mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Pullrequest bluegiga stdma dongle (#2261)
This commit is contained in:
Mario Coppola
committed by
Gautier Hattenberger
Gautier Hattenberger
parent
0a6d735804
commit
f328eb14fa
@@ -0,0 +1,4 @@
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*.d
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*.o
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*.elf
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bluetooth-proximity
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@@ -0,0 +1,76 @@
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TARGET = bluetooth-proximity
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SRCS := $(wildcard *.c)
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OBJS := $(SRCS:.c=.o)
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DEPS := $(SRCS:.c=.d)
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EMBED ?=
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ifeq ($(EMBED),)
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CC = gcc
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MACHINE = $(shell $(CC) -dumpmachine)
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# Windows
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ifneq (,$(or $(findstring mingw, $(MACHINE)), $(findstring cygwin, $(MACHINE))))
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PLATFORM = WIN
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LIBS = -lm -lsetupapi
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RM = del
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# POSIX
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else
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PLATFORM = POSIX
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LIBS = -lm
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endif
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all: $(TARGET)
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%.o: %.c
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$(CC) -O3 -Wall -c -fmessage-length=0 -DPLATFORM_$(PLATFORM) -MMD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o"$@" "$<" -DPRINT
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$(TARGET): $(OBJS)
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@echo 'Building target: $@'
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$(CC) -o"$(TARGET)" $(OBJS) $(LIBS) $(CFLAG)
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@echo 'Finished building target: $@'
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clean:
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-$(RM) $(OBJS) $(DEPS) $(TARGET)
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.PHONY: all clean
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else
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CROSS_COMPILE ?= arm-linux-gnueabi-
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CC := $(CROSS_COMPILE)gcc
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CFLAGS := -O3 -Wall -Wextra -Wno-unused-parameter -Wmissing-prototypes
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LDFLAGS := -Wl,--no-undefined -Wl,--as-needed
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all: $(TARGET)
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%.o: %.c
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$(CC) -O3 -Wall -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o"$@" "$<"
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$(TARGET): $(OBJS)
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@echo 'Building target: $@'
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$(CC) -o"$(TARGET).elf" $(OBJS) $(LDFLAGS)
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@echo 'Finished building target: $@'
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clean:
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-$(RM) $(OBJS) $(DEPS) $(TARGET).elf
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#include $(PAPARAZZI_SRC)/conf/Makefile.linux
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DRONE ?= $(PAPARAZZI_HOME)/sw/tools/parrot/ardrone2.py
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SUB_DIR = paparazzi
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HOST ?= 192.168.1.1
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# Program the device and start it.
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upload_program: $(TARGET).elf
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#$(Q)$(DRONE) --host=$(HOST) upload_file $(TARGET).elf $(SUB_DIR)
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$(Q)$(DRONE) --host=$(HOST) insmod cdc-acm.ko
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$(Q)$(DRONE) --host=$(HOST) upload_file_and_run $(TARGET).elf $(SUB_DIR)
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$(Q)$(DRONE) --host=$(HOST) status
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# --host=$(HOST)
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endif
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.PHONY: all clean upload_program debug
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@@ -0,0 +1,37 @@
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STDMA_dongle.md
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### Description
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This tool allows Bluegiga dongle to communicate using STDMA (Self-organized Time-Division Multiple Access).
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Using this, drones with a Bluegiga USB Bluetooth dongle can communicate with eachother and exchange their RSSI (i.e., signal strenth, which is a measure of distance). This has been tested with up to 3 ARDrones.
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It was used in: Coppola, M., McGuire, K.N., Scheper, K.Y.W. et al. Auton Robot (2018). https://doi.org/10.1007/s10514-018-9760-3
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### Commands functions
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make clean && make --> makes it for the computer
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EMBED=1 --> this builds it for the drone, rather than for your computer
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Once connected to the drone --> make upload_program EMBED=1 HOST=192..........
