mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-30 19:47:50 +08:00
[board] initial support for Swing
- dedicated swing without mag - strip code before upload - read battery and baro from sysfs - read power button by hand and restart - needs to be plugged to enable telnet, can be disconnected after upload
This commit is contained in:
Gautier Hattenberger
@@ -0,0 +1,37 @@
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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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# Copyright (C) 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
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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.arm-linux and adds upload rules for the Parrot Swing
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#
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include $(PAPARAZZI_SRC)/conf/Makefile.arm-linux
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DRONE = $(PAPARAZZI_SRC)/sw/tools/parrot/swing.py
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# Program the device and start it.
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upload program: $(OBJDIR)/$(TARGET).elf
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$(Q)$(PREFIX)-strip $(OBJDIR)/$(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 program
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="swing">
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<firmware name="rotorcraft">
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<configure name="PREFIX" value="/opt/arm-2012.03/bin/arm-none-linux-gnueabi"/>
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<target name="ap" board="swing"/>
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<target name="nps" board="pc">
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<module name="fdm" type="jsbsim"/>
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</target>
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<!--define name="USE_SONAR" value="TRUE"/-->
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<module name="radio_control" type="datalink"/>
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<module name="telemetry" type="transparent_udp"/>
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<module name="motor_mixing"/>
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<module name="actuators" type="swing"/>
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<module name="imu" type="swing"/>
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<module name="gps" type="datalink"/>
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<module name="stabilization" type="int_quat"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="ins"/>
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<module name="air_data"/>
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</firmware>
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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="0"/>
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</commands>
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<servos>
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<servo name="BOTTOM_RIGHT" no="0" min="0" neutral="15" max="511"/>
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<servo name="TOP_RIGHT" no="1" min="0" neutral="15" max="511"/>
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<servo name="BOTTOM_LEFT" no="2" min="0" neutral="15" max="511"/>
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<servo name="TOP_LEFT" no="3" min="0" neutral="15" max="511"/>
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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="256"/>
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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="{ -81, -81, 81, 81}"/>
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<define name="PITCH_COEF" value="{ 243, -243, 243, -243}"/>
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<define name="YAW_COEF" value="{ 128, -128, -128, 128}"/>
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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_get_motors_on(),FALSE,values)"/>
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<set servo="BOTTOM_RIGHT" 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_LEFT" value="motor_mixing.commands[2]"/>
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<set servo="TOP_LEFT" value="motor_mixing.commands[3]"/>
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</command_laws>
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<section name="AIR_DATA" prefix="AIR_DATA_">
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<define name="CALC_AIRSPEED" value="FALSE"/>
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<define name="CALC_TAS_FACTOR" value="FALSE"/>
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<define name="CALC_AMSL_BARO" value="TRUE"/>
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</section>
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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="300"/>
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<define name="PSI_DGAIN" value="250"/>
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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" type="string[]"/>
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<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_STARTUP" value="AP_MODE_KILL"/>
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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_DIRECT"/>
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<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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</section>
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="3.1" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="3.3" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="3.5" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
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</section>
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</airframe>
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@@ -0,0 +1,51 @@
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# Hey Emacs, this is a -*- makefile -*-
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#
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# swing.makefile
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#
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# http://wiki.paparazziuav.org/wiki/Swing
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#
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BOARD=swing
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BOARD_CFG=\"boards/$(BOARD).h\"
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ARCH=linux
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$(TARGET).ARCHDIR = $(ARCH)
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# include conf/Makefile.swing (with specific upload rules) instead of only Makefile.linux:
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ap.MAKEFILE = swing
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FLOAT_ABI =
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ARCH_CFLAGS = -march=armv5
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# -----------------------------------------------------------------------
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USER=foobar
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HOST?=192.168.4.1
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SUB_DIR=paparazzi
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FTP_DIR=/data/edu
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TARGET_DIR=$(FTP_DIR)/$(SUB_DIR)
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# -----------------------------------------------------------------------
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# The datalink default uses UDP
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MODEM_HOST ?= 192.168.4.255
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# The GPS sensor is connected internally
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GPS_PORT ?= UART1
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GPS_BAUD ?= B230400
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# handle linux signals by hand
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$(TARGET).CFLAGS += -DUSE_LINUX_SIGNAL -D_GNU_SOURCE
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# board specific init function
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$(TARGET).srcs += $(SRC_BOARD)/board.c
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# Link static (Done for GLIBC)
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$(TARGET).CFLAGS += -DLINUX_LINK_STATIC
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$(TARGET).LDFLAGS += -static
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# -----------------------------------------------------------------------
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# default LED configuration
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RADIO_CONTROL_LED ?= none
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BARO_LED ?= none
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AHRS_ALIGNER_LED ?= none
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GPS_LED ?= none
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SYS_TIME_LED ?= 0
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@@ -47,6 +47,10 @@ else ifeq ($(BOARD), disco)
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BARO_BOARD_SRCS += peripherals/ms5611_i2c.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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BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
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# Swing baro
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else ifeq ($(BOARD), swing)
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BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
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# Lisa/M baro
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# Lisa/M baro
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else ifeq ($(BOARD), lisa_m)
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else ifeq ($(BOARD), lisa_m)
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ifeq ($(BOARD_VERSION), 1.0)
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ifeq ($(BOARD_VERSION), 1.0)
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@@ -0,0 +1,17 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="actuators_swing" dir="actuators" task="actuators">
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<doc>
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<description>
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Actuators Driver for Swing
|
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</description>
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</doc>
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<header>
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<file name="actuators.h" dir="boards/swing"/>
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</header>
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<makefile target="ap">
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<define name="ACTUATORS"/>
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<file name="actuators.c" dir="$(SRC_BOARD)"/>
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</makefile>
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</module>
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@@ -0,0 +1,26 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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||||||
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|
||||||
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<module name="imu_swing" dir="imu">
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<doc>
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||||||
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<description>
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||||||
|
Driver for IMU on the Parrot Swing drone.
