mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
[module] add esc32 driver (#1636)
for testing as only one ESC is currently supported
This commit is contained in:
Gautier Hattenberger
committed by
Felix Ruess
Felix Ruess
parent
0f53c6f270
commit
f0f1d307c2
@@ -0,0 +1,37 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="esc32">
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<doc>
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<description>
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Driver for the ESC32v3 speed controller
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Motor is controlled with PWM.
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Data (voltage, current, RPM) are received from the serial link.
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The driver should work with v2 and v3.
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TBD:
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- send commands to change ESC settings through serial link.
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- support multiple ESC
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For more information see:
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- http://autoquad.org/esc32/
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- https://github.com/svn2github/esc32
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</description>
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<configure name="ESC32_PORT" value="UARTX" description="UART use to get ESC data"/>
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</doc>
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<header>
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<file name="esc32.h"/>
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</header>
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<init fun="esc32_init()"/>
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<periodic fun="esc32_periodic()" freq="10" autorun="TRUE"/>
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<event fun="esc32_event()"/>
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<makefile target="ap">
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<configure name="ESC32_PORT" case="upper|lower"/>
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<define name="USE_$(ESC32_PORT_UPPER)"/>
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<define name="ESC32_DEV" value="$(ESC32_PORT_LOWER)"/>
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<define name="$(ESC32_PORT_UPPER)_BAUD" value="B230400"/>
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<file name="esc32.c"/>
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</makefile>
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</module>
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@@ -34,6 +34,7 @@
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<message name="COMMANDS" period="5"/>
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<message name="FBW_STATUS" period="2"/>
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<message name="AIR_DATA" period="1.3"/>
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<message name="ESC" period="0.9"/>
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</mode>
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<mode name="minimal">
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<message name="ALIVE" period="5"/>
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@@ -134,6 +135,7 @@
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<message name="FBW_STATUS" period="1.0"/>
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<message name="NAVIGATION" period="1.0"/>
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<message name="DATALINK_REPORT" period="1.0"/>
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<message name="ESC" period="0.1"/>
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</mode>
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</process>
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</telemetry>
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@@ -0,0 +1,345 @@
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/*
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* Copyright (C) Murat Bronz and Xavier Paris
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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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* @file "modules/esc32/esc32.c"
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* @author Murat Bronz
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* Serial Connection module between esc32v3 and ap
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* Mainly from Bill Nesbitt's code parts from AutoQuad project
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*/
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#include "modules/esc32/esc32.h"
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#include "mcu_periph/uart.h"
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#include "mcu_periph/sys_time.h"
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#include "subsystems/datalink/downlink.h"
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#include <stdio.h>
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#include <string.h>
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#if PERIODIC_TELEMETRY
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#include "subsystems/datalink/telemetry.h"
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#endif
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struct esc32 esc32;
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#define ESC32_BUF_IN_LEN 64
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#define ESC32_BUF_OUT_LEN 32
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#define ESC32_PARAMS_LEN 10
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#define ESC32_TELEMETRY_RATE 100.0
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struct esc32_ck {
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uint8_t ck_a;
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uint8_t ck_b;
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};
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struct esc32_private {
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struct uart_periph *dev;
