mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-24 11:43:34 +08:00
move uavcan from modules to drivers
This commit is contained in:
Daniel Agar
@@ -0,0 +1,232 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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||||
*
|
||||
* 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.
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*
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****************************************************************************/
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/**
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* @file esc.cpp
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*
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#include "esc.hpp"
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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#define MOTOR_BIT(x) (1<<(x))
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UavcanEscController::UavcanEscController(uavcan::INode &node) :
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_node(node),
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_uavcan_pub_raw_cmd(node),
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_uavcan_sub_status(node),
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_orb_timer(node)
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{
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_uavcan_pub_raw_cmd.setPriority(UAVCAN_COMMAND_TRANSFER_PRIORITY);
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if (_perfcnt_invalid_input == nullptr) {
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errx(1, "uavcan: couldn't allocate _perfcnt_invalid_input");
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}
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if (_perfcnt_scaling_error == nullptr) {
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errx(1, "uavcan: couldn't allocate _perfcnt_scaling_error");
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}
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}
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UavcanEscController::~UavcanEscController()
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{
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perf_free(_perfcnt_invalid_input);
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perf_free(_perfcnt_scaling_error);
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}
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int UavcanEscController::init()
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{
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// ESC status subscription
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int res = _uavcan_sub_status.start(StatusCbBinder(this, &UavcanEscController::esc_status_sub_cb));
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if (res < 0) {
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warnx("ESC status sub failed %i", res);
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return res;
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}
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// ESC status will be relayed from UAVCAN bus into ORB at this rate
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_orb_timer.setCallback(TimerCbBinder(this, &UavcanEscController::orb_pub_timer_cb));
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_orb_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / ESC_STATUS_UPDATE_RATE_HZ));
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return res;
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}
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void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
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{
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if ((outputs == nullptr) ||
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(num_outputs > uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize) ||
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(num_outputs > esc_status_s::CONNECTED_ESC_MAX)) {
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perf_count(_perfcnt_invalid_input);
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return;
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}
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/*
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* Rate limiting - we don't want to congest the bus
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*/
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const auto timestamp = _node.getMonotonicTime();
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if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
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return;
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}
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_prev_cmd_pub = timestamp;
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/*
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* Fill the command message
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* If unarmed, we publish an empty message anyway
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*/
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uavcan::equipment::esc::RawCommand msg;
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actuator_outputs_s actuator_outputs = {};
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actuator_outputs.noutputs = num_outputs;
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actuator_outputs.timestamp = hrt_absolute_time();
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static const int cmd_max = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max();
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const float cmd_min = _run_at_idle_throttle_when_armed ? 1.0F : 0.0F;
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for (unsigned i = 0; i < num_outputs; i++) {
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if (_armed_mask & MOTOR_BIT(i)) {
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float scaled = (outputs[i] + 1.0F) * 0.5F * cmd_max;
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// trim negative values back to minimum
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if (scaled < cmd_min) {
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scaled = cmd_min;
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perf_count(_perfcnt_scaling_error);
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}
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if (scaled > cmd_max) {
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scaled = cmd_max;
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perf_count(_perfcnt_scaling_error);
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}
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msg.cmd.push_back(static_cast<int>(scaled));
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_esc_status.esc[i].esc_setpoint_raw = abs(static_cast<int>(scaled));
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actuator_outputs.output[i] = scaled;
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} else {
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msg.cmd.push_back(static_cast<unsigned>(0));
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actuator_outputs.output[i] = 0.0f;
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}
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}
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/*
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* Remove channels that are always zero.
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* The objective of this optimization is to avoid broadcasting multi-frame transfers when a single frame
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* transfer would be enough. This is a valid optimization as the UAVCAN specification implies that all
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* non-specified ESC setpoints should be considered zero.
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* The positive outcome is a (marginally) lower bus traffic and lower CPU load.
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*
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* From the standpoint of the PX4 architecture, however, this is a hack. It should be investigated why
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* the mixer returns more outputs than are actually used.