|
||||||
|
- Accelerometer/Gyroscope: MPU6000 via I2C0
|
||||||
|
</description>
|
||||||
|
</doc>
|
||||||
|
<autoload name="imu_common"/>
|
||||||
|
<autoload name="imu_nps"/>
|
||||||
|
<!--autoload name="sonar_bebop"/-->
|
||||||
|
<header>
|
||||||
|
<file name="imu_swing.h" dir="subsystems/imu"/>
|
||||||
|
</header>
|
||||||
|
<init fun="imu_swing_init()"/>
|
||||||
|
<periodic fun="imu_swing_periodic()"/>
|
||||||
|
<event fun="imu_swing_event()"/>
|
||||||
|
<makefile target="!sim|nps|fbw">
|
||||||
|
<define name="USE_I2C0"/>
|
||||||
|
<define name="IMU_TYPE_H" value="subsystems/imu/imu_swing.h" type="string"/>
|
||||||
|
<file name="mpu60x0.c" dir="peripherals"/>
|
||||||
|
<file name="mpu60x0_i2c.c" dir="peripherals"/>
|
||||||
|
<file name="imu_swing.c" dir="subsystems/imu"/>
|
||||||
|
</makefile>
|
||||||
|
</module>
|
||||||
@@ -0,0 +1,64 @@
|
|||||||
|
/*
|
||||||
|
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
|
||||||
|
* Copyright (C) 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
|
||||||
|
*
|
||||||
|
* 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_SWING
|
||||||
|
#define CONFIG_SWING
|
||||||
|
|
||||||
|
#define BOARD_SWING
|
||||||
|
|
||||||
|
#include "std.h"
|
||||||
|
|
||||||
|
/** uart connected to GPS internally */
|
||||||
|
#define UART1_DEV /dev/ttyPA1
|
||||||
|
#define GPS_UBX_ENABLE_NMEA_DATA_MASK 0xff
|
||||||
|
/** FTDI cable for stereoboard or external GPS */
|
||||||
|
#define UART2_DEV /dev/ttyUSB0
|
||||||
|
|
||||||
|
/* Default actuators driver */
|
||||||
|
#define DEFAULT_ACTUATORS "boards/swing/actuators.h"
|
||||||
|
#define ActuatorDefaultSet(_x,_y) ActuatorsSwingSet(_x,_y)
|
||||||
|
#define ActuatorsDefaultInit() ActuatorsSwingInit()
|
||||||
|
#define ActuatorsDefaultCommit() ActuatorsSwingCommit()
|
||||||
|
|
||||||
|
/* by default activate onboard baro */
|
||||||
|
#ifndef USE_BARO_BOARD
|
||||||
|
#define USE_BARO_BOARD 1
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* The ADC from the sonar */
|
||||||
|
#if USE_ADC0
|
||||||
|
#define ADC0_ID 0
|
||||||
|
#define ADC0_CHANNELS 2
|
||||||
|
#define ADC0_CHANNELS_CNT 1
|
||||||
|
#define ADC0_BUF_LENGTH 8192
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* The SPI from the sonar */
|
||||||
|
#if USE_SPI0
|
||||||
|
#define SPI0_MODE 0
|
||||||
|
#define SPI0_BITS_PER_WORD 8
|
||||||
|
#define SPI0_MAX_SPEED_HZ 320000
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* CONFIG_SWING */
|
||||||
|
|
||||||
@@ -0,0 +1,125 @@
|
|||||||
|
/*
|
||||||
|
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
|
||||||
|
* Copyright (C) 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
|
||||||
|
*
|
||||||
|
* 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/swing/actuators.c
|
||||||
|
* Actuator driver for the swing
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
#include <sys/ioctl.h>
|
||||||
|
#include <fcntl.h>
|
||||||
|
|
||||||
|
#define PWM_MAGIC 'p'
|
||||||
|
typedef struct { unsigned int val[4]; } __attribute__ ((packed)) pwm_delos_quadruplet;
|
||||||
|
#define PWM_DELOS_SET_RATIOS _IOR(PWM_MAGIC, 9, pwm_delos_quadruplet*)
|
||||||
|
#define PWM_DELOS_SET_SPEEDS _IOR(PWM_MAGIC, 10, pwm_delos_quadruplet*)
|
||||||
|
#define PWM_DELOS_SET_CTRL _IOR(PWM_MAGIC, 11, unsigned int)
|
||||||
|
#define PWM_DELOS_REQUEST _IO(PWM_MAGIC, 12)
|
||||||
|
|
||||||
|
#define PWM_NB_BITS (9)
|
||||||
|
|
||||||
|
/* PWM can take value between 0 and 511 */
|
||||||
|
#ifndef PWM_TOTAL_RANGE
|
||||||
|
#define PWM_TOTAL_RANGE (1<<PWM_NB_BITS)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define PWM_REG_RATIO_PRECISION_MASK (PWM_NB_BITS<<16)
|
||||||
|
#define PWM_REG_SATURATION (PWM_REG_RATIO_PRECISION_MASK|PWM_TOTAL_RANGE)
|
||||||
|
|
||||||
|
#include "subsystems/actuators.h"
|
||||||
|
#include "subsystems/actuators/motor_mixing.h"
|
||||||
|
#include "actuators.h"
|
||||||
|
#include "autopilot.h"
|
||||||
|
|
||||||
|
struct ActuatorsSwing actuators_swing;
|
||||||
|
static int actuators_fd;
|
||||||
|
|
||||||
|
// Start/stop PWM
|
||||||
|
enum {
|
||||||
|
SiP6_PWM0_START = (1<<0),
|
||||||
