADRESS" in wifi_setup:
|
||||
return True
|
||||
else:
|
||||
return False
|
||||
|
||||
# Check if custom wifi_setup script is installed
|
||||
def check_wifi_setup():
|
||||
check_wifi = execute_command('grep "static_ip_address_base" /bin/wifi_setup.sh')
|
||||
if "static_ip_address_base" in check_wifi:
|
||||
return True
|
||||
else:
|
||||
return False
|
||||
|
||||
# Check the filesystem
|
||||
def check_filesystem():
|
||||
return execute_command('df -h')
|
||||
|
||||
# Reboot the drone
|
||||
def bebop_reboot():
|
||||
execute_command('reboot')
|
||||
|
||||
# Install the vision framework
|
||||
def bebop_install_vision():
|
||||
print('Uploading GST')
|
||||
ftp.storbinary("STOR arm_light.tgz", file("bin/arm_light.tgz", "rb"))
|
||||
print(execute_command("cd /data/video && tar -xzf arm_light.tgz"))
|
||||
print(execute_command("rm -rf /data/video/arm_light.tgz"))
|
||||
print('Now Starting Vision')
|
||||
bebop_start_vision()
|
||||
|
||||
# Remove the vision framework
|
||||
def bebop_remove_vision():
|
||||
execute_command("rm -rf /opt/arm")
|
||||
execute_command("rm -rf /lib/dsp")
|
||||
execute_command("rm -rf /data/video/opt")
|
||||
|
||||
# Start the vision framework
|
||||
def bebop_start_vision():
|
||||
# Mount the directories
|
||||
execute_command("mkdir -p /opt/arm")
|
||||
execute_command("mkdir -p /lib/dsp")
|
||||
execute_command("mount --bind /data/video/opt/arm /opt/arm")
|
||||
execute_command("mount --bind /data/video/opt/arm/lib/dsp /lib/dsp")
|
||||
# Start The DSP programs
|
||||
execute_command("kill -9 `pidof program.elf`")
|
||||
execute_command("kill -9 `pidof gst-launch-0.10`")
|
||||
execute_command("export PATH=/opt/arm/gst/bin:$PATH")
|
||||
execute_command("export DSP_PATH=/opt/arm/tidsp-binaries-23.i3.8/")
|
||||
execute_command("/bin/dspbridge/cexec.out -T /opt/arm/tidsp-binaries-23.i3.8/baseimage.dof -v")
|
||||
execute_command("/bin/dspbridge/dynreg.out -r /opt/arm/tidsp-binaries-23.i3.8/m4venc_sn.dll64P -v")
|
||||
# Show result
|
||||
execute_command("ls -altr /opt/arm/gst/bin")
|
||||
|
||||
# Install autoboot script
|
||||
def bebop_install_autoboot():
|
||||
print('Uploading autoboot script')
|
||||
ftp.storbinary("STOR check_update.sh", file("check_update.sh", "rb"))
|
||||
print(execute_command("mv /data/video/check_update.sh /bin/check_update.sh"))
|
||||
print(execute_command("chmod 777 /bin/check_update.sh"))
|
||||
|
||||
# Install network script
|
||||
def bebop_install_network_script():
|
||||
print('Uploading Wifi script')
|
||||
ftp.storbinary("STOR wifi_setup.sh", file("wifi_setup.sh", "rb"))
|
||||
print(execute_command("mv /data/video/wifi_setup.sh /bin/wifi_setup.sh"))
|
||||
print(execute_command("chmod 777 /bin/wifi_setup.sh"))
|
||||
|
||||
# Set network SSID
|
||||
def bebop_set_ssid(name):
|
||||
write_to_config('ssid_single_player', name)
|
||||
print('The network ID (SSID) of the Bebop is changed to ' + name)
|
||||
|
||||
# Set IP address
|
||||
def bebop_set_ip_address(address):
|
||||
splitted_ip = address.split(".")
|
||||
write_to_config('static_ip_address_base', splitted_ip[0] + '.' + splitted_ip[1] + '.' + splitted_ip[2] + '.')
