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UAVCAN ESC controller - proof of concept state

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This commit is contained in:
Pavel Kirienko
2014-05-08 19:42:20 +04:00
parent f4c28473f9
commit 4a98dae227
5 changed files with 265 additions and 45 deletions
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src/modules/uavcan/esc_controller.cpp
+124
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@@ -0,0 +1,124 @@
/****************************************************************************
*
* Copyright (C) 2014 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.
*
****************************************************************************/
/**
* @file esc_controller.cpp
*
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include "esc_controller.hpp"
#include <systemlib/err.h>
UavcanEscController::UavcanEscController(uavcan::INode &node) :
_node(node),
_uavcan_pub_raw_cmd(node),
_uavcan_sub_status(node),
_orb_timer(node)
{
}
int UavcanEscController::init()
{
int res = -1;
// ESC status subscription
res = _uavcan_sub_status.start(StatusCbBinder(this, &UavcanEscController::esc_status_sub_cb));
if (res < 0)
{
warnx("ESC status sub failed %i", res);
return res;
}
// ESC status will be relayed from UAVCAN bus into ORB at this rate
_orb_timer.setCallback(TimerCbBinder(this, &UavcanEscController::orb_pub_timer_cb));
_orb_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / ESC_STATUS_UPDATE_RATE_HZ));
return res;
}
void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
{
assert(outputs != nullptr);
assert(num_outputs <= MAX_ESCS);
/*
* Rate limiting - we don't want to congest the bus
*/
const auto timestamp = _node.getMonotonicTime();
if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
return;
}
_prev_cmd_pub = timestamp;
/*
* Fill the command message
* If unarmed, we publish an empty message anyway
*/
uavcan::equipment::esc::RawCommand msg;
if (_armed) {
for (unsigned i = 0; i < num_outputs; i++) {
float scaled = (outputs[i] + 1.0F) * 0.5F * uavcan::equipment::esc::RawCommand::CMD_MAX;
if (scaled < 1.0F)
scaled = 1.0F; // Since we're armed, we don't want to stop it completely
assert(scaled >= uavcan::equipment::esc::RawCommand::CMD_MIN);
assert(scaled <= uavcan::equipment::esc::RawCommand::CMD_MAX);
msg.cmd.push_back(scaled);
}
}
/*
* Publish the command message to the bus
* Note that for a quadrotor it takes one CAN frame
*/
(void)_uavcan_pub_raw_cmd.broadcast(msg);
}
void UavcanEscController::arm_esc(bool arm)
{
_armed = 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()
}
void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent&)
{
// TODO publish to ORB
}
src/modules/uavcan/esc_controller.hpp
+99
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@@ -0,0 +1,99 @@
/****************************************************************************
*
* Copyright (C) 2014 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.
*
****************************************************************************/
/**
* @file esc_controller.hpp
*
* UAVCAN <--> ORB bridge for ESC messages:
* uavcan.equipment.esc.RawCommand
* uavcan.equipment.esc.RPMCommand
* uavcan.equipment.esc.Status
*
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#pragma once
#include <uavcan/uavcan.hpp>
#include <uavcan/equipment/esc/RawCommand.hpp>
#include <uavcan/equipment/esc/Status.hpp>
class UavcanEscController
{
public:
UavcanEscController(uavcan::INode& node);
int init();
void update_outputs(float *outputs, unsigned num_outputs);
void arm_esc(bool arm);
private:
/**
* ESC status message reception will be reported via this callback.
*/
void esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg);
/**
* ESC status will be published to ORB from this callback (fixed rate).