|
SiP6_PWM1_START = (1<<1),
|
||||||
|
SiP6_PWM2_START = (1<<2),
|
||||||
|
SiP6_PWM3_START = (1<<3),
|
||||||
|
};
|
||||||
|
|
||||||
|
void actuators_swing_init(void)
|
||||||
|
{
|
||||||
|
actuators_fd = open("/dev/pwm", O_RDWR);
|
||||||
|
|
||||||
|
pwm_delos_quadruplet m = {{ 1, 1, 1, 1 }};
|
||||||
|
int ret __attribute__((unused)) = ioctl(actuators_fd, PWM_DELOS_SET_SPEEDS, &m);
|
||||||
|
#if ACTUATORS_SWING_DEBUG
|
||||||
|
printf("Return Speeds: %d\n", ret);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
actuators_swing_commit();
|
||||||
|
|
||||||
|
unsigned int control_reg = (SiP6_PWM0_START|SiP6_PWM1_START|SiP6_PWM2_START|SiP6_PWM3_START);
|
||||||
|
|
||||||
|
ret = ioctl(actuators_fd, PWM_DELOS_SET_CTRL, &control_reg);
|
||||||
|
#if ACTUATORS_SWING_DEBUG
|
||||||
|
printf("Return control: %d\n", ret);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
void actuators_swing_commit(void)
|
||||||
|
{
|
||||||
|
pwm_delos_quadruplet m;
|
||||||
|
|
||||||
|
m.val[0] = actuators_swing.rpm_ref[0] & 0xffff;
|
||||||
|
m.val[1] = actuators_swing.rpm_ref[1] & 0xffff;
|
||||||
|
m.val[2] = actuators_swing.rpm_ref[2] & 0xffff;
|
||||||
|
m.val[3] = actuators_swing.rpm_ref[3] & 0xffff;
|
||||||
|
|
||||||
|
|
||||||
|
if( actuators_swing.rpm_ref[0] > (PWM_TOTAL_RANGE) ) { m.val[0] = PWM_REG_SATURATION; }
|
||||||
|
if( actuators_swing.rpm_ref[1] > (PWM_TOTAL_RANGE) ) { m.val[1] = PWM_REG_SATURATION; }
|
||||||
|
if( actuators_swing.rpm_ref[2] > (PWM_TOTAL_RANGE) ) { m.val[2] = PWM_REG_SATURATION; }
|
||||||
|
if( actuators_swing.rpm_ref[3] > (PWM_TOTAL_RANGE) ) { m.val[3] = PWM_REG_SATURATION; }
|
||||||
|
|
||||||
|
if( actuators_swing.rpm_ref[0] < 0 ) { m.val[0] = 0; }
|
||||||
|
if( actuators_swing.rpm_ref[1] < 0 ) { m.val[1] = 0; }
|
||||||
|
if( actuators_swing.rpm_ref[2] < 0 ) { m.val[2] = 0; }
|
||||||
|
if( actuators_swing.rpm_ref[3] < 0 ) { m.val[3] = 0; }
|
||||||
|
|
||||||
|
/* The upper 16-bit word of the ratio register contains the number
|
||||||
|
* of bits used to code the ratio command */
|
||||||
|
m.val[0] |= PWM_REG_RATIO_PRECISION_MASK;
|
||||||
|
m.val[1] |= PWM_REG_RATIO_PRECISION_MASK;
|
||||||
|
m.val[2] |= PWM_REG_RATIO_PRECISION_MASK;
|
||||||
|
m.val[3] |= PWM_REG_RATIO_PRECISION_MASK;
|
||||||
|
|
||||||
|
int ret __attribute__((unused)) = ioctl(actuators_fd, PWM_DELOS_SET_RATIOS, &m);
|
||||||
|
|
||||||
|
#if ACTUATORS_SWING_DEBUG
|
||||||
|
RunOnceEvery(512, printf("Return ratios: %d (ratios: %d %d %d %d, pwm: %d %d %d %d\n",
|
||||||
|
ret,
|
||||||
|
m.val[0], m.val[1], m.val[2], m.val[3],
|
||||||
|
actuators_swing.rpm_ref[0],
|
||||||
|
actuators_swing.rpm_ref[1],
|
||||||
|
actuators_swing.rpm_ref[2],
|
||||||
|
actuators_swing.rpm_ref[3])
|
||||||
|
);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
@@ -0,0 +1,46 @@
|
|||||||
|
/*
|
||||||
|
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
|
||||||
|
* Copyright (C) 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
|
||||||
|
*
|
||||||
|
* 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/swing/actuators.h
|
||||||
|
* Actuator driver for the swing
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef ACTUATORS_SWING_H_
|
||||||
|
#define ACTUATORS_SWING_H_
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
struct ActuatorsSwing {
|
||||||
|
uint16_t rpm_ref[4]; ///< Reference RPM
|
||||||
|
};
|
||||||
|
|
||||||
|
#define ActuatorsSwingSet(_i, _v) { actuators_swing.rpm_ref[_i] = _v; }
|
||||||
|
#define ActuatorsSwingCommit() actuators_swing_commit();
|
||||||
|
#define ActuatorsSwingInit() actuators_swing_init();
|
||||||
|
|
||||||
|
extern struct ActuatorsSwing actuators_swing;
|
||||||
|
extern void actuators_swing_commit(void);
|
||||||
|
extern void actuators_swing_init(void);
|
||||||
|
|
||||||
|
#endif /* ACTUATORS_SWING_H_ */
|
||||||
|
|
||||||
@@ -0,0 +1,38 @@
|
|||||||
|
/*
|
||||||
|
* Copyright (C) 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
|
||||||
|
*
|
||||||
|
* 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 boards/swing/baro_board.h
|
||||||
|
* Paparazzi Swing Baro Sensor implementation.