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### Setting up the communication between laptops/drones
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Turn on the drones and go to:
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cd $PAPARAZZI_HOME/sw/tools/STDMA_dongle
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The command
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make clean && Make
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will build `bluetooth_proximity`. Which is an application that can run on your computer. This is very useful for broadcasting from your computer if you want your computer to simulate the presence of a drone, for instance.
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You can run it with
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./bluetooth_proximity
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If you want the program to actually run on the ARDrones, then you have to build their embedded version and upload it. Note that this must be done every time the drone stops being active (e.g. when you change the battery). It starts running as soon as it is uploaded.
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To build and run for the drone:
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make clean && make EMBED=1
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To upload to the drones, select your **DRONE** type in the Makefile or add the option **DRONE=...** to the command (tested with ARDrone):
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make upload_program EMBED=1 HOST=192.168.40.200
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Note the last numbers may change depending on the IP address of your drones.
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Make sure to check that you are connected to the drones when doing this step!
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@@ -0,0 +1,41 @@
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#ifndef APITYPES_H_
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#define APITYPES_H_
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#ifdef __GNUC__
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#define PACKSTRUCT( decl ) decl __attribute__((__packed__))
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#define ALIGNED __attribute__((aligned(0x4)))
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#else //msvc
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#define PACKSTRUCT( decl ) __pragma( pack(push, 1) ) decl __pragma( pack(pop) )
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#define ALIGNED
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#endif
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typedef unsigned char uint8;
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typedef unsigned short uint16;
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typedef signed short int16;
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typedef unsigned long uint32;
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typedef signed char int8;
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typedef struct bd_addr_t {
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uint8 addr[6];
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} bd_addr;
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typedef bd_addr hwaddr;
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typedef struct {
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uint8 len;
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uint8 data[];
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} uint8array;
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typedef struct {
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uint8 len;
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int8 data[];
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} string;
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#endif
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@@ -0,0 +1,338 @@
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//
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// Bluegiga�s Bluetooth Smart Demo Application
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// Contact: support@bluegiga.com.
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//
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// This is free software distributed under the terms of the MIT license reproduced below.
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//
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// Copyright (c) 2012, Bluegiga Technologies
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy of this
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// software and associated documentation files (the "Software"),
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// to deal in the Software without restriction, including without limitation
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// the rights to use, copy, modify, merge, publish, distribute, sublicense,
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// and/or sell copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included
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// in all copies or substantial portions of the Software.
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//
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// THIS CODE AND INFORMATION ARE PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
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// EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF
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// MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
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//
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#include <stdio.h>
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#include "uart.h"
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#ifdef PLATFORM_WIN
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#ifdef _MSC_VER
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#define snprintf _snprintf
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#endif
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#include <windows.h>
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#include <Setupapi.h>
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HANDLE serial_handle;
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void uart_list_devices()
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{
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char name[] = "Bluegiga Bluetooth Low Energy";
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BYTE *pbuf = NULL;
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DWORD reqSize = 0;
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DWORD n = 0;
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HDEVINFO hDevInfo;
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//guid for ports
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static const GUID guid = { 0x4d36e978, 0xe325, 0x11ce, { 0xbf, 0xc1, 0x08, 0x00, 0x2b, 0xe1, 0x03, 0x18 } };
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char *str;
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char tmp[MAX_PATH + 1];
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int i;
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SP_DEVINFO_DATA DeviceInfoData;
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snprintf(tmp, MAX_PATH, "%s (COM%%d)", name);
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DeviceInfoData.cbSize = sizeof(SP_DEVINFO_DATA);
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hDevInfo = SetupDiGetClassDevs(&guid, //Retrieve all ports
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0L,
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NULL,
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DIGCF_PRESENT);
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if (hDevInfo == INVALID_HANDLE_VALUE) {
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return;
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}
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while (1) {
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if (!SetupDiEnumDeviceInfo(
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hDevInfo,
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n++,
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&DeviceInfoData
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)) {
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SetupDiDestroyDeviceInfoList(hDevInfo);
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return;
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}
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reqSize = 0;
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SetupDiGetDeviceRegistryPropertyA(hDevInfo, &DeviceInfoData, SPDRP_FRIENDLYNAME, NULL, NULL, 0, &reqSize);
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pbuf = (BYTE *)malloc(reqSize > 1 ? reqSize : 1);
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if (!SetupDiGetDeviceRegistryPropertyA(hDevInfo, &DeviceInfoData, SPDRP_FRIENDLYNAME, NULL, pbuf, reqSize, NULL)) {
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free(pbuf);
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continue;
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}
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str = (char *)pbuf;
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if (sscanf(str, tmp, &i) == 1) {
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printf("%s\n", str);
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//emit DeviceFound(str,QString("\\\\.\\COM%1").arg(i));
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}
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free(pbuf);
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}
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return;
