AR Drone Motor Controller

AR.Drone Parrot 19 Responses »
Jun 092011

This blog page is dedicated to the motors of the AR Drone.

You can download an on-drone c program (source+compiled) to control the motors and leds.

Pinout

Pin 1 Battery 11.4V
Pin 2 VCC 5V (ATMega8a VCC Pin4+5)
Pin 3 TX+RX (ATmega8a Pin30+31)
Pin 4 IRQ to main board (ATmega8a PC3 Pin26)
Pin 5 GND

Pin 1 Red
Pin 2 White
Pin 3 Motor1=Yellow,M2=Orange,M3=Blue,M4=Green
Pin 4 Motor1=Purple,M2=Gray,M3=Brown,M4=Pink
Pin 5 Black

IRQ

Whenever the motor controller detects a problem, it will stop running and toggles the IRQ pin. A rising edge to 5v on the IRQ pin sets GPIO 106 (i.e. `gpio 106 -r` returns 1). Pin 106 can be reset to 0 by toggling GPIO 107, i.e. `gpio 107 -d ho 0; gpio 107 -d ho 1`.

In other words this is a flipflop circuit, with Set=IRQ, Reset=GPIO107 and Data=GPIO106.

GPIO

gpio 68 -d i = select motor1
gpio 68 -d ho 0 = deselect motor1
gpio 69 -d i = select motor2
gpio 69 -d ho 0 = deselect motor2
gpio 70 -d i = select motor3
gpio 70 -d ho 0 = deselect motor3
gpio 71 -d i = select motor4
gpio 71 -d ho 0 = deselect motor4
gpio 106 -i = IRQ input, 1=IRQ requested
gpio 107 -d ho 0; gpio 107 -d ho 1 = reset GPIO 106 to 0

Serial Communication

Baud rate: 115200, 8n1

Unicast Commands

Configuiration sent to single motor. The motor is selected with GPIO 68 to 71.

write -> reply in hex, null means no reply
E0 -> status             : get status 00=ok, 50=need reflash
if(status==50){
 71 64bytes 70 -> null    : program flash, repeated 120 times (120 blocks of 64bytes = 7920bytes)
 91 -> 120 bytes          : get 120 checksums of 64 byte flash blocks
 A1 -> A0 FF              : set status OK (command send after command 91)
}
01 or 02,03,04 -> null    : assign as motor1,2,3,4
40 -> 11 bytes            : check versions (eg 01 0b 03 00 01 01 0a 0a 1a 0a 0a = soft version 1.11, hard version 3.0, supplier 1.1, lot number 10/10, FVT1 26/10/10)

Multicast commands

Sent to all motors.

A0 A0 A0 A0 A0 A0 -> null : start of multicast
2x xx xx xx xx -> null    : set speeds sent every 5ms
89 or 8A,8B,8X -> 28 2f   : check motor1,2,3,4 alive - sent one command every 25 frames (i.e. every 125ms one motor, same motor every 500ms)
6x xx,7x xx -> null       : set leds bit5=Red Rear Left, bit6=Green Rear Left, bit7=Red Rear Right, bit8=Green Rear Right, bit9=Red Front Right, bit10=Green Front Right, bit11=Red Front Left, bit12=Green Front Left  (011grgrg rgrxxxx)

Init Sequence

(as used by program.elf)

for x=1 to 4
    CSx_ Low
    TX E0, RX 2 bytes
    TX 91, RX 121 bytes
    TX A1, RX 3 bytes
    TX 00+x, RX 1 byte
    TX 40, RX 12 bytes
    CSx_ High
    wait 500ms
end for
for x=1 to 4
    CSx_ Low
    TX E0, RX 2 bytes
    TX 00+x, RX 1 byte
    TX 40, RX 12 bytes
    CSx_ High
end for
wait 500ms
CS1_,CS2_,CS3_,CS4_ Low (select all)
for x=1 to 6
    TX A0 -> RX 1 byte
end for

Set Speeds

001aaaaa aaaabbbb bbbbbccc ccccccdd ddddddd0
a,b,c,d = 9 bits for motor 1,2,3,4 (msb first)
transmitted every 5ms (200Hz)
every 80ms send 2x + one 8x code

References

http://fenrir.naruoka.org/archives/000805.html

http://www.ardrone-flyers.com/forum/viewtopic.php?f=13&t=1025&start=15

Test Script

The following script initializes the motor and starts the control loop. The control loop flashes all leds. The script has been tested as replacement for program.elf on a AR.Drone with firmware version 1.7.4 and 1.3.3, motor software version 1.20 and 1.11, motor hardware version 3.0, motor supplier 1.1 and 2.2.

#set baud rate
stty -F /dev/ttyPA1 115200

#reset IRQ flipflop - on error 106 read 1, this code resets 106 to 0
gpio 106 -d i
gpio 107 -d ho 0
gpio 107 -d ho 1

#all select lines inactive
gpio 68 -d ho 1
gpio 69 -d ho 1
gpio 70 -d ho 1
gpio 72 -d ho 1

#configure motor1
gpio 68 -d i
echo -en "\xe0" > /dev/ttyPA1
usleep 100
echo -en "\x01" > /dev/ttyPA1
usleep 100
echo -en "\x40" > /dev/ttyPA1
usleep 100
gpio 68 -d ho 1

#configure motor2
gpio 69 -d i
echo -en "\xe0" > /dev/ttyPA1
usleep 100
echo -en "\x02" > /dev/ttyPA1
usleep 100
echo -en "\x40" > /dev/ttyPA1
usleep 100
gpio 69 -d ho 1

#configure motor3
gpio 70 -d i
echo -en "\xe0" > /dev/ttyPA1
usleep 100
echo -en "\x03" > /dev/ttyPA1
usleep 100
echo -en "\x40" > /dev/ttyPA1
usleep 100
gpio 70 -d ho 1

#configure motor4
gpio 71 -d i
echo -en "\xe0" > /dev/ttyPA1
usleep 100
echo -en "\x04" > /dev/ttyPA1
usleep 100
echo -en "\x40" > /dev/ttyPA1
usleep 100
gpio 71 -d ho 1

#all select lines active
gpio 68 -d i
gpio 69 -d i
gpio 70 -d i
gpio 71 -d i

#start multicast
echo -en "\xa0" > /dev/ttyPA1
usleep 100
echo -en "\xa0" > /dev/ttyPA1
usleep 100
echo -en "\xa0" > /dev/ttyPA1
usleep 100
echo -en "\xa0" > /dev/ttyPA1
usleep 100
echo -en "\xa0" > /dev/ttyPA1
usleep 100
echo -en "\xa0" > /dev/ttyPA1
usleep 100

#reset IRQ flipflop - on error 106 read 1, this code resets 106 to 0
gpio 106 -d i
gpio 107 -d ho 0
gpio 107 -d ho 1

#multicast loop
while true
do

echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
#all leds orange
echo -en "\x7f\xf0" >/dev/ttyPA1

echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
echo -en "\x20\x00\x00\x00\x00" >/dev/ttyPA1
usleep 5000
#all leds off
echo -en "\x60\x00" >/dev/ttyPA1

done
Posted by hugo at 02:00
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