|
||||||
|
* Sensor is LPS22HB (I2C) from ST but is accessed through sysfs interface
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef BOARDS_SWING_BARO_H
|
||||||
|
#define BOARDS_SWING_BARO_H
|
||||||
|
|
||||||
|
// only for printing the baro type during compilation
|
||||||
|
#ifndef BARO_BOARD
|
||||||
|
#define BARO_BOARD BARO_SWING
|
||||||
|
#endif
|
||||||
|
|
||||||
|
extern void baro_event(void);
|
||||||
|
#define BaroEvent baro_event
|
||||||
|
|
||||||
|
#endif /* BOARDS_SWING_BARO_H */
|
||||||
@@ -0,0 +1,182 @@
|
|||||||
|
/*
|
||||||
|
* Copyright (C) 2017 The Paparazzi Team
|
||||||
|
*
|
||||||
|
* 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 boards/swing/board.c
|
||||||
|
*
|
||||||
|
* Swing specific board initialization function.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "boards/swing.h"
|
||||||
|
#include "mcu.h"
|
||||||
|
#include <stdlib.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <string.h>
|
||||||
|
#include <fcntl.h>
|
||||||
|
#include <unistd.h>
|
||||||
|
#include <pthread.h>
|
||||||
|
#include <linux/input.h>
|
||||||
|
#include "subsystems/electrical.h"
|
||||||
|
|
||||||
|
#if 0
|
||||||
|
static int stop_gracefull(char *process_name)
|
||||||
|
{
|
||||||
|
/* "pidof" always in /bin on Bebop firmware tested 1.98, 2.0.57, no need for "which" */
|
||||||
|
char pidof_commandline[200] = "/bin/pidof ";
|
||||||
|
strcat(pidof_commandline, process_name);
|
||||||
|
/* Bebop Busybox a
|
||||||
|
$ cat /proc/sys/kernel/pid_max
|
||||||
|
Gives max 32768, makes sure it never kills existing other process
|
||||||
|
*/
|
||||||
|
char pid[7] = "";
|
||||||
|
int ret = 0; /* Return code of kill system call */
|
||||||
|
FILE *fp;
|
||||||
|
|
||||||
|
//while (ret == 0) {
|
||||||
|
fp = popen(pidof_commandline, "r");
|
||||||
|
if (fp != NULL) { /* Could open the pidof with line */
|
||||||
|
if (fgets(pid, sizeof(pid) - 1, fp) != NULL) {
|
||||||
|
//printf("Process ID deducted: \"%s\"\n", pid);
|
||||||
|
if (atoi(pid) > 0) { /* To make sure we end 0 > There is a real process id found */
|
||||||
|
char kill_command_and_process[200] = "kill -STOP "; /* BTW there is no pkill on this Busybox */
|
||||||
|
strcat(kill_command_and_process, pid);
|
||||||
|
ret = system(kill_command_and_process);
|
||||||
|
/* No need to wait */
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
ret = 256; /* Could not get handle */
|
||||||
|
pclose(fp);
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
ret = 256; /* fp NULL, so no process, just return */
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
//} /* end while */
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Battery reading thread
|
||||||
|
* TODO something better ?
|
||||||
|
*/
|
||||||
|
static void *bat_read(void *data __attribute__((unused)))
|
||||||
|
{
|
||||||
|
FILE *fp;
|
||||||
|
char path[1035];
|
||||||
|
|
||||||
|
while (TRUE) {
|
||||||
|
/* Open the command for reading. */
|
||||||
|
fp = popen("cat /sys/devices/platform/p6-spi.2/spi2.0/vbat", "r");
|
||||||
|
if (fp == NULL) {
|
||||||
|
printf("Failed to read battery\n" );
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
/* Read the output a line at a time - output it. */
|
||||||
|
while (fgets(path, sizeof(path)-1, fp) != NULL) {
|
||||||
|
int raw_bat = atoi(path);
|
||||||
|
// convert to decivolt
|
||||||
|
// from /bin/mcu_vbat.sh: MILLIVOLTS_VALUE=$(( ($RAW_VALUE * 4250) / 1023 ))
|
||||||
|
electrical.vsupply = ((raw_bat * 4250) / 1023) / 100;
|
||||||
|
}
|
||||||
|
/* close */
|
||||||
|
pclose(fp);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Wait 100ms
|
||||||
|
usleep(100000);
|
||||||
|
}
|
||||||
|
|
||||||
|
return NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Check button thread
|
||||||
|
* TODO something better ?