|
||||
write_to_config('static_ip_address_probe', splitted_ip[3])
|
||||
print('The IP Address of the Bebop is changed to ' + address)
|
||||
|
||||
# Set wifi mode (0: master, 1: ad-hoc, 2: managed, *: master)
|
||||
def bebop_set_wifi_mode(mode):
|
||||
modes = { 'master' : '0', 'ad-hoc' : '1', 'managed' : '2' }
|
||||
try:
|
||||
val = modes[mode]
|
||||
except:
|
||||
print('Unexpected wifi mode, setting to master (default)')
|
||||
val = modes['master']
|
||||
write_to_config('wifi_mode', val)
|
||||
print('The Wifi mode of the Bebop is changed to ' + mode + ' (' + val + ')')
|
||||
|
||||
def bebop_status():
|
||||
config_ini = execute_command('cat /data/config.ini')
|
||||
|
||||
print('======================== Bebop Status ========================')
|
||||
print('Version:\t\t' + check_version())
|
||||
print('Host:\t\t\t' + args.host + ' (' + read_from_config('static_ip_address_base', config_ini) +
|
||||
read_from_config('static_ip_address_probe', config_ini) + ' after boot)')
|
||||
print('Currently running:\t' + check_running())
|
||||
print('Serial number:\t\t' + read_from_config('drone_serial', config_ini))
|
||||
print('Network id:\t\t' + read_from_config('ssid_single_player', config_ini))
|
||||
print('Motor software:\t\t' +
|
||||
read_from_config('motor1_soft', config_ini) + '\t' + read_from_config('motor2_soft', config_ini) + '\t' +
|
||||
read_from_config('motor3_soft', config_ini) + '\t' + read_from_config('motor4_soft', config_ini))
|
||||
print('Motor hardware:\t\t' +
|
||||
read_from_config('motor1_hard', config_ini) + '\t' + read_from_config('motor2_hard', config_ini) + '\t' +
|
||||
read_from_config('motor3_hard', config_ini) + '\t' + read_from_config('motor4_hard', config_ini))
|
||||
|
||||
autorun = {'': 'Native', '0': 'Native', '1': 'Paparazzi RAW', '2': 'Paparazzi SDK'}
|
||||
if check_autoboot():
|
||||
print('Autorun at start:\tInstalled booting ' + autorun[read_from_config('start_paparazzi', config_ini)])
|
||||
else:
|
||||
print('Autorun at start:\tNot installed')
|
||||
|
||||
# Check if the vision framework is installed and running
|
||||
vision_framework = ""
|
||||
if check_vision_installed():
|
||||
vision_framework += "Installed"
|
||||
if check_vision_running():
|
||||
vision_framework += " and running"
|
||||
print('Vision framework:\t' + vision_framework)
|
||||
|
||||
# Request the filesystem status
|
||||
print('\n======================== Filesystem Status ========================')
|
||||
print(check_filesystem())
|
||||
|
||||
|
||||
# Parse the arguments
|
||||
parser = argparse.ArgumentParser(description='Bebop python helper. Use bebop.py -h for help')
|
||||
parser.add_argument('--host', metavar='HOST', default='192.168.42.1',
|
||||
help='the ip address of bebop')
|
||||
subparsers = parser.add_subparsers(title='Command to execute', metavar='command', dest='command')
|
||||
|
||||
# All the subcommands and arguments
|
||||
subparsers.add_parser('status', help='Request the status of the Bebop')
|
||||
subparsers.add_parser('reboot', help='Reboot the Bebop')
|
||||
subparsers.add_parser('installvision', help='Install the vision framework')
|
||||
subparser_upload_gst = subparsers.add_parser('upload_gst_module',
|
||||
help='Upload, configure and move a gstreamer0.10 module libXXX.so')
|
||||
subparser_upload_gst.add_argument('file', help='Filename of *.so module')
|
||||
subparser_upload_and_run = subparsers.add_parser('upload_file_and_run', help='Upload and run software (for instance the Paparazzi autopilot)')
|
||||
subparser_upload_and_run.add_argument('file', help='Filename of an executable')
|
||||
subparser_upload_and_run.add_argument('folder', help='Destination subfolder (raw or sdk for Paparazzi autopilot)')
|
||||
subparser_upload = subparsers.add_parser('upload_file', help='Upload a file to the Bebop')
