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UAVCAN: Add device tracking and information publishing (#25617)

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* uavcan: collect node info and publish every second

* UORB: Add DeviceInformation Message

Format DeviceInformation.msg with standard comment spaces

* SENS: add getter for device_id

* UAVCAN: add publishing of DeviceInformation based on publised message type, and Node Information

* LOG: add deviceInformation

* MSG:BAT: fix comment to be inline with the max_instaces

* UAVCAN: DeviceInformation, incorporated feedback

* UAVCAN: DeviceInformation, incorporated feedback

* UAVCAN: DeviceInformation, Fixed bug with Powermonitor

---------

Co-authored-by: Beat Küng <beat-kueng@gmx.net>
This commit is contained in:
Claudio Chies
2025-12-16 14:53:44 -09:00
committed by GitHub
co-authored by Beat Küng
parent cb682006fe
commit 24d06047bd
43 changed files with 685 additions and 67 deletions
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src/drivers/uavcan/actuators/esc.cpp
+7
View File
@@ -128,6 +128,13 @@ UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavca
_esc_status.timestamp = hrt_absolute_time();
_esc_status_pub.publish(_esc_status);
}
// Register device capability for each ESC channel
if (_node_info_publisher != nullptr) {
uint8_t node_id = msg.getSrcNodeID().get();
uint32_t device_id = msg.esc_index;
_node_info_publisher->registerDeviceCapability(node_id, device_id, NodeInfoPublisher::DeviceCapability::ESC);
}
}
uint8_t
src/drivers/uavcan/actuators/esc.hpp
+5 -1
View File
@@ -52,7 +52,7 @@
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/esc_status.h>
#include <drivers/drv_hrt.h>
#include <lib/mixer_module/mixer_module.hpp>
#include <drivers/uavcan/node_info.hpp>
#include <parameters/param.h>
class UavcanEscController
@@ -78,6 +78,8 @@ public:
*/
void set_rotor_count(uint8_t count);
void set_node_info_publisher(NodeInfoPublisher *publisher) { _node_info_publisher = publisher; }
static int max_output_value() { return uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max(); }
esc_status_s &esc_status() { return _esc_status; }
@@ -114,4 +116,6 @@ private:
uavcan::INode &_node;
uavcan::Publisher<uavcan::equipment::esc::RawCommand> _uavcan_pub_raw_cmd;
uavcan::Subscriber<uavcan::equipment::esc::Status, StatusCbBinder> _uavcan_sub_status;
NodeInfoPublisher *_node_info_publisher{nullptr};
};