|
||||||
|
*/
|
||||||
|
static void *button_read(void *data __attribute__((unused)))
|
||||||
|
{
|
||||||
|
struct input_event ev;
|
||||||
|
ssize_t n;
|
||||||
|
|
||||||
|
int fd_button = open("/dev/input/pm_mcu_event", O_RDONLY);
|
||||||
|
if (fd_button == -1) {
|
||||||
|
printf("Unable to open mcu_event to read power button state\n");
|
||||||
|
return NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
while (TRUE) {
|
||||||
|
/* Check power button */
|
||||||
|
printf("read\n");
|
||||||
|
n = read(fd_button, &ev, sizeof(ev));
|
||||||
|
printf("done %d\n", n);
|
||||||
|
if (n == sizeof(ev) && ev.type == EV_KEY && ev.code == KEY_POWER && ev.value > 0) {
|
||||||
|
printf("Stopping Paparazzi from power button and rebooting\n");
|
||||||
|
usleep(1000);
|
||||||
|
int ret __attribute__((unused));
|
||||||
|
//ret = system("pstart delosd");
|
||||||
|
//ret = system("pstart dragon-prog");
|
||||||
|
ret = system("reboot.sh");
|
||||||
|
exit(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Wait 100ms
|
||||||
|
//usleep(100000);
|
||||||
|
}
|
||||||
|
|
||||||
|
return NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
void board_init(void)
|
||||||
|
{
|
||||||
|
/*
|
||||||
|
* Stop original process
|
||||||
|
* Don't kill to avoid automatic restart
|
||||||
|
*
|
||||||
|
* - /usr/bin/dragon-prog
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
//stop_gracefull("delosd");
|
||||||
|
//stop_gracefull("dragon-prog");
|
||||||
|
int ret __attribute__((unused));
|
||||||
|
ret = system("pstop delosd");
|
||||||
|
ret = system("pstop dragon-prog");
|
||||||
|
usleep(50000); /* Give 50ms time to end on a busy system */
|
||||||
|
|
||||||
|
/* Start bat reading thread */
|
||||||
|
pthread_t bat_thread;
|
||||||
|
if (pthread_create(&bat_thread, NULL, bat_read, NULL) != 0) {
|
||||||
|
printf("[swing_board] Could not create battery reading thread!\n");
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Start button reading thread */
|
||||||
|
pthread_t button_thread;
|
||||||
|
if (pthread_create(&button_thread, NULL, button_read, NULL) != 0) {
|
||||||
|
printf("[swing_board] Could not create button reading thread!\n");
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
void board_init2(void)
|
||||||
|
{
|
||||||
|
}
|
||||||
|
|
||||||
@@ -0,0 +1,118 @@
|
|||||||
|
/*
|
||||||
|
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
|
||||||
|
* Copyright (C) 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
|
||||||
|
*
|
||||||
|
* 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_swing.c
|
||||||
|
* Driver for the Swing accelerometer and gyroscope
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "subsystems/imu.h"
|
||||||
|
#include "subsystems/abi.h"
|
||||||
|
#include "mcu_periph/i2c.h"
|
||||||
|
|
||||||
|
|
||||||
|
/* defaults suitable for Swing */
|
||||||
|
#ifndef SWING_MPU_I2C_DEV
|
||||||
|
#define SWING_MPU_I2C_DEV i2c0
|
||||||
|
#endif
|
||||||
|
PRINT_CONFIG_VAR(SWING_MPU_I2C_DEV)
|
||||||
|
|
||||||
|
#if !defined SWING_LOWPASS_FILTER && !defined SWING_SMPLRT_DIV
|
||||||
|
#if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
|
||||||
|
/* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
|
||||||
|
* Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
|
||||||
|
*/
|
||||||
|
#define SWING_LOWPASS_FILTER MPU60X0_DLPF_42HZ
|
||||||
|
#define SWING_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 SWING_LOWPASS_FILTER MPU60X0_DLPF_256HZ
|
||||||
|
#define SWING_SMPLRT_DIV 3
|
||||||
|
PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
|
||||||
|
#endif
|
||||||
|
#endif
|
||||||
|
PRINT_CONFIG_VAR(SWING_SMPLRT_DIV)
|
||||||
|
PRINT_CONFIG_VAR(SWING_LOWPASS_FILTER)
|
||||||
|
|
||||||
|
PRINT_CONFIG_VAR(SWING_GYRO_RANGE)
|
||||||
|
PRINT_CONFIG_VAR(SWING_ACCEL_RANGE)
|
||||||
|
|
||||||
|
/** Basic Navstik IMU data */
|
||||||
|
struct ImuSwing imu_swing;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Navstik IMU initializtion of the MPU-60x0 and HMC58xx
|
||||||
|
*/
|
||||||
|
void imu_swing_init(void)
|
||||||
|
{
|
||||||
|
/* MPU-60X0 */
|
||||||
|
mpu60x0_i2c_init(&imu_swing.mpu, &(SWING_MPU_I2C_DEV), MPU60X0_ADDR);
|
||||||
|
imu_swing.mpu.config.smplrt_div = SWING_SMPLRT_DIV;
|
||||||
|
imu_swing.mpu.config.dlpf_cfg = SWING_LOWPASS_FILTER;
|
||||||
|
imu_swing.mpu.config.gyro_range = SWING_GYRO_RANGE;
|
||||||
|
imu_swing.mpu.config.accel_range = SWING_ACCEL_RANGE;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Handle all the periodic tasks of the Navstik IMU components.