|
||||
subparser_upload.add_argument('file', help='Filename')
|
||||
subparser_upload.add_argument('folder', help='Destination subfolder (base destination folder is /data/video)')
|
||||
subparser_download = subparsers.add_parser('download_file', help='Download a file from the Bebop')
|
||||
subparser_download.add_argument('file', help='Filename (with the path on the local machine)')
|
||||
subparser_download.add_argument('folder', help='Remote subfolder (base folder is /data/video)')
|
||||
subparser_download_dir = subparsers.add_parser('download_dir', help='Download all files from a folder from the Bebop')
|
||||
subparser_download_dir.add_argument('dest', help='destination folder (on the local machine)')
|
||||
subparser_download_dir.add_argument('folder', help='Remote subfolder (base folder is /data/video)')
|
||||
subparser_rm_dir = subparsers.add_parser('rm_dir', help='Remove a directory and all its files from the Bebop')
|
||||
subparser_rm_dir.add_argument('folder', help='Remote subfolder (base folder is /data/video)')
|
||||
subparser_insmod = subparsers.add_parser('insmod', help='Upload and insert kernel module')
|
||||
subparser_insmod.add_argument('file', help='Filename of *.ko kernel module')
|
||||
subparsers.add_parser('startvision', help='Start the vision framework')
|
||||
subparser_start = subparsers.add_parser('start', help='Start a program on the Bebop')
|
||||
subparser_start.add_argument('program', help='the program to start')
|
||||
subparser_kill = subparsers.add_parser('kill', help='Kill a program on the Bebop')
|
||||
subparser_kill.add_argument('program', help='the program to kill')
|
||||
subparser_networkid = subparsers.add_parser('networkid', help='Set the network ID(SSID) of the Bebop')
|
||||
subparser_networkid.add_argument('name', help='the new network ID(SSID)')
|
||||
subparser_ipaddress = subparsers.add_parser('ipaddress', help='Set the IP address of the Bebop')
|
||||
subparser_ipaddress.add_argument('address', help='the new IP address')
|
||||
subparser_wifimode = subparsers.add_parser('wifimode', help='Set the Wifi mode the Bebop')
|
||||
subparser_wifimode.add_argument('mode', help='the new Wifi mode', choices=['master', 'ad-hoc', 'managed'])
|
||||
subparser_configure_network = subparsers.add_parser('configure_network', help='Configure the network on the Bebop')
|
||||
subparser_configure_network.add_argument('name', help='the new network ID(SSID)')
|
||||
subparser_configure_network.add_argument('address', help='the new IP address')
|
||||
subparser_configure_network.add_argument('mode', help='the new Wifi mode', choices=['master', 'ad-hoc', 'managed'])
|
||||
subparser_install_autostart = subparsers.add_parser('install_autostart', help='Install custom autostart script and set what to start on boot for the Bebop')
|
||||
subparser_install_autostart.add_argument('type', choices=['native', 'paparazzi_raw', 'paparazzi_sdk'],
|
||||
help='what to start on boot')
|
||||
subparser_autostart = subparsers.add_parser('autostart', help='Set what to start on boot for the Bebop')
|
||||
subparser_autostart.add_argument('type', choices=['native', 'paparazzi_raw', 'paparazzi_sdk'],
|
||||
help='what to start on boot')
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
# Connect with telnet and ftp
|
||||
try:
|
||||
tn = telnetlib.Telnet(args.host)
|
||||
ftp = FTP(args.host)
|
||||
ftp.login()
|
||||
except:
|
||||
print('Could not connect to Bebop (host: ' + args.host + ')')
|
||||
exit(2)
|
||||
|
||||
# Read until after login
|
||||
tn.read_until('# ')
|
||||
|
||||
# Check the Bebop status
|
||||
if args.command == 'status':
|
||||
bebop_status()
|
||||
|
||||
# Reboot the drone
|
||||
elif args.command == 'reboot':
|
||||
bebop_reboot()
|
||||
print('The Bebop is rebooting...')