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}
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int uart_find_serialport(char *name)
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{
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BYTE *pbuf = NULL;
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DWORD reqSize = 0;
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DWORD n = 0;
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HDEVINFO hDevInfo;
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//guid for ports
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static const GUID guid = { 0x4d36e978, 0xe325, 0x11ce, { 0xbf, 0xc1, 0x08, 0x00, 0x2b, 0xe1, 0x03, 0x18 } };
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char *str;
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char tmp[MAX_PATH + 1];
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int i;
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SP_DEVINFO_DATA DeviceInfoData;
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snprintf(tmp, MAX_PATH, "%s (COM%%d)", name);
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DeviceInfoData.cbSize = sizeof(SP_DEVINFO_DATA);
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hDevInfo = SetupDiGetClassDevs(&guid, //Retrieve all ports
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0L,
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NULL,
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DIGCF_PRESENT);
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if (hDevInfo == INVALID_HANDLE_VALUE) {
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return -1;
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}
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while (1) {
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if (!SetupDiEnumDeviceInfo(
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hDevInfo,
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n++,
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&DeviceInfoData
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)) {
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SetupDiDestroyDeviceInfoList(hDevInfo);
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return -1;
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}
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reqSize = 0;
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SetupDiGetDeviceRegistryPropertyA(hDevInfo, &DeviceInfoData, SPDRP_FRIENDLYNAME, NULL, NULL, 0, &reqSize);
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pbuf = malloc(reqSize > 1 ? reqSize : 1);
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if (!SetupDiGetDeviceRegistryPropertyA(hDevInfo, &DeviceInfoData, SPDRP_FRIENDLYNAME, NULL, pbuf, reqSize, NULL)) {
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free(pbuf);
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continue;
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}
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str = (char *)pbuf;
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if (sscanf(str, tmp, &i) == 1) {
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free(pbuf);
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SetupDiDestroyDeviceInfoList(hDevInfo);
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return i;
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}
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free(pbuf);
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}
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return -1;
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}
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int uart_open(char *port)
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{
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char str[20];
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snprintf(str, sizeof(str) - 1, "\\\\.\\%s", port);
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serial_handle = CreateFileA(str,
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GENERIC_READ | GENERIC_WRITE,
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FILE_SHARE_READ | FILE_SHARE_WRITE,
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NULL,
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OPEN_EXISTING,
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0,//FILE_FLAG_OVERLAPPED,
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NULL);
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if (serial_handle == INVALID_HANDLE_VALUE) {
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return -1;
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}
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return 0;
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}
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void uart_close()
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{
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CloseHandle(serial_handle);
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}
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int uart_tx(int len, unsigned char *data)
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{
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DWORD r, written;
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while (len) {
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r = WriteFile(serial_handle,
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data,
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len,
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&written,
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NULL
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);
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if (!r) {
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return -1;
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}
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len -= written;
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data += len;
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}
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return 0;
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}
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int uart_rx(int len, unsigned char *data, int timeout_ms)
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{
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int l = len;
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DWORD r, rread;
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COMMTIMEOUTS timeouts;
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timeouts.ReadIntervalTimeout = MAXDWORD;
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timeouts.ReadTotalTimeoutMultiplier = 0;
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timeouts.ReadTotalTimeoutConstant = timeout_ms;
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timeouts.WriteTotalTimeoutMultiplier = 0;
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timeouts.WriteTotalTimeoutConstant = 0;
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SetCommTimeouts(
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serial_handle,
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&timeouts
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);
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while (len) {
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r = ReadFile(serial_handle,
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data,
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len,
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&rread,
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NULL
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);
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if (!r) {
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l = GetLastError();
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if (l == ERROR_SUCCESS) {
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return 0;
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}
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return -1;
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} else {
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if (rread == 0) {
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return 0;
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}
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}
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len -= rread;
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data += len;
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}
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return l;
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}
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#else
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#include <stdio.h>
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#include <termios.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <errno.h>
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int serial_handle;
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void uart_list_devices() {}
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int uart_open(char *port)
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{
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struct termios options;
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int i;
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serial_handle = open(port, (O_RDWR | O_NOCTTY /*| O_NONBLOCK | O_NDELAY*/));
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if (serial_handle < 0) {
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return errno;
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}
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|
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/*
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* Get the current options for the port...
