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uavcan module cleanup

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- move most orb to uORB::Publication and uORB::Subscription
 - update legacy message handling (warn to PX4_INFO, PX4_WARN, PX4_ERR)
 - add perf counters
 - sensors/mag support newer `uavcan::equipment::ahrs::MagneticFieldStrength2` message
 - sensors/gps support `uavcan::equipment::gnss::Auxiliary` for hdop and vdop
 - sensors delete obsolete ioctl and read methods
 - use PublicationMulti for actuator_outputs and esc_reports (to coexist with other output modules)
 - add GNSS parameter metadata (parameters_injected.xml)
This commit is contained in:
Daniel Agar
2019-10-28 19:57:50 -04:00
committed by GitHub
parent 47dd312b57
commit 375fc4a75c
22 changed files with 705 additions and 677 deletions
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src/drivers/uavcan/actuators/esc.hpp
+18 -16
View File
@@ -47,12 +47,12 @@
#include <uavcan/uavcan.hpp>
#include <uavcan/equipment/esc/RawCommand.hpp>
#include <uavcan/equipment/esc/Status.hpp>
#include <perf/perf_counter.h>
#include <uORB/topics/esc_status.h>
#include <lib/perf/perf_counter.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/esc_status.h>
#include <drivers/drv_hrt.h>
class UavcanEscController
{
public:
@@ -95,17 +95,19 @@ private:
static constexpr unsigned UAVCAN_COMMAND_TRANSFER_PRIORITY = 5; ///< 0..31, inclusive, 0 - highest, 31 - lowest
typedef uavcan::MethodBinder<UavcanEscController *,
void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)>
StatusCbBinder;
void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)> StatusCbBinder;
typedef uavcan::MethodBinder<UavcanEscController *, void (UavcanEscController::*)(const uavcan::TimerEvent &)>
TimerCbBinder;
typedef uavcan::MethodBinder<UavcanEscController *,
void (UavcanEscController::*)(const uavcan::TimerEvent &)> TimerCbBinder;
bool _armed{false};
bool _run_at_idle_throttle_when_armed{false};
esc_status_s _esc_status{};
uORB::PublicationMulti<actuator_outputs_s> _actuator_outputs_pub{ORB_ID(actuator_outputs)};
uORB::PublicationMulti<esc_status_s> _esc_status_pub{ORB_ID(esc_status)};
bool _armed = false;
bool _run_at_idle_throttle_when_armed = false;
esc_status_s _esc_status = {};
orb_advert_t _esc_status_pub = nullptr;
orb_advert_t _actuator_outputs_pub = nullptr;
uint8_t _rotor_count = 0;
/*
@@ -120,12 +122,12 @@ private:
/*
* ESC states
*/
uint32_t _armed_mask = 0;
uint8_t _max_number_of_nonzero_outputs = 0;
uint32_t _armed_mask{0};
uint8_t _max_number_of_nonzero_outputs{0};
/*
* Perf counters
*/
perf_counter_t _perfcnt_invalid_input = perf_alloc(PC_COUNT, "uavcan_esc_invalid_input");
perf_counter_t _perfcnt_scaling_error = perf_alloc(PC_COUNT, "uavcan_esc_scaling_error");
perf_counter_t _perfcnt_invalid_input{perf_alloc(PC_COUNT, "uavcan_esc_invalid_input")};
perf_counter_t _perfcnt_scaling_error{perf_alloc(PC_COUNT, "uavcan_esc_scaling_error")};
};