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struct esc32_ck ck_in;
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struct esc32_ck ck_out;
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uint8_t buf_in[ESC32_BUF_IN_LEN];
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uint8_t buf_out[ESC32_BUF_OUT_LEN];
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uint8_t in_idx;
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uint8_t out_idx;
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uint16_t cmd_seq_id;
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bool msg_available;
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uint8_t state;
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uint8_t initialized;
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uint8_t params_idx;
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uint8_t in_rows;
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uint8_t in_cols;
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struct esc32_parameter params[ESC32_PARAMS_LEN];
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};
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static struct esc32_private esc32_priv;
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static void esc32_send(struct esc32_private *esc) {
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int i;
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for (i = 0; i < esc->out_idx; i++) {
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uart_put_byte(esc->dev, 0, esc->buf_out[i]);
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}
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}
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static void esc32_compute_ck(struct esc32_ck *ck, uint8_t c) {
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ck->ck_a += c;
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ck->ck_b += ck->ck_a;
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}
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static void esc32_init_ck(struct esc32_ck *ck) {
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ck->ck_a = 0;
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ck->ck_b = 0;
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}
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static float esc32_get_float(struct esc32_private *esc, int idx) {
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float f;
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unsigned char *c = (unsigned char *)&f;
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unsigned int i;
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for (i = 0; i < sizeof(float); i++)
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*c++ = esc->buf_in[idx + i];
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return f;
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}
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static void esc32_put_char(struct esc32_private *esc, unsigned char c) {
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esc->buf_out[esc->out_idx++] = c;
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esc32_compute_ck(&(esc->ck_out), c);
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}
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static void esc32_put_short(struct esc32_private *esc, unsigned short i) {
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unsigned int j;
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unsigned char *c = (unsigned char *)&i;
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for (j = 0; j < sizeof(short); j++)
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esc32_put_char(esc, *c++);
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}
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static void esc32_put_float(struct esc32_private *esc, float f) {
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unsigned int j;
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unsigned char *c = (unsigned char *)&f;
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for (j = 0; j < sizeof(float); j++)
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esc32_put_char(esc, *c++);
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}
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static uint16_t esc32_send_command(struct esc32_private *esc, enum binaryCommands command, float param1, float param2, int n) {
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esc32_init_ck(&(esc->ck_out));
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esc->out_idx = 0;
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esc->buf_out[esc->out_idx++] = 'A';
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esc->buf_out[esc->out_idx++] = 'q';
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esc32_put_char(esc, 1 + 2 + n*sizeof(float));
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esc32_put_char(esc, command);
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esc32_put_short(esc, esc->cmd_seq_id++);
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if (n > 0)
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esc32_put_float(esc, param1);
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if (n > 1)
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esc32_put_float(esc, param2);
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esc->buf_out[esc->out_idx++] = esc->ck_out.ck_a;
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esc->buf_out[esc->out_idx++] = esc->ck_out.ck_b;
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esc32_send(esc);
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return (esc->cmd_seq_id - 1);
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}
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#define UINIT 0
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#define GOT_SYNC 1
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#define SEARCH_COMMAND 2
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#define GET_CMD_ROWS 3
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#define GET_CMD_COLS 4
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#define GET_COMMAND 5
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#define CHECK_CK_A 6
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#define CHECK_CK_B 7
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static void parse_esc32(struct esc32_private *esc, uint8_t c) {