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*/
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tcgetattr(serial_handle, &options);
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/*
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* Set the baud rates to 115200...
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*/
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cfsetispeed(&options, B115200);
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cfsetospeed(&options, B115200);
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//cfsetispeed(&options, B921600);
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//cfsetospeed(&options, B921600);
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/*
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* Enable the receiver and set parameters ...
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*/
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options.c_cflag &= ~(PARENB | CSTOPB | CSIZE | CRTSCTS | HUPCL);
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options.c_cflag |= (CS8 | CLOCAL | CREAD);
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options.c_lflag &= ~(ICANON | ISIG | ECHO | ECHOE | ECHOK | ECHONL | ECHOCTL | ECHOPRT | ECHOKE | IEXTEN);
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options.c_iflag &= ~(INPCK | IXON | IXOFF | IXANY | ICRNL);
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options.c_oflag &= ~(OPOST | ONLCR);
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//printf( "size of c_cc = %d\n", sizeof( options.c_cc ) );
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for (i = 0; i < sizeof(options.c_cc); i++) {
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options.c_cc[i] = _POSIX_VDISABLE;
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}
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|
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options.c_cc[VTIME] = 0;
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options.c_cc[VMIN] = 1;
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|
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/*
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* Set the new options for the port...
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*/
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tcsetattr(serial_handle, TCSAFLUSH, &options);
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|
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return 0;
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}
|
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void uart_close()
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{
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close(serial_handle);
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}
|
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|
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int uart_tx(int len, unsigned char *data)
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{
|
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ssize_t written;
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|
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while (len) {
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written = write(serial_handle, data, len);
|
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if (!written) {
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return -1;
|
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}
|
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len -= written;
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data += len;
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}
|
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|
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return 0;
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}
|
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int uart_rx(int len, unsigned char *data, int timeout_ms)
|
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{
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int l = len;
|
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ssize_t rread;
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struct termios options;
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|
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tcgetattr(serial_handle, &options);
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options.c_cc[VTIME] = timeout_ms / 100;
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options.c_cc[VMIN] = 0;
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tcsetattr(serial_handle, TCSANOW, &options);
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|
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while (len) {
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rread = read(serial_handle, data, len);
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|
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if (!rread) {
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return 0;
|
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} else if (rread < 0) {
|
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return -1;
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}
|
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len -= rread;
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data += len;
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}
|
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|
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return l;
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}
|
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|
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#endif
|
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@@ -0,0 +1,10 @@
|
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#ifndef UART_H
|
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#define UART_H
|
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|
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void uart_list_devices();
|
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int uart_find_serialport(char *name);
|
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int uart_open(char *port);
|
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void uart_close();
|
||||
int uart_tx(int len, unsigned char *data);
|
||||
int uart_rx(int len, unsigned char *data, int timeout_ms);
|
||||
#endif // UART_H
|
||||
Reference in New Issue
Block a user