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Merge pull request #1386 from PX4/esc_status_feedback

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ESC status feedback
This commit is contained in:
Lorenz Meier
2014-10-15 16:39:49 +02:00
parent c02d75f708 7fd3bd9af8
commit 3eb68bc660
7 changed files with 69 additions and 49 deletions
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src/drivers/hott/messages.cpp
+7 -7
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@@ -115,9 +115,9 @@ publish_gam_message(const uint8_t *buffer)
esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT;
esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
esc.esc[0].esc_temperature = msg.temperature1 - 20;
esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff));
esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff));
esc.esc[0].esc_temperature = static_cast<float>(msg.temperature1) - 20.0F;
esc.esc[0].esc_voltage = static_cast<float>((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)) * 0.1F;
esc.esc[0].esc_current = static_cast<float>((msg.current_H << 8) | (msg.current_L & 0xff)) * 0.1F;
/* announce the esc if needed, just publish else */
if (_esc_pub > 0) {
@@ -186,18 +186,18 @@ build_gam_response(uint8_t *buffer, size_t *size)
msg.gam_sensor_id = GAM_SENSOR_ID;
msg.sensor_text_id = GAM_SENSOR_TEXT_ID;
msg.temperature1 = (uint8_t)(esc.esc[0].esc_temperature + 20);
msg.temperature1 = (uint8_t)(esc.esc[0].esc_temperature + 20.0F);
msg.temperature2 = 20; // 0 deg. C.
uint16_t voltage = (uint16_t)(esc.esc[0].esc_voltage);
const uint16_t voltage = (uint16_t)(esc.esc[0].esc_voltage * 10.0F);
msg.main_voltage_L = (uint8_t)voltage & 0xff;
msg.main_voltage_H = (uint8_t)(voltage >> 8) & 0xff;
uint16_t current = (uint16_t)(esc.esc[0].esc_current);
const uint16_t current = (uint16_t)(esc.esc[0].esc_current * 10.0F);
msg.current_L = (uint8_t)current & 0xff;
msg.current_H = (uint8_t)(current >> 8) & 0xff;
uint16_t rpm = (uint16_t)(esc.esc[0].esc_rpm * 0.1f);
const uint16_t rpm = (uint16_t)(esc.esc[0].esc_rpm * 0.1f);
msg.rpm_L = (uint8_t)rpm & 0xff;
msg.rpm_H = (uint8_t)(rpm >> 8) & 0xff;
src/drivers/mkblctrl/mkblctrl.cpp
+3 -3
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@@ -600,8 +600,8 @@ MK::task_main()
esc.esc[i].esc_address = (uint8_t) BLCTRL_BASE_ADDR + i;
esc.esc[i].esc_vendor = ESC_VENDOR_MIKROKOPTER;
esc.esc[i].esc_version = (uint16_t) Motor[i].Version;
esc.esc[i].esc_voltage = (uint16_t) 0;
esc.esc[i].esc_current = (uint16_t) Motor[i].Current;
esc.esc[i].esc_voltage = 0.0F;
esc.esc[i].esc_current = static_cast<float>(Motor[i].Current) * 0.1F;
esc.esc[i].esc_rpm = (uint16_t) 0;
esc.esc[i].esc_setpoint = (float) Motor[i].SetPoint_PX4;
@@ -614,7 +614,7 @@ MK::task_main()
esc.esc[i].esc_setpoint_raw = (uint16_t) Motor[i].SetPoint;
}
esc.esc[i].esc_temperature = (uint16_t) Motor[i].Temperature;
esc.esc[i].esc_temperature = static_cast<float>(Motor[i].Temperature);
esc.esc[i].esc_state = (uint16_t) Motor[i].State;
esc.esc[i].esc_errorcount = (uint16_t) 0;
src/modules/sdlog2/sdlog2_messages.h
+8 -8
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@@ -241,15 +241,15 @@ struct log_GPSP_s {
#define LOG_ESC_MSG 18
struct log_ESC_s {
uint16_t counter;
uint8_t esc_count;
uint8_t esc_connectiontype;
uint8_t esc_num;
uint8_t esc_count;
uint8_t esc_connectiontype;
uint8_t esc_num;
uint16_t esc_address;
uint16_t esc_version;
uint16_t esc_voltage;
uint16_t esc_current;
uint16_t esc_rpm;
uint16_t esc_temperature;
float esc_voltage;
float esc_current;
int32_t esc_rpm;
float esc_temperature;
float esc_setpoint;
uint16_t esc_setpoint_raw;
};
@@ -452,7 +452,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
LOG_FORMAT(GPOS, "LLfffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"),
LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
LOG_FORMAT(ESC, "HBBBHHHHHHfH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(ESC, "HBBBHHffiffH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),
LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"),
src/modules/uORB/topics/esc_status.h
+10 -9
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@@ -78,6 +78,7 @@ enum ESC_CONNECTION_TYPE {
/**
* Electronic speed controller status.
* Unsupported float fields should be assigned NaN.
