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actuators_asctec.c
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actuators_asctec.c
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/*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/** @file actuators_asctec.c
* Actuators driver for Asctec motor controllers.
*/
#include "firmwares/rotorcraft/actuators.h"
#include "firmwares/rotorcraft/actuators/actuators_asctec.h"
#ifdef ACTUATORS_ASCTEC_V2_PROTOCOL
#include "firmwares/rotorcraft/actuators/supervision.h"
#endif
#include "firmwares/rotorcraft/commands.h"
#include "mcu_periph/i2c.h"
#include "mcu_periph/sys_time.h"
#define ASCTEC_MIN_CMD -100
#define ASCTEC_MAX_CMD 100
#define ASCTEC_MIN_THROTTLE 0
#define ASCTEC_MAX_THROTTLE 200
struct ActuatorsAsctec actuators_asctec;
uint32_t actuators_delay_time;
bool_t actuators_delay_done;
void actuators_init(void) {
actuators_asctec.cmd = NONE;
actuators_asctec.cur_addr = FRONT;
actuators_asctec.new_addr = FRONT;
actuators_asctec.i2c_trans.status = I2CTransSuccess;
actuators_asctec.i2c_trans.type = I2CTransTx;
actuators_asctec.i2c_trans.slave_addr = 0x02;
#ifdef ACTUATORS_ASCTEC_V2_PROTOCOL
actuators_asctec.i2c_trans.len_w = 5;
#else
actuators_asctec.i2c_trans.len_w = 4;
#endif
actuators_asctec.nb_err = 0;
#if defined ACTUATORS_START_DELAY && ! defined SITL
actuators_delay_done = FALSE;
SysTimeTimerStart(actuators_delay_time);
#else
actuators_delay_done = TRUE;
actuators_delay_time = 0;
#endif
#ifdef ACTUATORS_ASCTEC_V2_PROTOCOL
supervision_init();
#endif
}
#ifndef ACTUATORS_ASCTEC_V2_PROTOCOL
void actuators_set(bool_t motors_on) {
#if defined ACTUATORS_START_DELAY && ! defined SITL
if (!actuators_delay_done) {
if (SysTimeTimer(actuators_delay_time) < USEC_OF_SEC(ACTUATORS_START_DELAY)) return;
else actuators_delay_done = TRUE;
}
#endif
if (actuators_asctec.i2c_trans.status != I2CTransSuccess) {
actuators_asctec.nb_err++;
return;
}
#ifdef KILL_MOTORS
actuators_asctec.cmds[PITCH] = 0;
actuators_asctec.cmds[ROLL] = 0;
actuators_asctec.cmds[YAW] = 0;
actuators_asctec.cmds[THRUST] = 0;
#else /* ! KILL_MOTORS */
actuators_asctec.cmds[PITCH] = ((commands[COMMAND_PITCH] + SUPERVISION_TRIM_E) * ASCTEC_MAX_CMD) / MAX_PPRZ;
actuators_asctec.cmds[ROLL] = ((commands[COMMAND_ROLL] + SUPERVISION_TRIM_A) * ASCTEC_MAX_CMD) / MAX_PPRZ;
actuators_asctec.cmds[YAW] = ((commands[COMMAND_YAW] + SUPERVISION_TRIM_R) * ASCTEC_MAX_CMD) / MAX_PPRZ;
actuators_asctec.cmds[THRUST] = (commands[COMMAND_THRUST] * ASCTEC_MAX_THROTTLE) / MAX_PPRZ;
Bound(actuators_asctec.cmds[PITCH],ASCTEC_MIN_CMD, ASCTEC_MAX_CMD);
Bound(actuators_asctec.cmds[ROLL], ASCTEC_MIN_CMD, ASCTEC_MAX_CMD);
Bound(actuators_asctec.cmds[YAW], ASCTEC_MIN_CMD, ASCTEC_MAX_CMD);
if (motors_on) {
