CUAV CAN GPS support UAVCAN standard/indication/Button.uavcan

Co-authored-by: Daniel Agar <daniel@agar.ca>

boards/cuav/can-gps-v1/init/rc.board_defaults

@@ -2,14 +2,13 @@
 #
 # board specific defaults
 #------------------------------------------------------------------------------
-neopixel start
-tone_alarm start
 
 if [ $AUTOCNF = yes ]
 then
-	# Disable safety switch by default
-	param set CBRK_IO_SAFETY 22027
 
 fi
 
-#safety_button start
+neopixel start
+safety_button start
+tone_alarm start
+

boards/cuav/can-gps-v1/src/board_config.h

@@ -61,7 +61,7 @@
 #define GPIO_CAN1_SILENT_S0  /* PB5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
 
 #define GPIO_LED_SAFETY              (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_BTN_SAFETY              (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN3)
+#define GPIO_BTN_SAFETY              (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN3)
 
 /* Tone alarm output. */
 #define TONE_ALARM_TIMER             2    /* timer 2 */

src/drivers/uavcan/CMakeLists.txt

@@ -94,7 +94,12 @@ target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
 
 
 # generated DSDL
-set(DSDLC_INPUTS "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/com" "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/ardupilot" "${LIBUAVCAN_DIR}/dsdl/uavcan")
+set(DSDLC_DIR "${CMAKE_CURRENT_SOURCE_DIR}/dsdl")
+set(DSDLC_INPUTS
+	"${DSDLC_DIR}/com"
+	"${DSDLC_DIR}/standard"
+	"${LIBUAVCAN_DIR}/dsdl/uavcan"
+)
 set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
 
 set(DSDLC_INPUT_FILES)

src/drivers/uavcan/dsdl/standard/indication/21001.Button.uavcan

@@ -0,0 +1,11 @@
+#
+# support for buttons on UAVCAN
+# while a button is being pressed this message should be sent at 10Hz
+
+uint8 BUTTON_SAFETY      = 1
+
+uint8 button
+
+# number of 0.1s units the button has been pressed for. If over 255
+# then send 255
+uint8 press_time

src/drivers/uavcan/safety_state.cpp

@@ -63,7 +63,7 @@ void UavcanSafetyState::periodic_update(const uavcan::TimerEvent &)
 	actuator_armed_s actuator_armed;
 
 	if (_actuator_armed_sub.update(&actuator_armed)) {
-		ardupilot::indication::SafetyState cmd;
+		standard::indication::SafetyState cmd;
 
 		if (actuator_armed.armed || actuator_armed.prearmed) {
 			cmd.status = cmd.STATUS_SAFETY_OFF;

src/drivers/uavcan/safety_state.hpp

@@ -42,7 +42,7 @@
 #pragma once
 
 #include <uavcan/uavcan.hpp>
-#include <ardupilot/indication/SafetyState.hpp>
+#include <standard/indication/SafetyState.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_armed.h>
 
@@ -74,7 +74,7 @@ private:
 	/*
 	 * Publish CAN Safety state led
 	 */
-	uavcan::Publisher<ardupilot::indication::SafetyState> _safety_state_pub;
+	uavcan::Publisher<standard::indication::SafetyState> _safety_state_pub;
 
 	uavcan::TimerEventForwarder<TimerCbBinder> _timer;
 

src/drivers/uavcannode/CMakeLists.txt

@@ -94,7 +94,12 @@ target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
 
 
 # generated DSDL
-set(DSDLC_INPUTS "${PX4_SOURCE_DIR}/src/drivers/uavcan/dsdl/com" "${LIBUAVCAN_DIR}/dsdl/uavcan")
+set(DSDLC_DIR "${PX4_SOURCE_DIR}/src/drivers/uavcan/dsdl")
+set(DSDLC_INPUTS
+	"${DSDLC_DIR}/com"
+	"${DSDLC_DIR}/standard"
+	"${LIBUAVCAN_DIR}/dsdl/uavcan"
+)
 set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
 
 set(DSDLC_INPUT_FILES)

src/drivers/uavcannode/UavcanNode.cpp

@@ -83,6 +83,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
 	_raw_air_data_publisher(_node),
 	_range_sensor_measurement(_node),
 	_flow_measurement_publisher(_node),
+	_indication_button_publisher(_node),
 	_param_server(_node),
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")),
 	_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")),
@@ -521,6 +522,20 @@ void UavcanNode::Run()
 		}
 	}
 
+	// safety -> standard::indication::button
+	if (_safety_sub.updated()) {
+		safety_s safety;
+
+		if (_safety_sub.copy(&safety)) {
+			if (safety.safety_switch_available) {
+				standard::indication::Button Button{};
+				Button.button = standard::indication::Button::BUTTON_SAFETY;
+				Button.press_time = safety.safety_off ? UINT8_MAX : 0;
+				_indication_button_publisher.broadcast(Button);
+			}
+		}
+	}
+
 	perf_end(_cycle_perf);
 
 	pthread_mutex_unlock(&_node_mutex);

src/drivers/uavcannode/UavcanNode.hpp

@@ -66,6 +66,7 @@
 #include <uavcan/equipment/power/BatteryInfo.hpp>
 #include <uavcan/equipment/range_sensor/Measurement.hpp>
 
+#include <standard/indication/Button.hpp>
 #include <com/hex/equipment/flow/Measurement.hpp>
 
 #include <lib/parameters/param.h>
@@ -78,6 +79,7 @@
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/distance_sensor.h>
 #include <uORB/topics/optical_flow.h>
+#include <uORB/topics/safety.h>
 #include <uORB/topics/sensor_baro.h>
 #include <uORB/topics/sensor_mag.h>
 #include <uORB/topics/sensor_gps.h>
@@ -182,6 +184,7 @@ private:
 	uavcan::Publisher<uavcan::equipment::air_data::RawAirData> _raw_air_data_publisher;
 	uavcan::Publisher<uavcan::equipment::range_sensor::Measurement> _range_sensor_measurement;
 	uavcan::Publisher<com::hex::equipment::flow::Measurement> _flow_measurement_publisher;
+	uavcan::Publisher<standard::indication::Button> _indication_button_publisher;
 
 	hrt_abstime _last_static_temperature_publish{0};
 
@@ -197,6 +200,7 @@ private:
 		{this, ORB_ID(distance_sensor), 3},
 	};
 	uORB::SubscriptionCallbackWorkItem _optical_flow_sub{this, ORB_ID(optical_flow)};
+	uORB::SubscriptionCallbackWorkItem _safety_sub{this, ORB_ID(safety)};
 	uORB::SubscriptionCallbackWorkItem _sensor_baro_sub{this, ORB_ID(sensor_baro)};
 	uORB::SubscriptionCallbackWorkItem _sensor_mag_sub{this, ORB_ID(sensor_mag)};
 	uORB::SubscriptionCallbackWorkItem _sensor_gps_sub{this, ORB_ID(sensor_gps)};