|
||||||
|
* Read the MPU60x0 every periodic call
|
||||||
|
*/
|
||||||
|
void imu_swing_periodic(void)
|
||||||
|
{
|
||||||
|
// Start reading the latest gyroscope data
|
||||||
|
mpu60x0_i2c_periodic(&imu_swing.mpu);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 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_swing_event(void)
|
||||||
|
{
|
||||||
|
uint32_t now_ts = get_sys_time_usec();
|
||||||
|
|
||||||
|
/* MPU-60x0 event taks */
|
||||||
|
mpu60x0_i2c_event(&imu_swing.mpu);
|
||||||
|
|
||||||
|
if (imu_swing.mpu.data_available) {
|
||||||
|
/* default orientation of the MPU is upside down and in plane mode
|
||||||
|
* turn it to have rotorcraft mode by default */
|
||||||
|
RATES_ASSIGN(imu.gyro_unscaled,
|
||||||
|
-imu_swing.mpu.data_rates.rates.r,
|
||||||
|
-imu_swing.mpu.data_rates.rates.q,
|
||||||
|
-imu_swing.mpu.data_rates.rates.p);
|
||||||
|
VECT3_ASSIGN(imu.accel_unscaled,
|
||||||
|
-imu_swing.mpu.data_accel.vect.z,
|
||||||
|
-imu_swing.mpu.data_accel.vect.y,
|
||||||
|
-imu_swing.mpu.data_accel.vect.x);
|
||||||
|
|
||||||
|
imu_swing.mpu.data_available = false;
|
||||||
|
imu_scale_gyro(&imu);
|
||||||
|
imu_scale_accel(&imu);
|
||||||
|
AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro);
|
||||||
|
AbiSendMsgIMU_ACCEL_INT32(IMU_BOARD_ID, now_ts, &imu.accel);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
@@ -0,0 +1,83 @@
|
|||||||
|
/*
|
||||||
|
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
|
||||||
|
* Copyright (C) 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
|
||||||
|
*
|
||||||
|
* 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_swing.h
|
||||||
|
* Interface for the Swing accelerometer and gyroscope
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
#ifndef IMU_SWING_H
|
||||||
|
#define IMU_SWING_H
|
||||||
|
|
||||||
|
#include "generated/airframe.h"
|
||||||
|
#include "subsystems/imu.h"
|
||||||
|
|
||||||
|
#include "peripherals/mpu60x0_i2c.h"
|
||||||
|
|
||||||
|
#ifndef SWING_GYRO_RANGE
|
||||||
|
#define SWING_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef SWING_ACCEL_RANGE
|
||||||
|
#define SWING_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// Set default sensitivity based on range if needed
|
||||||
|
#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
|
||||||
|
#define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[SWING_GYRO_RANGE]
|
||||||
|
#define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[SWING_GYRO_RANGE][0]
|
||||||
|
#define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[SWING_GYRO_RANGE][1]
|
||||||
|
#define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[SWING_GYRO_RANGE]
|
||||||
|
#define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[SWING_GYRO_RANGE][0]
|
||||||
|
#define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[SWING_GYRO_RANGE][1]
|
||||||
|
#define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[SWING_GYRO_RANGE]
|
||||||
|
#define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[SWING_GYRO_RANGE][0]
|
||||||
|
#define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[SWING_GYRO_RANGE][1]
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// Set default sensitivity based on range if needed
|
||||||
|
#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
|
||||||
|
#define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[SWING_ACCEL_RANGE]
|
||||||
|
#define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[SWING_ACCEL_RANGE][0]
|
||||||
|
#define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[SWING_ACCEL_RANGE][1]
|
||||||
|
#define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[SWING_ACCEL_RANGE]
|
||||||
|
#define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[SWING_ACCEL_RANGE][0]
|
||||||
|
#define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[SWING_ACCEL_RANGE][1]
|
||||||
|
#define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[SWING_ACCEL_RANGE]
|
||||||
|
#define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[SWING_ACCEL_RANGE][0]
|
||||||
|
#define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[SWING_ACCEL_RANGE][1]
|
||||||
|
#endif
|
||||||
|
|
||||||
|
|
||||||
|
/** Everything that is in the swing IMU */
|
||||||
|
struct ImuSwing {
|
||||||
|
struct Mpu60x0_I2c mpu; ///< The MPU gyro/accel device
|
||||||
|
};
|
||||||
|
|
||||||
|
extern struct ImuSwing imu_swing;
|
||||||
|
|
||||||
|
extern void imu_swing_init(void);
|
||||||
|
extern void imu_swing_periodic(void);
|
||||||
|
extern void imu_swing_event(void);
|
||||||
|
|
||||||
|
#endif /* IMU_SWING_H */
|
||||||
@@ -86,17 +86,17 @@ def split_into_path_and_file(name):
|
|||||||
return name.rsplit('/', 1)
|
return name.rsplit('/', 1)
|
||||||
|
|
||||||
# Execute a command
|
# Execute a command
|
||||||
def execute_command(tn, command):
|
def execute_command(tn, command, prompt='#'):
|
||||||
tn.write(command + '\n')
|
tn.write(command + '\n')
|
||||||
return tn.read_until('# ')[len(command) + 2:-4]
|
return tn.read_until(prompt+' ')[len(command) + 2:-4]
|
||||||
|
|
||||||
# Check the version
|
# Check the version
|
||||||
def check_version(tn, directory):
|
def check_version(tn, directory, prompt='#'):
|
||||||
return ParrotVersion(execute_command(tn, 'cat ' + directory + '/version.txt').strip())
|
return ParrotVersion(execute_command(tn, 'cat ' + directory + '/version.txt', prompt).strip())
|
||||||
|
|
||||||
# Check what currently is running on the drone
|
# Check what currently is running on the drone
|
||||||
def check_running(tn):
|
def check_running(tn, prompt='#'):
|
||||||
ps_aux = execute_command(tn, 'ps')
|
ps_aux = execute_command(tn, 'ps', prompt)
|
||||||
running = ""
|
running = ""
|
||||||
|
|
||||||
|
|
||||||
@@ -111,12 +111,12 @@ def check_running(tn):
|
|||||||
return running[1:]
|
return running[1:]
|
||||||
|
|
||||||
# Check the filesystem
|
# Check the filesystem
|
||||||
def check_filesystem(tn):
|
def check_filesystem(tn, prompt='#'):
|
||||||
return execute_command(tn, 'df -h')
|
return execute_command(tn, 'df -h', prompt)
|
||||||
|
|
||||||
# Reboot the drone
|
# Reboot the drone
|
||||||
def reboot(tn):
|
def reboot(tn, prompt='#'):
|
||||||
execute_command(tn, 'reboot')
|
execute_command(tn, 'reboot', prompt)
|
||||||
|
|
||||||
# Upload ftp and catch memory-full error
|
# Upload ftp and catch memory-full error
|
||||||
def uploadfile(ftp, filename, content):
|
def uploadfile(ftp, filename, content):
|
||||||
@@ -131,12 +131,12 @@ def uploadfile(ftp, filename, content):
|
|||||||
|
|
||||||
|
|
||||||
# Connect with telnet and ftp, wait until login
|
# Connect with telnet and ftp, wait until login
|
||||||
def connect(host):
|
def connect(host, prompt='#'):
|
||||||
try:
|
try:
|
||||||
tn = telnetlib.Telnet(host, timeout=3)
|
tn = telnetlib.Telnet(host, timeout=3)
|
||||||
ftp = FTP(host)
|
ftp = FTP(host)
|
||||||
ftp.login()
|
ftp.login()
|
||||||
tn.read_until('# ')
|
tn.read_until(prompt+' ')
|
||||||
return tn, ftp
|
return tn, ftp
|
||||||
except:
|
except:
|
||||||
print('Could not connect to Parrot UAV (host: ' + host + ')')
|
print('Could not connect to Parrot UAV (host: ' + host + ')')