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*/
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for (int index = int(msg.cmd.size()) - 1; index >= _max_number_of_nonzero_outputs; index--) {
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if (msg.cmd[index] != 0) {
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_max_number_of_nonzero_outputs = index + 1;
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break;
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}
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}
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msg.cmd.resize(_max_number_of_nonzero_outputs);
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/*
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* Publish the command message to the bus
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* Note that for a quadrotor it takes one CAN frame
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*/
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(void)_uavcan_pub_raw_cmd.broadcast(msg);
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// Publish actuator outputs
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if (_actuator_outputs_pub != nullptr) {
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orb_publish(ORB_ID(actuator_outputs), _actuator_outputs_pub, &actuator_outputs);
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} else {
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int instance;
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_actuator_outputs_pub = orb_advertise_multi(ORB_ID(actuator_outputs), &actuator_outputs,
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&instance, ORB_PRIO_DEFAULT);
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}
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}
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void UavcanEscController::arm_all_escs(bool arm)
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{
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if (arm) {
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_armed_mask = -1;
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} else {
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_armed_mask = 0;
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}
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}
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void UavcanEscController::arm_single_esc(int num, bool arm)
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{
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if (arm) {
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_armed_mask = MOTOR_BIT(num);
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} else {
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_armed_mask = 0;
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}
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}
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void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
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{
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if (msg.esc_index < esc_status_s::CONNECTED_ESC_MAX) {
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_esc_status.esc_count = uavcan::max<int>(_esc_status.esc_count, msg.esc_index + 1);
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_esc_status.timestamp = msg.getMonotonicTimestamp().toUSec();
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auto &ref = _esc_status.esc[msg.esc_index];
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ref.esc_address = msg.getSrcNodeID().get();
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ref.esc_voltage = msg.voltage;
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ref.esc_current = msg.current;
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ref.esc_temperature = msg.temperature;
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ref.esc_setpoint = msg.power_rating_pct;
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ref.esc_rpm = msg.rpm;
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ref.esc_errorcount = msg.error_count;
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}
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}
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void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent &)
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{
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_esc_status.counter += 1;
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_esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_CAN;
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if (_esc_status_pub != nullptr) {
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(void)orb_publish(ORB_ID(esc_status), _esc_status_pub, &_esc_status);
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} else {
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_esc_status_pub = orb_advertise(ORB_ID(esc_status), &_esc_status);
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}
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}
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@@ -0,0 +1,119 @@
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/****************************************************************************
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*
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* 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.
|
||||
*
|
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****************************************************************************/
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/**
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* @file esc.hpp
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*
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* UAVCAN <--> ORB bridge for ESC messages:
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* uavcan.equipment.esc.RawCommand
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* uavcan.equipment.esc.RPMCommand
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* uavcan.equipment.esc.Status
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*
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include <uavcan/uavcan.hpp>
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#include <uavcan/equipment/esc/RawCommand.hpp>
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#include <uavcan/equipment/esc/Status.hpp>
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#include <perf/perf_counter.h>
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#include <uORB/topics/esc_status.h>
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#include <uORB/topics/actuator_outputs.h>
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class UavcanEscController
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{
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public:
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UavcanEscController(uavcan::INode &node);
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~UavcanEscController();
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int init();
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void update_outputs(float *outputs, unsigned num_outputs);
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void arm_all_escs(bool arm);
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void arm_single_esc(int num, bool arm);
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void enable_idle_throttle_when_armed(bool value) { _run_at_idle_throttle_when_armed = value; }
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private:
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/**
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* ESC status message reception will be reported via this callback.
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*/
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void esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg);
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/**
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* ESC status will be published to ORB from this callback (fixed rate).
