uavcan: implement servo outputs

2026-10-22 19:13:33 +08:00 · 2021-10-18 18:45:19 -04:00
parent 07fa8c5295
commit 3ff6014a3c
6 changed files with 215 additions and 29 deletions
@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "servo.hpp"
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+
+using namespace time_literals;
+
+UavcanServoController::UavcanServoController(uavcan::INode &node) :
+	_node(node),
+	_uavcan_pub_array_cmd(node)
+{
+	_uavcan_pub_array_cmd.setPriority(UAVCAN_COMMAND_TRANSFER_PRIORITY);
+}
+
+void
+UavcanServoController::update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs)
+{
+	uavcan::equipment::actuator::ArrayCommand msg;
+
+	for (unsigned i = 0; i < num_outputs; ++i) {
+		uavcan::equipment::actuator::Command cmd;
+		cmd.actuator_id = i;
+		cmd.command_type = uavcan::equipment::actuator::Command::COMMAND_TYPE_UNITLESS;
+		cmd.command_value = (float)outputs[i] / 500.f - 1.f; // [-1, 1]
+
+		msg.commands.push_back(cmd);
+	}
+
+	_uavcan_pub_array_cmd.broadcast(msg);
+}
@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <uavcan/uavcan.hpp>
+#include <uavcan/equipment/actuator/Status.hpp>
+#include <uavcan/equipment/actuator/ArrayCommand.hpp>
+#include <lib/perf/perf_counter.h>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/actuator_outputs.h>
+#include <drivers/drv_hrt.h>
+#include <lib/mixer_module/mixer_module.hpp>
+
+class UavcanServoController
+{
+public:
+	static constexpr int MAX_ACTUATORS = 8;
+	static constexpr unsigned MAX_RATE_HZ = 50;
+	static constexpr unsigned UAVCAN_COMMAND_TRANSFER_PRIORITY = 6;	///< 0..31, inclusive, 0 - highest, 31 - lowest
+
+	UavcanServoController(uavcan::INode &node);
+	~UavcanServoController() = default;
+
+	void update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs);
+
+private:
+	uavcan::INode								&_node;
+	uavcan::Publisher<uavcan::equipment::actuator::ArrayCommand> _uavcan_pub_array_cmd;
+};