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switch (esc->state) {
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case UINIT:
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if (c == 'A') {
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esc->state = GOT_SYNC;
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}
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break;
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case GOT_SYNC:
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if (c == 'q') {
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esc->state = SEARCH_COMMAND;
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}
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else {
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esc->state = UINIT;
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}
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break;
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case SEARCH_COMMAND:
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if (c == 'T') {
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esc32_init_ck(&(esc->ck_in));
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esc->in_idx = 0;
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esc->state = GET_CMD_ROWS;
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}
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else {
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esc->state = UINIT;
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}
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break;
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case GET_CMD_ROWS:
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esc32_compute_ck(&(esc->ck_in), c);
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esc->in_rows = c;
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esc->state = GET_CMD_COLS;
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break;
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case GET_CMD_COLS:
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esc32_compute_ck(&(esc->ck_in), c);
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esc->in_cols = c;
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esc->state = GET_COMMAND;
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break;
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case GET_COMMAND:
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esc32_compute_ck(&(esc->ck_in), c);
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esc->buf_in[esc->in_idx++] = c;
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if (esc->in_idx >= esc->in_rows * esc->in_cols * sizeof(float)) {
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esc->state = CHECK_CK_A;
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}
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break;
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case CHECK_CK_A:
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if (esc->ck_in.ck_a == c) {
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esc->state = CHECK_CK_B;
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}
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else {
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esc->state = UINIT;
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}
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break;
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case CHECK_CK_B:
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if (esc->ck_in.ck_b == c) {
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esc->msg_available = true;
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}
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esc->state = UINIT;
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break;
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default:
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esc->state = UINIT;
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break;
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}
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}
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static void esc32_msg_send(struct transport_tx *trans, struct link_device *dev) {
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if (esc32.data_available == true){
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pprz_msg_send_ESC(trans, dev, AC_ID,
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&esc32.params.amps,
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&esc32.params.volts_bat,
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&esc32.power,
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&esc32.params.rpm,
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&esc32.params.volts_motor,
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&esc32.energy,
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0); // only one motor handled for now
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esc32.data_available = false;
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};
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}
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void esc32_init(void) {
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memset(&esc32, 0, sizeof(struct esc32));
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memset(&esc32_priv, 0, sizeof(struct esc32_private));
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// uart device
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esc32_priv.dev = &(ESC32_DEV);
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// set command sequence id to 1
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esc32_priv.cmd_seq_id = 1;
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#if PERIODIC_TELEMETRY
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register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ESC, esc32_msg_send);
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#endif
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};
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#if ESC32_DEBUG
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static int debug_start = 0;
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#endif
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void esc32_periodic(void) {