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*/
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void orb_pub_timer_cb(const uavcan::TimerEvent &event);
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static constexpr unsigned MAX_RATE_HZ = 200; ///< XXX make this configurable
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static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 10;
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static constexpr unsigned UAVCAN_COMMAND_TRANSFER_PRIORITY = 5; ///< 0..31, inclusive, 0 - highest, 31 - lowest
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typedef uavcan::MethodBinder<UavcanEscController *,
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void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)>
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StatusCbBinder;
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typedef uavcan::MethodBinder<UavcanEscController *, void (UavcanEscController::*)(const uavcan::TimerEvent &)>
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TimerCbBinder;
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bool _armed = false;
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bool _run_at_idle_throttle_when_armed = false;
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esc_status_s _esc_status = {};
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orb_advert_t _esc_status_pub = nullptr;
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orb_advert_t _actuator_outputs_pub = nullptr;
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|
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/*
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* libuavcan related things
|
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*/
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uavcan::MonotonicTime _prev_cmd_pub; ///< rate limiting
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uavcan::INode &_node;
|
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uavcan::Publisher<uavcan::equipment::esc::RawCommand> _uavcan_pub_raw_cmd;
|
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uavcan::Subscriber<uavcan::equipment::esc::Status, StatusCbBinder> _uavcan_sub_status;
|
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uavcan::TimerEventForwarder<TimerCbBinder> _orb_timer;
|
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|
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/*
|
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* ESC states
|
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*/
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uint32_t _armed_mask = 0;
|
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uint8_t _max_number_of_nonzero_outputs = 0;
|
||||
|
||||
/*
|
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* Perf counters
|
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*/
|
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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");
|
||||
};
|
||||
@@ -0,0 +1,90 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 hardpoint.cpp
|
||||
*
|
||||
* @author Andreas Jochum <Andreas@NicaDrone.com>
|
||||
*/
|
||||
|
||||
#include "hardpoint.hpp"
|
||||
#include <systemlib/err.h>
|
||||
|
||||
UavcanHardpointController::UavcanHardpointController(uavcan::INode &node) :
|
||||
_node(node),
|
||||
_uavcan_pub_raw_cmd(node),
|
||||
_timer(node)
|
||||
{
|
||||
_uavcan_pub_raw_cmd.setPriority(uavcan::TransferPriority::MiddleLower);
|
||||
}
|
||||
|
||||
|
||||
UavcanHardpointController::~UavcanHardpointController()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
int UavcanHardpointController::init()
|
||||
{
|
||||
/*
|
||||
* Setup timer and call back function for periodic updates
|
||||
*/
|
||||
_timer.setCallback(TimerCbBinder(this, &UavcanHardpointController::periodic_update));
|
||||
return 0;
|
||||
}
|
||||
|
||||
void UavcanHardpointController::set_command(uint8_t hardpoint_id, uint16_t command)
|
||||
{
|
||||
_cmd.command = command;
|
||||
_cmd.hardpoint_id = hardpoint_id;
|
||||
|
||||
/*
|
||||
* Publish the command message to the bus
|
||||
*/
|
||||
(void)_uavcan_pub_raw_cmd.broadcast(_cmd);
|
||||
|
||||
/*
|
||||
* Start the periodic update timer after a command is set
|
||||
*/
|
||||
if (!_timer.isRunning()) {
|
||||
_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
|
||||
}
|
||||
|
||||
}
|
||||
void UavcanHardpointController::periodic_update(const uavcan::TimerEvent &)
|
||||
{
|
||||
/*
|
||||
* Broadcast command at MAX_RATE_HZ
|
||||
*/
|
||||
(void)_uavcan_pub_raw_cmd.broadcast(_cmd);
|
||||
}
|
||||
@@ -0,0 +1,89 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 hardpoint.hpp
|
||||
*
|
||||
* @author Andreas Jochum <Andreas@NicaDrone.com>
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <uavcan/uavcan.hpp>
|
||||
#include <uavcan/equipment/hardpoint/Command.hpp>
|
||||
#include <uavcan/equipment/hardpoint/Status.hpp>
|
||||
#include <perf/perf_counter.h>
|
||||
|
||||
/**
|
||||
* @brief The UavcanHardpointController class
|
||||
*/
|
||||
|
||||
class UavcanHardpointController
|
||||
{
|
||||
public:
|
||||
UavcanHardpointController(uavcan::INode &node);
|
||||
~UavcanHardpointController();
|
||||
|
||||
/*
|
||||
* setup periodic updater
|
||||
*/
|
||||
int init();
|
||||
|
||||
|
||||
/*
|
||||
* set command
|
||||
*/
|
||||
void set_command(uint8_t hardpoint_id, uint16_t command);
|
||||
|
||||
private:
|
||||
/*
|
||||
* Max update rate to avoid exessive bus traffic
|
||||
*/
|
||||
static constexpr unsigned MAX_RATE_HZ = 1; ///< XXX make this configurable
|
||||
|
||||
uavcan::equipment::hardpoint::Command _cmd;
|
||||
|
||||
void periodic_update(const uavcan::TimerEvent &);
|
||||
|
||||
typedef uavcan::MethodBinder<UavcanHardpointController *, void (UavcanHardpointController::*)(const uavcan::TimerEvent &)>
|
||||
TimerCbBinder;
|
||||
|
||||
pthread_mutex_t _node_mutex;
|
||||
/*
|
||||
* libuavcan related things
|
||||
*/
|
||||
uavcan::INode &_node;
|
||||
uavcan::Publisher<uavcan::equipment::hardpoint::Command> _uavcan_pub_raw_cmd;
|
||||
uavcan::TimerEventForwarder<TimerCbBinder> _timer;
|
||||
|
||||
};
|
||||
Reference in New Issue
Block a user