|
||||||
|
|||||||
Executable
+198
@@ -0,0 +1,198 @@
|
|||||||
|
#!/usr/bin/env python
|
||||||
|
#
|
||||||
|
# Copyright (C) 2012-2017 The Paparazzi Team
|
||||||
|
#
|
||||||
|
# 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/>.
|
||||||
|
#
|
||||||
|
|
||||||
|
from __future__ import print_function
|
||||||
|
import re
|
||||||
|
import argparse
|
||||||
|
import os
|
||||||
|
from time import sleep
|
||||||
|
|
||||||
|
import parrot_utils
|
||||||
|
|
||||||
|
PROMPT = '$'
|
||||||
|
FTP_ROOT = '/data/edu/'
|
||||||
|
|
||||||
|
|
||||||
|
# Read from config.ini TODO
|
||||||
|
def read_from_config(name, config=''):
|
||||||
|
if config == '':
|
||||||
|
config = parrot_utils.execute_command('cat /data/config.ini', prompt=PROMPT)
|
||||||
|
search = re.search(name + '[^=]+=[\r\n\t ]([^\r\n\t ]+)', config)
|
||||||
|
if search is None:
|
||||||
|
return ''
|
||||||
|
else:
|
||||||
|
return search.group(1)
|
||||||
|
|
||||||
|
# Write to config TODO
|
||||||
|
def write_to_config(name, value):
|
||||||
|
if read_from_config(name) == '':
|
||||||
|
parrot_utils.execute_command('echo "' + name + ' = ' + value + '\" >> /data/config.ini', prompt=PROMPT)
|
||||||
|
else:
|
||||||
|
parrot_utils.execute_command('sed -i "s/\(' + name + ' *= *\).*/\\1' + value + '/g" /data/config.ini', prompt=PROMPT)
|
||||||
|
|
||||||
|
|
||||||
|
def swing_status():
|
||||||
|
#config_ini = parrot_utils.execute_command(tn, 'cat /data/config.ini', prompt=PROMPT)
|
||||||
|
|
||||||
|
#print('==================== Swing Status ====================')
|
||||||
|
#print('Version:\t\t' + str(parrot_utils.check_version(tn, '', prompt=PROMPT)))
|
||||||
|
# Request the filesystem status
|
||||||
|
print('\n=================== Filesystem Status =======================')
|
||||||
|
print(parrot_utils.check_filesystem(tn, prompt=PROMPT))
|
||||||
|
|
||||||
|
|
||||||
|
# Parse the arguments
|
||||||
|
parser = argparse.ArgumentParser(description='Swing python helper. Use swing.py -h for help')
|
||||||
|
parser.add_argument('--host', metavar='HOST', default='192.168.4.1',
|
||||||
|
help='the ip address of Swing')
|
||||||
|
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 Swing')
|
||||||
|
subparsers.add_parser('reboot', help='Reboot the Swing')
|
||||||
|
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 Swing')
|
||||||
|
subparser_upload.add_argument('file', help='Filename')
|
||||||
|
subparser_upload.add_argument('folder', help='Destination subfolder (base destination folder is '+FTP_ROOT+')')
|
||||||
|
subparser_download = subparsers.add_parser('download_file', help='Download a file from the Swing')
|
||||||
|
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 '+FTP_ROOT+')')
|
||||||
|
subparser_download_dir = subparsers.add_parser('download_dir', help='Download all files from a folder from the Swing')
|
||||||
|
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 '+FTP_ROOT+')')
|
||||||
|
subparser_rm_dir = subparsers.add_parser('rm_dir', help='Remove a directory and all its files from the Swing')
|
||||||
|
subparser_rm_dir.add_argument('folder', help='Remote subfolder (base folder is '+FTP_ROOT+')')
|
||||||
|
subparser_insmod = subparsers.add_parser('insmod', help='Upload and insert kernel module')
|
||||||
|
subparser_insmod.add_argument('file', help='Filename of *.ko kernel module')
|
||||||
|
subparser_start = subparsers.add_parser('start', help='Start a program on the Swing')
|
||||||
|
subparser_start.add_argument('program', help='the program to start')
|
||||||
|
subparser_kill = subparsers.add_parser('kill', help='Kill a program on the Swing')
|
||||||
|
subparser_kill.add_argument('program', help='the program to kill')
|
||||||
|
|
||||||
|
args = parser.parse_args()
|
||||||
|
|
||||||
|
# Connect with telnet and ftp
|
||||||
|
tn, ftp = parrot_utils.connect(args.host, prompt=PROMPT)
|
||||||
|
|
||||||
|
# Check the Swing status
|
||||||
|
if args.command == 'status':
|
||||||
|
print("Connected to Swing at " + args.host)
|
||||||
|
swing_status()
|
||||||
|
|
||||||
|
# Reboot the drone
|
||||||
|
elif args.command == 'reboot':
|
||||||
|
parrot_utils.reboot(tn, prompt=PROMPT)
|
||||||
|
print('The Swing is rebooting...')