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if (esc32_priv.initialized == false) {
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uart_put_byte(esc32_priv.dev, 0, '\r');
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// enter binary mode
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uint8_t data[] = "binary\r";
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int i = 0;
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while (i < (int) sizeof(data)) {
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uart_put_byte(esc32_priv.dev, 0, data[i]);
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i++;
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}
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esc32_send_command(&esc32_priv, BINARY_COMMAND_TELEM_RATE, 0.0, 0.0, 1);
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esc32_send_command(&esc32_priv, BINARY_COMMAND_TELEM_VALUE, 0.0, BINARY_VALUE_AMPS, 2);
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esc32_send_command(&esc32_priv, BINARY_COMMAND_TELEM_VALUE, 1.0, BINARY_VALUE_VOLTS_BAT, 2);
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esc32_send_command(&esc32_priv, BINARY_COMMAND_TELEM_VALUE, 2.0, BINARY_VALUE_RPM, 2);
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esc32_send_command(&esc32_priv, BINARY_COMMAND_TELEM_VALUE, 3.0, BINARY_VALUE_VOLTS_MOTOR, 2);
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esc32_send_command(&esc32_priv, BINARY_COMMAND_TELEM_RATE, ESC32_TELEMETRY_RATE, 0.0, 1);
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esc32_priv.initialized = true;
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}
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else {
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#if ESC32_DEBUG
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if (!debug_start) {
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// motor spining for debug
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esc32_send_command(&esc32_priv, BINARY_COMMAND_ARM, 0.0, 0.0, 0);
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esc32_send_command(&esc32_priv, BINARY_COMMAND_STOP, 0.0, 0.0, 0);
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esc32_send_command(&esc32_priv, BINARY_COMMAND_START, 0.0, 0.0, 0);
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esc32_send_command(&esc32_priv, BINARY_COMMAND_DUTY, 8.0, 0.0, 1);
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debug_start = 1;
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}
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#endif
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}
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}
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static void esc32_filter_data(struct esc32_parameter *in, struct esc32_parameter *out, struct esc32_parameter *min, struct esc32_parameter *max) {
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// amps
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out->amps += in->amps;
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if (in->amps > max->amps) max->amps = in->amps;
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if (in->amps < min->amps) min->amps = in->amps;
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// volts_bat
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out->volts_bat += in->volts_bat;
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if (in->volts_bat > max->volts_bat) max->volts_bat = in->volts_bat;
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if (in->volts_bat < min->volts_bat) min->volts_bat = in->volts_bat;
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// volts_motor
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out->volts_motor += in->volts_motor;
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if (in->volts_motor > max->volts_motor) max->volts_motor = in->volts_motor;
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if (in->volts_motor < min->volts_motor) min->volts_motor = in->volts_motor;
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// rpm
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out->rpm += in->rpm;
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if (in->rpm > max->rpm) max->rpm = in->rpm;
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if (in->rpm < min->rpm) min->rpm = in->rpm;
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}
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static void esc32_parse_msg(struct esc32_private *esc_priv, struct esc32 *esc) {
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if (esc_priv->in_cols >= 4 && esc_priv->in_rows > 0) {
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// store new values
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esc_priv->params[esc_priv->params_idx].amps = esc32_get_float(esc_priv, 0);
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esc_priv->params[esc_priv->params_idx].volts_bat = esc32_get_float(esc_priv, 4);
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esc_priv->params[esc_priv->params_idx].rpm = esc32_get_float(esc_priv, 8);
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esc_priv->params[esc_priv->params_idx].volts_motor = esc32_get_float(esc_priv, 12);
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// increment index and average/filter when input array is full
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esc_priv->params_idx++;
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if (esc_priv->params_idx == ESC32_PARAMS_LEN) {
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int i;
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struct esc32_parameter tmp = esc_priv->params[0]; // cumulated values
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struct esc32_parameter min = esc_priv->params[0]; // min value
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struct esc32_parameter max = esc_priv->params[0]; // max value
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for (i = 1; i < ESC32_PARAMS_LEN; i++) {
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esc32_filter_data(&(esc_priv->params[i]), &tmp, &min, &max);
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}
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tmp.amps = (tmp.amps - min.amps - max.amps) / (ESC32_PARAMS_LEN - 2);