*/
struct esc_status_s {
/* use of a counter and timestamp recommended (but not necessary) */
@@ -89,17 +90,17 @@ struct esc_status_s {
enum ESC_CONNECTION_TYPE esc_connectiontype; /**< how ESCs connected to the system */
struct {
uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */
enum ESC_VENDOR esc_vendor; /**< Vendor of current ESC */
uint16_t esc_version; /**< Version of current ESC - if supported */
uint16_t esc_voltage; /**< Voltage measured from current ESC - if supported */
uint16_t esc_current; /**< Current measured from current ESC (100mA steps) - if supported */
uint16_t esc_rpm; /**< RPM measured from current ESC - if supported */
uint16_t esc_temperature; /**< Temperature measured from current ESC - if supported */
float esc_setpoint; /**< setpoint of current ESC */
uint32_t esc_errorcount; /**< Number of reported errors by ESC - if supported */
int32_t esc_rpm; /**< Motor RPM, negative for reverse rotation [RPM] - if supported */
float esc_voltage; /**< Voltage measured from current ESC [V] - if supported */
float esc_current; /**< Current measured from current ESC [A] - if supported */
float esc_temperature; /**< Temperature measured from current ESC [degC] - if supported */
float esc_setpoint; /**< setpoint of current ESC */
uint16_t esc_setpoint_raw; /**< setpoint of current ESC (Value sent to ESC) */
uint16_t esc_state; /**< State of ESC - depend on Vendor */
uint16_t esc_errorcount; /**< Number of reported errors by ESC - if supported */
uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */
uint16_t esc_version; /**< Version of current ESC - if supported */
uint16_t esc_state; /**< State of ESC - depend on Vendor */
} esc[CONNECTED_ESC_MAX];
};
src/modules/uavcan/actuators/esc.cpp
+32 -12
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@@ -73,7 +73,7 @@ int UavcanEscController::init()
void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
{
if ((outputs == nullptr) || (num_outputs > MAX_ESCS)) {
if ((outputs == nullptr) || (num_outputs > uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize)) {
perf_count(_perfcnt_invalid_input);
return;
}
@@ -93,25 +93,24 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
*/
uavcan::equipment::esc::RawCommand msg;
static const int cmd_max = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max();
if (_armed) {
for (unsigned i = 0; i < num_outputs; i++) {
float scaled = (outputs[i] + 1.0F) * 0.5F * uavcan::equipment::esc::RawCommand::CMD_MAX;
float scaled = (outputs[i] + 1.0F) * 0.5F * cmd_max;
if (scaled < 1.0F) {
scaled = 1.0F; // Since we're armed, we don't want to stop it completely
}
if (scaled < uavcan::equipment::esc::RawCommand::CMD_MIN) {
scaled = uavcan::equipment::esc::RawCommand::CMD_MIN;
if (scaled > cmd_max) {
scaled = cmd_max;
perf_count(_perfcnt_scaling_error);
} else if (scaled > uavcan::equipment::esc::RawCommand::CMD_MAX) {
scaled = uavcan::equipment::esc::RawCommand::CMD_MAX;
perf_count(_perfcnt_scaling_error);
} else {
; // Correct value
}
msg.cmd.push_back(static_cast<unsigned>(scaled));
msg.cmd.push_back(static_cast<int>(scaled));
_esc_status.esc[i].esc_setpoint_raw = abs(static_cast<int>(scaled));
}
}
@@ -129,10 +128,31 @@ void UavcanEscController::arm_esc(bool arm)
void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
{
// TODO save status into a local storage; publish to ORB later from orb_pub_timer_cb()
if (msg.esc_index < CONNECTED_ESC_MAX) {
_esc_status.esc_count = uavcan::max<int>(_esc_status.esc_count, msg.esc_index + 1);
_esc_status.timestamp = msg.getMonotonicTimestamp().toUSec();
auto &ref = _esc_status.esc[msg.esc_index];
ref.esc_address = msg.getSrcNodeID().get();
ref.esc_voltage = msg.voltage;
ref.esc_current = msg.current;
ref.esc_temperature = msg.temperature;
ref.esc_setpoint = msg.power_rating_pct;
ref.esc_rpm = msg.rpm;
ref.esc_errorcount = msg.error_count;
}
}
void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent&)
{
// TODO publish to ORB
_esc_status.counter += 1;
_esc_status.esc_connectiontype = ESC_CONNECTION_TYPE_CAN;
if (_esc_status_pub > 0) {
(void)orb_publish(ORB_ID(esc_status), _esc_status_pub, &_esc_status);
} else {
_esc_status_pub = orb_advertise(ORB_ID(esc_status), &_esc_status);
}
}
src/modules/uavcan/actuators/esc.hpp
+8 -9
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@@ -48,6 +48,8 @@
#include <uavcan/equipment/esc/RawCommand.hpp>
#include <uavcan/equipment/esc/Status.hpp>
#include <systemlib/perf_counter.h>
#include <uORB/topics/esc_status.h>
class UavcanEscController
{
@@ -73,9 +75,8 @@ private:
void orb_pub_timer_cb(const uavcan::TimerEvent &event);
static constexpr unsigned MAX_RATE_HZ = 100; ///< XXX make this configurable
static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 5;
static constexpr unsigned MAX_ESCS = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize;
static constexpr unsigned MAX_RATE_HZ = 200; ///< XXX make this configurable
static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 10;
typedef uavcan::MethodBinder<UavcanEscController*,
void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)>
@@ -84,6 +85,10 @@ private:
typedef uavcan::MethodBinder<UavcanEscController*, void (UavcanEscController::*)(const uavcan::TimerEvent&)>
TimerCbBinder;
bool _armed = false;
esc_status_s _esc_status = {};
orb_advert_t _esc_status_pub = -1;
/*
* libuavcan related things
*/
@@ -93,12 +98,6 @@ private:
uavcan::Subscriber<uavcan::equipment::esc::Status, StatusCbBinder> _uavcan_sub_status;
uavcan::TimerEventForwarder<TimerCbBinder> _orb_timer;
/*
* ESC states
*/
bool _armed = false;
uavcan::equipment::esc::Status _states[MAX_ESCS];
/*
* Perf counters
*/
uavcan
+1 -1
Submodule uavcan updated: 01d5bb242a...4de0338824