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UAVCAN: Refactored and generalized sensor bridge support
This commit is contained in:
Pavel Kirienko
@@ -0,0 +1,138 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file esc.cpp
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*
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#include "esc.hpp"
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#include <systemlib/err.h>
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UavcanEscController::UavcanEscController(uavcan::INode &node) :
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_node(node),
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_uavcan_pub_raw_cmd(node),
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_uavcan_sub_status(node),
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_orb_timer(node)
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{
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}
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UavcanEscController::~UavcanEscController()
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{
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perf_free(_perfcnt_invalid_input);
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perf_free(_perfcnt_scaling_error);
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}
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int UavcanEscController::init()
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{
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// ESC status subscription
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int res = _uavcan_sub_status.start(StatusCbBinder(this, &UavcanEscController::esc_status_sub_cb));
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if (res < 0)
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{
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warnx("ESC status sub failed %i", res);
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return res;
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}
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// ESC status will be relayed from UAVCAN bus into ORB at this rate
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_orb_timer.setCallback(TimerCbBinder(this, &UavcanEscController::orb_pub_timer_cb));
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_orb_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / ESC_STATUS_UPDATE_RATE_HZ));
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return res;
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}
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void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
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{
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if ((outputs == nullptr) || (num_outputs > MAX_ESCS)) {
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perf_count(_perfcnt_invalid_input);
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return;
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}
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/*
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* Rate limiting - we don't want to congest the bus
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*/
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const auto timestamp = _node.getMonotonicTime();
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if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
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return;
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}
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_prev_cmd_pub = timestamp;
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/*
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* Fill the command message
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* If unarmed, we publish an empty message anyway
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*/
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uavcan::equipment::esc::RawCommand msg;
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if (_armed) {
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for (unsigned i = 0; i < num_outputs; i++) {
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float scaled = (outputs[i] + 1.0F) * 0.5F * uavcan::equipment::esc::RawCommand::CMD_MAX;
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if (scaled < 1.0F) {
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scaled = 1.0F; // Since we're armed, we don't want to stop it completely
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}
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if (scaled < uavcan::equipment::esc::RawCommand::CMD_MIN) {
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scaled = uavcan::equipment::esc::RawCommand::CMD_MIN;
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perf_count(_perfcnt_scaling_error);
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} else if (scaled > uavcan::equipment::esc::RawCommand::CMD_MAX) {
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scaled = uavcan::equipment::esc::RawCommand::CMD_MAX;
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perf_count(_perfcnt_scaling_error);
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} else {
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; // Correct value
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}
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msg.cmd.push_back(static_cast<unsigned>(scaled));
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}
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}
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/*
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* Publish the command message to the bus
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* Note that for a quadrotor it takes one CAN frame
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*/
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(void)_uavcan_pub_raw_cmd.broadcast(msg);
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}
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void UavcanEscController::arm_esc(bool arm)
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{
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_armed = arm;
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}
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void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
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{
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// TODO save status into a local storage; publish to ORB later from orb_pub_timer_cb()
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}
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void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent&)
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{
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// TODO publish to ORB
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}
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@@ -0,0 +1,107 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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||||
* are met:
|
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*
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* 1. Redistributions of source code must retain the above copyright
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||||
* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file esc.hpp
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*
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* UAVCAN <--> ORB bridge for ESC messages:
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* uavcan.equipment.esc.RawCommand
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* uavcan.equipment.esc.RPMCommand
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* uavcan.equipment.esc.Status
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*
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include <uavcan/uavcan.hpp>
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#include <uavcan/equipment/esc/RawCommand.hpp>
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#include <uavcan/equipment/esc/Status.hpp>
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#include <systemlib/perf_counter.h>
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class UavcanEscController
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{
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public:
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UavcanEscController(uavcan::INode& node);
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~UavcanEscController();
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int init();
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void update_outputs(float *outputs, unsigned num_outputs);
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void arm_esc(bool arm);
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private:
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/**
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* ESC status message reception will be reported via this callback.
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*/
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void esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg);
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/**
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* ESC status will be published to ORB from this callback (fixed rate).
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*/
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void orb_pub_timer_cb(const uavcan::TimerEvent &event);
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static constexpr unsigned MAX_RATE_HZ = 100; ///< XXX make this configurable
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static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 5;
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static constexpr unsigned MAX_ESCS = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize;
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typedef uavcan::MethodBinder<UavcanEscController*,
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void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)>
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StatusCbBinder;
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typedef uavcan::MethodBinder<UavcanEscController*, void (UavcanEscController::*)(const uavcan::TimerEvent&)>
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TimerCbBinder;
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/*
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* libuavcan related things
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*/
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uavcan::MonotonicTime _prev_cmd_pub; ///< rate limiting
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uavcan::INode &_node;
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uavcan::Publisher<uavcan::equipment::esc::RawCommand> _uavcan_pub_raw_cmd;
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uavcan::Subscriber<uavcan::equipment::esc::Status, StatusCbBinder> _uavcan_sub_status;
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uavcan::TimerEventForwarder<TimerCbBinder> _orb_timer;
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/*
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* ESC states
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*/
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bool _armed = false;
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uavcan::equipment::esc::Status _states[MAX_ESCS];
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/*
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* Perf counters
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*/
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perf_counter_t _perfcnt_invalid_input = perf_alloc(PC_COUNT, "uavcan_esc_invalid_input");
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perf_counter_t _perfcnt_scaling_error = perf_alloc(PC_COUNT, "uavcan_esc_scaling_error");
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};
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