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tmp.volts_bat = (tmp.volts_bat - min.volts_bat - max.volts_bat) / (ESC32_PARAMS_LEN - 2);
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tmp.volts_motor = (tmp.volts_motor - min.volts_motor - max.volts_motor) / (ESC32_PARAMS_LEN - 2);
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tmp.rpm = (tmp.rpm - min.rpm - max.rpm) / (ESC32_PARAMS_LEN - 2);
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esc->params = tmp;
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// compute power
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esc->power = tmp.amps * tmp.volts_bat;
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// accumulate energy
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esc->energy += esc->power * ESC32_PARAMS_LEN / ESC32_TELEMETRY_RATE / 3600.f;
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// new data available
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esc->data_available = true;
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// reset input array
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esc_priv->params_idx = 0;
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}
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}
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esc_priv->msg_available = false;
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}
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void esc32_event(void) {
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while (uart_char_available(esc32_priv.dev)) {
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parse_esc32(&esc32_priv, uart_getch(esc32_priv.dev));
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if (esc32_priv.msg_available) {
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esc32_parse_msg(&esc32_priv, &esc32);
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}
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}
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}
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@@ -0,0 +1,148 @@
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/*
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||||
* Copyright (C) Murat Bronz <murat.bronz@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/>.
|
||||
*/
|
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/**
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* @file "modules/esc32/esc32.h"
|
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* @author Murat Bronz
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* Connection between esc32v3
|
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*/
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#ifndef ESC32_H
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#define ESC32_H
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#include "std.h"
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extern void esc32_init(void);
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extern void esc32_periodic(void);
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extern void esc32_event(void);
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struct esc32_parameter {
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float amps; ///< current consumption
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float volts_bat; ///< input battery voltage
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float volts_motor; ///< motor voltage (bat voltage * throttle in % in fact)
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float rpm; ///< motor rotation speed
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float duty; ///< motor duty cycle (more or less throttle in %)
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||||
};
|
||||
|
||||
struct esc32 {
|
||||
struct esc32_parameter params; ///< filtered data from the esc
|
||||
float energy; ///< accumulated energy
|
||||
float power; ///< computed battery power
|
||||
bool data_available; ///< data updated
|
||||
};
|
||||
|
||||
extern struct esc32 esc32;
|
||||
|
||||
enum binaryCommands {
|
||||
BINARY_COMMAND_NOP = 0,
|
||||
BINARY_COMMAND_ARM,
|
||||
BINARY_COMMAND_CLI,
|
||||
BINARY_COMMAND_CONFIG,
|
||||
BINARY_COMMAND_DISARM,
|
||||
BINARY_COMMAND_DUTY,
|
||||
BINARY_COMMAND_PWM,
|
||||
BINARY_COMMAND_RPM,
|
||||
BINARY_COMMAND_SET,
|
||||
BINARY_COMMAND_START,
|
||||
BINARY_COMMAND_STATUS,
|
||||
BINARY_COMMAND_STOP,
|
||||
BINARY_COMMAND_TELEM_RATE,
|
||||
BINARY_COMMAND_VERSION,
|
||||
BINARY_COMMAND_TELEM_VALUE,
|
||||
BINARY_COMMAND_GET_PARAM_ID,
|
||||
BINARY_COMMAND_ACK = 250,
|
||||
BINARY_COMMAND_NACK
|
||||
};
|
||||
|
||||
enum binaryValues {
|
||||
BINARY_VALUE_NONE = 0,
|
||||
BINARY_VALUE_AMPS,
|
||||
BINARY_VALUE_VOLTS_BAT,
|
||||
BINARY_VALUE_VOLTS_MOTOR,
|
||||
BINARY_VALUE_RPM,
|
||||
BINARY_VALUE_DUTY,
|
||||
BINARY_VALUE_COMM_PERIOD,
|
||||
BINARY_VALUE_BAD_DETECTS,
|
||||
BINARY_VALUE_ADC_WINDOW,
|
||||
BINARY_VALUE_IDLE_PERCENT,
|
||||
BINARY_VALUE_STATE,
|
||||
BINARY_VALUE_AVGA,
|
||||
BINARY_VALUE_AVGB,
|
||||
BINARY_VALUE_AVGC,
|
||||
BINARY_VALUE_AVGCOMP,
|
||||
BINARY_VALUE_FETSTEP,
|
||||
BINARY_VALUE_NUM
|
||||
};
|
||||
|
||||
enum configParameters {
|
||||
CONFIG_VERSION = 0,
|
||||
STARTUP_MODE,
|
||||
BAUD_RATE,
|
||||
PTERM,
|
||||
ITERM,
|
||||
FF1TERM,
|
||||
FF2TERM,
|
||||
CL1TERM,
|
||||
CL2TERM,
|
||||
CL3TERM,
|
||||
CL4TERM,
|
||||
CL5TERM,
|
||||
SHUNT_RESISTANCE,
|
||||
MIN_PERIOD,
|
||||
MAX_PERIOD,
|
||||
BLANKING_MICROS,
|
||||
ADVANCE,
|
||||
START_VOLTAGE,
|
||||
GOOD_DETECTS_START,
|
||||
BAD_DETECTS_DISARM,
|
||||
MAX_CURRENT,
|
||||
SWITCH_FREQ,
|
||||
MOTOR_POLES,
|
||||
PWM_MIN_PERIOD,
|
||||
PWM_MAX_PERIOD,
|
||||
PWM_MIN_VALUE,
|
||||
PWM_LO_VALUE,
|
||||
PWM_HI_VALUE,
|
||||
PWM_MAX_VALUE,
|
||||
PWM_MIN_START,
|
||||
PWM_RPM_SCALE,
|
||||
FET_BRAKING,
|
||||
PNFAC,
|
||||
INFAC,
|
||||
THR1TERM,
|
||||
THR2TERM,
|
||||
START_ALIGN_TIME,
|
||||
START_ALIGN_VOLTAGE,
|
||||
START_STEPS_NUM,
|
||||
START_STEPS_PERIOD,
|
||||
START_STEPS_ACCEL,
|
||||
PWM_LOWPASS,
|
||||
RPM_MEAS_LP,
|
||||
SERVO_DUTY,
|
||||
SERVO_P,
|
||||
SERVO_D,
|
||||
SERVO_MAX_RATE,
|
||||
SERVO_SCALE,
|
||||
ESC_ID,
|
||||
DIRECTION,
|
||||
CONFIG_NUM_PARAMS
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
+1
-1
Submodule sw/ext/pprzlink updated: c915a014e0...721de3af45
Reference in New Issue
Block a user