|
||||
|
||||
# Kill a program
|
||||
elif args.command == 'kill':
|
||||
execute_command('killall -9 ' + args.program)
|
||||
print('Program "' + args.program + '" is now killed')
|
||||
|
||||
# Start a program
|
||||
elif args.command == 'start':
|
||||
execute_command(args.start + ' &')
|
||||
print('Program "' + args.start + '" is now started')
|
||||
|
||||
# Change the network ID
|
||||
elif args.command == 'networkid':
|
||||
bebop_set_ssid(args.name)
|
||||
|
||||
if raw_input("Shall I restart the Bebop? (y/N) ").lower() == 'y':
|
||||
bebop_reboot()
|
||||
|
||||
# Change the IP address
|
||||
elif args.command == 'ipaddress':
|
||||
bebop_set_ip_address(args.address)
|
||||
|
||||
if raw_input("Shall I restart the Bebop? (y/N) ").lower() == 'y':
|
||||
bebop_reboot()
|
||||
|
||||
# Change the wifi mode
|
||||
elif args.command == 'wifimode':
|
||||
bebop_set_wifi_mode(args.mode)
|
||||
|
||||
if raw_input("Shall I restart the Bebop? (y/N) ").lower() == 'y':
|
||||
bebop_reboot()
|
||||
|
||||
# Install and configure network
|
||||
elif args.command == 'configure_network':
|
||||
config_ini = execute_command('cat /data/config.ini')
|
||||
print('=== Current network setup ===')
|
||||
print('Network id:\t' + read_from_config('ssid_single_player', config_ini))
|
||||
print('Host:\t\t' + args.host + ' (' + read_from_config('static_ip_address_base', config_ini) +
|
||||
read_from_config('static_ip_address_probe', config_ini) + ' after boot)')
|
||||
print('Mode:\t\t' + read_from_config('wifi_mode', config_ini))
|
||||
print('=============================')
|
||||
if check_wifi_setup():
|
||||
print('Custom Wifi script already installed')
|
||||
if raw_input("Shall I reinstall the Wifi script (y/N) ").lower() == 'y':
|
||||
bebop_install_network_script()
|
||||
else:
|
||||
if raw_input("Shall I install custom Wifi script (recommanded) (y/N) ").lower() == 'y':
|
||||
bebop_install_network_script()
|
||||
bebop_set_ssid(args.name)
|
||||
bebop_set_ip_address(args.address)
|
||||
bebop_set_wifi_mode(args.mode)
|
||||
config_ini = execute_command('cat /data/config.ini')
|
||||
print('== New network setup after boot ==')
|
||||
print('Network id:\t' + read_from_config('ssid_single_player', config_ini))
|
||||
print('Host:\t\t' + read_from_config('static_ip_address_base', config_ini) +
|
||||
read_from_config('static_ip_address_probe', config_ini))
|
||||
print('Mode:\t\t' + read_from_config('wifi_mode', config_ini))
|
||||
print('==================================')
|
||||
|
||||
if raw_input("Shall I restart the Bebop? (y/N) ").lower() == 'y':
|
||||
bebop_reboot()
|
||||
|
||||
# Install and configure autostart
|
||||
elif args.command == 'install_autostart':
|
||||
if check_autoboot():
|
||||
print('Custom autostart script already installed')
|
||||
if raw_input("Shall I reinstall the autostart script (y/N) ").lower() == 'y':
|
||||
bebop_install_autoboot()
|
||||
else:
|
||||
bebop_install_autoboot()
|
||||
autorun = {'native': '0', 'paparazzi_raw': '1', 'paparazzi_sdk': '2'}
|
||||
write_to_config('start_paparazzi', autorun[args.type])
|
||||
print('The autostart on boot is changed to ' + args.type)
|
||||
|
||||
if raw_input("Shall I restart the Bebop? (y/N) ").lower() == 'y':
|
||||
bebop_reboot()
|
||||
|
||||
# Change the autostart
|
||||
elif args.command == 'autostart':
|
||||
autorun = {'native': '0', 'paparazzi_raw': '1', 'paparazzi_sdk': '2'}
|
||||
write_to_config('start_paparazzi', autorun[args.type])
|
||||
print('The autostart on boot is changed to ' + args.type)
|
||||
|
||||
# Install Vision framework
|
||||
elif args.command == 'installvision':
|
||||
if check_vision_installed():
|
||||
print('Vision framework already installed')
|
||||
if raw_input("Shall I reinstall the vision framework? (y/N) ").lower() == 'y':
|
||||
bebop_remove_vision()
|
||||
bebop_install_vision()
|
||||
|
||||
bebop_install_vision()
|
||||
print('Vision framework installed')
|
||||
|
||||
# Start Vision framework
|
||||
elif args.command == 'startvision':
|
||||
if check_vision_running():
|
||||
print('Vision framework already started')
|
||||
else:
|
||||
if not check_vision_installed():
|
||||
print('No vision framework installed')
|
||||
if raw_input("Shall I install the vision framework? (y/N) ").lower() == 'y':
|
||||
bebop_install_vision()
|
||||
|
||||
if check_vision_installed():
|
||||
bebop_start_vision()
|
||||
print('Vision framework started')
|
||||
|
||||
elif args.command == 'upload_gst_module':
|
||||
print('Uploading ...' + args.file)
|
||||
ftp.storbinary("STOR " + args.file, file(args.file, "rb"))
|
||||
execute_command("chmod 777 /data/video/" + args.file)
|
||||
execute_command("mv /data/video/" + args.file + " /data/video/opt/arm/gst/lib/gstreamer-0.10")
|
||||
if check_vision_running():
|
||||
print('Info: Vision framework already started')
|
||||
else:
|
||||
if not check_vision_installed():
|
||||
print('Warning: No vision framework installed')
|
||||
if raw_input("Warning: Shall I install the vision framework? (y/N) ").lower() == 'y':
|
||||
bebop_install_vision()
|
||||
|
||||
if check_vision_installed():
|
||||
bebop_start_vision()
|
||||
print('#pragma message: Vision framework started')
|
||||
print('#pragma message: Vision Plugin Uploaded and DSP Started.')
