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voxl_esc: Added Mavlink tunnel UART pass-through mechanism

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Eric Katzfey 2025-02-20 15:11:09 -08:00 committed by Daniel Agar
parent d4918ea118
commit 5fb810a5ea
5 changed files with 30 additions and 1 deletions
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3
msg/MavlinkTunnel.msg
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@ -18,3 +18,6 @@ uint8 target_system # System ID (can be 0 for broadcast, but this is discou
uint8 target_component # Component ID (can be 0 for broadcast, but this is discouraged)
uint8 payload_length # Length of the data transported in payload
uint8[128] payload # Data itself
# Topic aliases for known payload types
# TOPICS mavlink_tunnel esc_serial_passthru

14
src/drivers/actuators/voxl_esc/voxl_esc.cpp
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@ -1334,6 +1334,20 @@ bool VoxlEsc::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
_esc_status_pub.publish(_esc_status);
uint8_t num_writes = 0;
while (_esc_serial_passthru_sub.updated() && (num_writes < 4)) {
mavlink_tunnel_s uart_passthru{};
_esc_serial_passthru_sub.copy(&uart_passthru);
if (_uart_port.write(uart_passthru.payload, uart_passthru.payload_length) != uart_passthru.payload_length) {
PX4_ERR("Failed to send mavlink tunnel data to esc");
return false;
}
num_writes++;
}
perf_count(_output_update_perf);
return true;

2
src/drivers/actuators/voxl_esc/voxl_esc.hpp
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@ -49,6 +49,7 @@
#include <uORB/topics/led_control.h>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/actuator_test.h>
#include <uORB/topics/mavlink_tunnel.h>
#include <px4_platform_common/Serial.hpp>
@ -212,6 +213,7 @@ private:
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _actuator_test_sub{ORB_ID(actuator_test)};
uORB::Subscription _led_update_sub{ORB_ID(led_control)};
uORB::Subscription _esc_serial_passthru_sub{ORB_ID(esc_serial_passthru)};
uORB::Publication<actuator_outputs_s> _outputs_debug_pub{ORB_ID(actuator_outputs_debug)};
uORB::Publication<esc_status_s> _esc_status_pub{ORB_ID(esc_status)};

11
src/modules/mavlink/mavlink_receiver.cpp
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@ -1976,7 +1976,16 @@ MavlinkReceiver::handle_message_tunnel(mavlink_message_t *msg)
memcpy(tunnel.payload, mavlink_tunnel.payload, sizeof(tunnel.payload));
static_assert(sizeof(tunnel.payload) == sizeof(mavlink_tunnel.payload), "mavlink_tunnel.payload size mismatch");
_mavlink_tunnel_pub.publish(tunnel);
switch (mavlink_tunnel.payload_type) {
case MAV_TUNNEL_PAYLOAD_TYPE_MODALAI_ESC_UART_PASSTHRU:
_esc_serial_passthru_pub.publish(tunnel);
break;
default:
_mavlink_tunnel_pub.publish(tunnel);
break;
}
}

1
src/modules/mavlink/mavlink_receiver.h
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@ -307,6 +307,7 @@ private:
uORB::Publication<landing_target_pose_s> _landing_target_pose_pub{ORB_ID(landing_target_pose)};
uORB::Publication<log_message_s> _log_message_pub{ORB_ID(log_message)};
uORB::Publication<mavlink_tunnel_s> _mavlink_tunnel_pub{ORB_ID(mavlink_tunnel)};
uORB::Publication<mavlink_tunnel_s> _esc_serial_passthru_pub{ORB_ID(esc_serial_passthru)};
uORB::Publication<obstacle_distance_s> _obstacle_distance_pub{ORB_ID(obstacle_distance)};
uORB::Publication<offboard_control_mode_s> _offboard_control_mode_pub{ORB_ID(offboard_control_mode)};
uORB::Publication<onboard_computer_status_s> _onboard_computer_status_pub{ORB_ID(onboard_computer_status)};