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Actuator Faulhaber (#3283)

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* Actuator Faulhaber

code style

activate

fix test

* Update conf/modules/actuators_faulhaber.xml

* try to fix

* Update conf/modules/actuators_faulhaber.xml

* 16-bit code
This commit is contained in:
Christophe De Wagter
2024-06-12 09:03:14 +02:00
committed by GitHub
parent 19be47a427
commit 4b4ebface9
5 changed files with 467 additions and 2 deletions
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conf/airframes/tudelft/rot_wing_25kg.xml
+10 -2
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@@ -23,6 +23,7 @@
<define name="RADIO_FMODE" value="RADIO_AUX2"/>
<define name="RADIO_FBW_MODE" value="RADIO_AUX3"/>
<define name="RADIO_CONTROL_THRUST_X" value="RADIO_AUX4"/>
<define name="RADIO_PARACHUTE" value="RADIO_AUX6"/>
<!-- EKF2 configure inputs -->
<define name="INS_EKF2_GYRO_ID" value="IMU_PIXHAWK2_ID"/>
@@ -41,8 +42,6 @@
<!-- Log in high speed (Remove for outdoor flights) -->
<!-- <define name="IMU_LOG_HIGHSPEED" value="TRUE"/> -->
<define name="SERVO_ROTATION_MECH_IDX" value="0"/> <!-- !!!!!!!!!!!!!!!!!!!!!!!!!!!! FIXMEEE !!!!!!!!!!!!!!!!!!!!!!!!!! -->
</target>
<target name="nps" board="pc">
@@ -106,6 +105,8 @@
<configure value="TRUE" name="UAVCAN_USE_CAN1"/>
<configure value="TRUE" name="UAVCAN_USE_CAN2"/>
</module>
<!-- Rotation mechanism actuator on UART -->
<module name="actuators" type="faulhaber"/>
<!-- Control -->
<module name="stabilization" type="indi">
@@ -179,6 +180,10 @@
<servo no="6" name="BSERVO_RUDDER" min="-3250" neutral="0" max="3250"/>
</servos>
<servos driver="Faulhaber">
<servo no="0" name="ROTATION_MECH" min="29" neutral="1707" max="3385"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
@@ -221,6 +226,9 @@
<set servo="BAIL_LEFT" value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])"/>
<set servo="BFLAP_LEFT" value="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])"/>
<set servo="BPARACHUTE" value="RadioControlValues(RADIO_AUX6)"/-->
<!-- Rotation mechanism -->
<set servo="ROTATION_MECH" value="rotwing_state_skewing.servo_pprz_cmd"/>
</command_laws>
conf/modules/actuators_faulhaber.xml
+45
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@@ -0,0 +1,45 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="actuators_faulhaber" dir="actuators" task="actuators">
<doc>
<description>
Actuators Driver for the Faulhaber controller
</description>
<configure name="FAULHABER_DEV" value="UARTX" description="UART port (default UART4)"/>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="Faulhaber">
<dl_setting var="faulhaber.mode" min="0" step="1" max="4" shortname="mode" module="modules/actuators/actuators_faulhaber" handler="SetMode"/>
<dl_setting var="faulhaber.setpoint_position" min="0" step="1000" max="3600000"/>
<dl_setting var="faulhaber.real_position" min="0" step="1000" max="3300000"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>uart</depends>
<provides></provides>
</dep>
<header>
<file name="actuators_faulhaber.h"/>
</header>
<init fun="actuators_faulhaber_init()"/>
<periodic fun="actuators_faulhaber_periodic()" freq="50"/>
<event fun="actuators_faulhaber_event()" />
<makefile target="!sim">
<configure name="FAULHABER_DEV" default="UART4" case="upper|lower"/>
<define name="FAULHABER_DEV" value="$(FAULHABER_DEV_LOWER)"/>
<define name="USE_$(FAULHABER_DEV_UPPER)"/>
<define name="$(FAULHABER_DEV_UPPER)_BAUD" value="B115200"/>
<file name="actuators_faulhaber.c"/>
<test>
<define name="USE_UART4"/>
<define name="PERIODIC_FREQUENCY" value="500"/>
<define name="FAULHABER_DEV" value="uart4"/>
<define name="get_servo_min_FAULHABER" value=""/>
<define name="get_servo_max_FAULHABER" value=""/>
<define name="get_servo_idx_FAULHABER" value=""/>
</test>
</makefile>
</module>
sw/airborne/modules/actuators/actuators_faulhaber.c
+342
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File diff suppressed because it is too large Load Diff
sw/airborne/modules/actuators/actuators_faulhaber.h
+66
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@@ -0,0 +1,66 @@
/*
* Copyright (C) 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, see
* <http://www.gnu.org/licenses/>.
*/
/**
* @file "modules/actuators/actuators_faulhaber.h"
* @author Freek van Tienen
* Serial Connection module between ap and a faulhaber motor controller
*/
#ifndef ACTUATORS_FAULHABER_H
#define ACTUATORS_FAULHABER_H
#include "std.h"
enum faulhaber_modes_t {
FH_MODE_INIT,
FH_MODE_IDLE,
FH_MODE_HOME,
FH_MODE_POSITION,
FH_MODE_ENABLE
};
struct faulhaber_t {
enum faulhaber_modes_t mode;
uint8_t state;
int32_t setpoint_position;
int32_t target_position;
int32_t real_position;
};
extern struct faulhaber_t faulhaber;
extern void actuators_faulhaber_init(void);
extern void actuators_faulhaber_periodic(void);
extern void actuators_faulhaber_event(void);
extern void actuators_faulhaber_SetMode(uint8_t mode);
#if USE_NPS
#define ActuatorsFaulhaberInit() {}
#define ActuatorFaulhaberSet(_i, _v) {}
#define ActuatorsFaulhaberCommit() {}
#else
#define ActuatorsFaulhaberInit() actuators_faulhaber_init()
#define ActuatorFaulhaberSet(_i, _v) { faulhaber.setpoint_position = ((get_servo_max_FAULHABER(0)-_v) + get_servo_min_FAULHABER(0))*1000.0f; }
#define ActuatorsFaulhaberCommit() {}
#endif
#endif /* ACTUATORS_FAULHABER_H */
sw/airborne/modules/core/abi_sender_ids.h
+4
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@@ -503,6 +503,10 @@
#define ACT_FEEDBACK_RPM_SENSOR_ID 4
#endif
#ifndef ACT_FEEDBACK_FAULHABER_ID
#define ACT_FEEDBACK_FAULHABER_ID 5
#endif
/*
* IDs of THRUST increment calculation (message 16)
*/