Bound(actuators_asctec.cmds[THRUST], ASCTEC_MIN_THROTTLE + 1, ASCTEC_MAX_THROTTLE);
}
else
actuators_asctec.cmds[THRUST] = 0;
#endif /* KILL_MOTORS */
switch (actuators_asctec.cmd) {
case TEST:
actuators_asctec.i2c_trans.buf[0] = 251;
actuators_asctec.i2c_trans.buf[1] = actuators_asctec.cur_addr;
actuators_asctec.i2c_trans.buf[2] = 0;
actuators_asctec.i2c_trans.buf[3] = 231 + actuators_asctec.cur_addr;
break;
case REVERSE:
actuators_asctec.i2c_trans.buf[0] = 254;
actuators_asctec.i2c_trans.buf[1] = actuators_asctec.cur_addr;
actuators_asctec.i2c_trans.buf[2] = 0;
actuators_asctec.i2c_trans.buf[3] = 234 + actuators_asctec.cur_addr;
break;
case SET_ADDR:
actuators_asctec.i2c_trans.buf[0] = 250;
actuators_asctec.i2c_trans.buf[1] = actuators_asctec.cur_addr;
actuators_asctec.i2c_trans.buf[2] = actuators_asctec.new_addr;
actuators_asctec.i2c_trans.buf[3] = 230 + actuators_asctec.cur_addr + actuators_asctec.new_addr;
actuators_asctec.cur_addr = actuators_asctec.new_addr;
break;
case NONE:
actuators_asctec.i2c_trans.buf[0] = 100 - actuators_asctec.cmds[PITCH];
actuators_asctec.i2c_trans.buf[1] = 100 + actuators_asctec.cmds[ROLL];
actuators_asctec.i2c_trans.buf[2] = 100 - actuators_asctec.cmds[YAW];
actuators_asctec.i2c_trans.buf[3] = actuators_asctec.cmds[THRUST];
break;
default:
break;
}
actuators_asctec.cmd = NONE;
i2c_submit(&ACTUATORS_ASCTEC_DEVICE, &actuators_asctec.i2c_trans);
}
#else /* ! ACTUATORS_ASCTEC_V2_PROTOCOL */
void actuators_set(bool_t motors_on) {
#if defined ACTUATORS_START_DELAY && ! defined SITL
if (!actuators_delay_done) {
if (SysTimeTimer(actuators_delay_time) < USEC_OF_SEC(ACTUATORS_START_DELAY)) {
//Lisa-L with Asctech v2 motors only start after reflashing when a bus error was sensed on stm32-i2c.
//multiple re-init solves the problem.
i2c1_init();
return;
}
else actuators_delay_done = TRUE;
}
#endif
if (actuators_asctec.i2c_trans.status != I2CTransSuccess) {
actuators_asctec.nb_err++;
return;
}
supervision_run(motors_on, FALSE, commands);
#ifdef KILL_MOTORS
actuators_asctec.i2c_trans.buf[0] = 0;
actuators_asctec.i2c_trans.buf[1] = 0;
actuators_asctec.i2c_trans.buf[2] = 0;
actuators_asctec.i2c_trans.buf[3] = 0;
actuators_asctec.i2c_trans.buf[4] = 0xAA;
#else
actuators_asctec.i2c_trans.buf[0] = supervision.commands[SERVO_FRONT];
actuators_asctec.i2c_trans.buf[1] = supervision.commands[SERVO_BACK];
actuators_asctec.i2c_trans.buf[2] = supervision.commands[SERVO_LEFT];
actuators_asctec.i2c_trans.buf[3] = supervision.commands[SERVO_RIGHT];
actuators_asctec.i2c_trans.buf[4] = 0xAA + actuators_asctec.i2c_trans.buf[0] + actuators_asctec.i2c_trans.buf[1] +
actuators_asctec.i2c_trans.buf[2] + actuators_asctec.i2c_trans.buf[3];
#endif
i2c_submit(&ACTUATORS_ASCTEC_DEVICE, &actuators_asctec.i2c_trans);
}
#endif /* ACTUATORS_ASCTEC_V2_PROTOCOL */