|
||||
|
||||
|
||||
elif args.command == 'insmod':
|
||||
modfile = split_into_path_and_file(args.file)
|
||||
print('Uploading \'' + modfile[1])
|
||||
ftp.storbinary("STOR " + modfile[1], file(args.file, "rb"))
|
||||
print(execute_command("insmod /data/video/" + modfile[1]))
|
||||
|
||||
elif args.command == 'upload_file_and_run':
|
||||
# Split filename and path
|
||||
f = split_into_path_and_file(args.file)
|
||||
|
||||
print("Kill running " + f[1] + " and make folder " + args.folder)
|
||||
execute_command("killall -9 " + f[1])
|
||||
sleep(1)
|
||||
execute_command("mkdir -p /data/ftp/" + args.folder)
|
||||
print('Uploading \'' + f[1] + "\' from " + f[0] + " to " + args.folder)
|
||||
ftp.storbinary("STOR " + args.folder + "/" + f[1], file(args.file, "rb"))
|
||||
sleep(0.5)
|
||||
execute_command("chmod 777 /data/ftp/" + args.folder + "/" + f[1])
|
||||
execute_command("/data/ftp/" + args.folder + "/" + f[1] + " > /dev/null 2>&1 &")
|
||||
print("#pragma message: Upload and Start of ap.elf to Bebop Succes!")
|
||||
|
||||
elif args.command == 'upload_file':
|
||||
# Split filename and path
|
||||
f = split_into_path_and_file(args.file)
|
||||
|
||||
execute_command("mkdir -p /data/video/" + args.folder)
|
||||
print('Uploading \'' + f[1] + "\' from " + f[0] + " to /data/video/" + args.folder)
|
||||
ftp.storbinary("STOR " + args.folder + "/" + f[1], file(args.file, "rb"))
|
||||
print("#pragma message: Upload of " + f[1] + " to Bebop Succes!")
|
||||
|
||||
elif args.command == 'download_file':
|
||||
# Split filename and path
|
||||
f = split_into_path_and_file(args.file)
|
||||
# Open file and download
|
||||
try:
|
||||
file = open(args.file, 'wb')
|
||||
print('Downloading \'' + f[1] + "\' from " + args.folder + " to " + f[0])
|
||||
ftp.retrbinary("RETR " + args.folder + "/" + f[1], file.write)
|
||||
print("#pragma message: Download of " + f[1] + " from Bebop Succes!")
|
||||
except IOError:
|
||||
print("#pragma message: Fail to open file " + args.file)
|
||||
except:
|
||||
os.remove(args.file)
|
||||
print("#pragma message: Download of " + f[1] + " from Bebop Failed!")
|
||||
else:
|
||||
file.close()
|
||||
|
||||
elif args.command == 'download_dir':
|
||||
# Split filename and path
|
||||
files = execute_command('find /data/video/' + args.folder + ' -name \'*.*\'')
|
||||
# Create dest dir if needed
|
||||
if not os.path.exists(args.dest):
|
||||
os.mkdir(args.dest)
|
||||
# Open file and download
|
||||
for f in files.split():
|
||||
file_name = split_into_path_and_file(f)
|
||||
file_source = args.folder + '/' + file_name[1]
|
||||
file_dest = args.dest + '/' + file_name[1]
|
||||
try:
|
||||
file = open(file_dest, 'wb')
|
||||
print('Downloading \'' + f + "\' to " + file_dest)
|
||||
ftp.retrbinary("RETR " + file_source, file.write)
|
||||
except IOError:
|
||||
print("#pragma message: Fail to open file " + file_dest)
|
||||
except:
|
||||
os.remove(file_dest)
|
||||
print("#pragma message: Download of " + f + " from Bebop Failed!")
|
||||
else:
|
||||
file.close()
|
||||
print("#pragma message: End download of folder " + args.folder + " from Bebop")
|
||||
|
||||
elif args.command == 'rm_dir':
|
||||
# Split filename and path
|
||||
print("Deleting folder /data/video/" + args.folder + " from Bebop")
|
||||
print(execute_command('rm -r /data/video/' + args.folder))
|
||||
|
||||
|
||||
|
||||
# Close the telnet and python script
|
||||
tn.close()
|
||||
ftp.close()
|
||||
exit(0)
|
||||
Reference in New Issue
Block a user