*/
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;
typedef uavcan::MethodBinder<UavcanEscController*,
void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)>
StatusCbBinder;
typedef uavcan::MethodBinder<UavcanEscController*, void (UavcanEscController::*)(const uavcan::TimerEvent&)>
TimerCbBinder;
/*
* libuavcan related things
*/
uavcan::MonotonicTime _prev_cmd_pub; ///< rate limiting
uavcan::INode &_node;
uavcan::Publisher<uavcan::equipment::esc::RawCommand> _uavcan_pub_raw_cmd;
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];
};
src/modules/uavcan/module.mk
+3 -2
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@@ -40,8 +40,9 @@ MODULE_COMMAND = uavcan
MAXOPTIMIZATION = -Os
SRCS += uavcan_main.cpp \
uavcan_clock.cpp
SRCS += uavcan_main.cpp \
uavcan_clock.cpp \
esc_controller.cpp
#
# libuavcan
src/modules/uavcan/uavcan_main.cpp
+20 -27
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@@ -61,18 +61,8 @@ UavcanNode *UavcanNode::_instance;
UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) :
CDev("uavcan", UAVCAN_DEVICE_PATH),
_task(0),
_task_should_exit(false),
_armed_sub(-1),
_is_armed(false),
_output_count(0),
_node(can_driver, system_clock),
_controls({}),
_poll_fds({}),
_mixers(nullptr),
_groups_required(0),
_groups_subscribed(0),
_poll_fds_num(0)
_esc_controller(_node)
{
_control_topics[0] = ORB_ID(actuator_controls_0);
_control_topics[1] = ORB_ID(actuator_controls_1);
@@ -183,8 +173,7 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
int UavcanNode::init(uavcan::NodeID node_id)
{
int ret;
int ret = -1;
/* do regular cdev init */
ret = CDev::init();
@@ -192,6 +181,10 @@ int UavcanNode::init(uavcan::NodeID node_id)
if (ret != OK)
return ret;
ret = _esc_controller.init();
if (ret < 0)
return ret;
uavcan::protocol::SoftwareVersion swver;
swver.major = 12; // TODO fill version info
swver.minor = 34;
@@ -222,6 +215,11 @@ int UavcanNode::run()
actuator_outputs_s outputs;
memset(&outputs, 0, sizeof(outputs));
/*
* XXX Mixing logic/subscriptions shall be moved into UavcanEscController::update();
* IO multiplexing shall be done here.
*/
while (!_task_should_exit) {
if (_groups_subscribed != _groups_required) {
@@ -279,14 +277,16 @@ int UavcanNode::run()
}
}
/*
* Output to the bus
*/
printf("CAN out: ");
/* output to the bus */
for (unsigned i = 0; i < outputs.noutputs; i++) {
printf("%u: %8.4f ", i, outputs.output[i]);
// XXX send out via CAN here
}
printf("%s\n", (_is_armed) ? "ARMED" : "DISARMED");
_esc_controller.update_outputs(outputs.output, outputs.noutputs);
}
}
@@ -304,13 +304,12 @@ int UavcanNode::run()
arm_actuators(set_armed);
}
// Output commands and fetch data
// Output commands and fetch data TODO ORB multiplexing
const int res = _node.spin(uavcan::MonotonicDuration::fromUSec(5000));
const int spin_res = _node.spin(uavcan::MonotonicDuration::fromMSec(1));
if (res < 0) {
warnx("Spin error %i", res);
::sleep(1);
if (spin_res < 0) {
warnx("node spin error %i", spin_res);
}
}
@@ -347,14 +346,8 @@ UavcanNode::teardown()
int
UavcanNode::arm_actuators(bool arm)
{
bool changed = (_is_armed != arm);
_is_armed = arm;
if (changed) {
// Propagate immediately to CAN bus
}
_esc_controller.arm_esc(arm);
return OK;
}
src/modules/uavcan/uavcan_main.hpp
+19 -16
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@@ -42,6 +42,8 @@
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include "esc_controller.hpp"
/**
* @file uavcan_main.hpp
*
@@ -94,24 +96,25 @@ private:
int init(uavcan::NodeID node_id);
int run();
int _task; ///< handle to the OS task
bool _task_should_exit; ///< flag to indicate to tear down the CAN driver
int _armed_sub; ///< uORB subscription of the arming status
actuator_armed_s _armed; ///< the arming request of the system
bool _is_armed; ///< the arming status of the actuators on the bus
int _task = -1; ///< handle to the OS task
bool _task_should_exit = false; ///< flag to indicate to tear down the CAN driver
int _armed_sub = -1; ///< uORB subscription of the arming status
actuator_armed_s _armed; ///< the arming request of the system
bool _is_armed = false; ///< the arming status of the actuators on the bus
unsigned _output_count; ///< number of actuators currently available
unsigned _output_count = 0; ///< number of actuators currently available
static UavcanNode *_instance; ///< pointer to the library instance
Node _node;
static UavcanNode *_instance; ///< singleton pointer
Node _node; ///< library instance
UavcanEscController _esc_controller;
MixerGroup *_mixers;
MixerGroup *_mixers = nullptr;
uint32_t _groups_required;
uint32_t _groups_subscribed;
int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
pollfd _poll_fds[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
unsigned _poll_fds_num;
uint32_t _groups_required = 0;
uint32_t _groups_subscribed = 0;
int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
pollfd _poll_fds[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
unsigned _poll_fds_num = 0;
};