|
||||||
|
|
||||||
|
# Kill a program
|
||||||
|
elif args.command == 'kill':
|
||||||
|
parrot_utils.execute_command(tn, 'killall -9 ' + args.program, prompt=PROMPT)
|
||||||
|
print('Program "' + args.program + '" is now killed')
|
||||||
|
|
||||||
|
# Start a program
|
||||||
|
elif args.command == 'start':
|
||||||
|
parrot_utils.execute_command(tn, args.start + ' &', prompt=PROMPT)
|
||||||
|
print('Program "' + args.start + '" is now started')
|
||||||
|
|
||||||
|
|
||||||
|
elif args.command == 'insmod':
|
||||||
|
modfile = parrot_utils.split_into_path_and_file(args.file)
|
||||||
|
print('Uploading \'' + modfile[1])
|
||||||
|
parrot_utils.uploadfile(ftp, modfile[1], file(args.file, "rb"))
|
||||||
|
print(parrot_utils.execute_command(tn, "insmod "+ FTP_ROOT + modfile[1], prompt=PROMPT))
|
||||||
|
|
||||||
|
elif args.command == 'upload_file_and_run':
|
||||||
|
# Split filename and path
|
||||||
|
f = parrot_utils.split_into_path_and_file(args.file)
|
||||||
|
|
||||||
|
print("Kill running " + f[1] + " and make folder " + args.folder)
|
||||||
|
parrot_utils.execute_command(tn,"killall -9 " + f[1], prompt=PROMPT)
|
||||||
|
sleep(1)
|
||||||
|
parrot_utils.execute_command(tn, "mkdir -p " + FTP_ROOT + args.folder, prompt=PROMPT)
|
||||||
|
print('Uploading \'' + f[1] + "\' from " + f[0] + " to " + args.folder)
|
||||||
|
parrot_utils.uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
|
||||||
|
sleep(0.5)
|
||||||
|
parrot_utils.execute_command(tn, "chmod 777 " + FTP_ROOT + args.folder + "/" + f[1], prompt=PROMPT)
|
||||||
|
parrot_utils.execute_command(tn, FTP_ROOT + args.folder + "/" + f[1] + " > /dev/null 2>&1 &", prompt=PROMPT)
|
||||||
|
print("#pragma message: Upload and Start of ap.elf to Swing Succes!")
|
||||||
|
|
||||||
|
elif args.command == 'upload_file':
|
||||||
|
# Split filename and path
|
||||||
|
f = parrot_utils.split_into_path_and_file(args.file)
|
||||||
|
|
||||||
|
parrot_utils.execute_command(tn, "mkdir -p " + FTP_ROOT + args.folder, prompt=PROMPT)
|
||||||
|
print('Uploading \'' + f[1] + "\' from " + f[0] + " to " + FTP_ROOT + args.folder)
|
||||||
|
parrot_utils.uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
|
||||||
|
print("#pragma message: Upload of " + f[1] + " to Swing Succes!")
|
||||||
|
|
||||||
|
elif args.command == 'download_file':
|
||||||
|
# Split filename and path
|
||||||
|
f = parrot_utils.split_into_path_and_file(args.file)
|
||||||
|
# Open file and download
|
||||||
|
try:
|
||||||
|
fd = open(args.file, 'wb')
|
||||||
|
print('Downloading \'' + f[1] + "\' from " + args.folder + " to " + f[0])
|
||||||
|
ftp.retrbinary("RETR " + args.folder + "/" + f[1], fd.write)
|
||||||
|
print("#pragma message: Download of " + f[1] + " from Swing 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 Swing Failed!")
|
||||||
|
else:
|
||||||
|
fd.close()
|
||||||
|
|
||||||
|
elif args.command == 'download_dir':
|
||||||
|
# Split filename and path
|
||||||
|
files = parrot_utils.execute_command(tn, 'find ' + FTP_ROOT + args.folder + ' -name \'*.*\'', prompt=PROMPT)
|
||||||
|
# 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 = parrot_utils.split_into_path_and_file(f)
|
||||||
|
file_source = args.folder + '/' + file_name[1]
|
||||||
|
file_dest = args.dest + '/' + file_name[1]
|
||||||
|
try:
|
||||||
|
fd = open(file_dest, 'wb')
|
||||||
|
print('Downloading \'' + f + "\' to " + file_dest)
|
||||||
|
ftp.retrbinary("RETR " + file_source, fd.write)
|
||||||
|
except IOError:
|
||||||
|
print("#pragma message: Fail to open file " + file_dest)
|
||||||
|
except:
|
||||||
|
os.remove(file_dest)
|
||||||
|
print("#pragma message: Download of " + f + " from Swing Failed!")
|
||||||
|
else:
|
||||||
|
fd.close()
|
||||||
|
print("#pragma message: End download of folder " + args.folder + " from Swing")
|
||||||
|
|
||||||
|
elif args.command == 'rm_dir':
|
||||||
|
# Split filename and path
|
||||||
|
print("Deleting folder " + FTP_ROOT + args.folder + " from Swing")
|
||||||
|
print(parrot_utils.execute_command(tn, 'rm -r ' + FTP_ROOT + args.folder, prompt=PROMPT))
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
# Close the telnet and python script
|
||||||
|
parrot_utils.disconnect(tn, ftp)
|
||||||
|
exit(0)
|
||||||
Reference in New Issue
Block a user