move uavcan from modules to drivers

2026-11-01 07:51:37 +08:00 · 2018-12-04 01:06:54 -05:00
parent bbab66d974
commit 75b2053243
109 changed files with 84 additions and 71 deletions
@@ -0,0 +1,119 @@
+/****************************************************************************
+ *
+ *   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.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>
+#include <perf/perf_counter.h>
+#include <uORB/topics/esc_status.h>
+#include <uORB/topics/actuator_outputs.h>
+
+
+class UavcanEscController
+{
+public:
+	UavcanEscController(uavcan::INode &node);
+	~UavcanEscController();
+
+	int init();
+
+	void update_outputs(float *outputs, unsigned num_outputs);
+
+	void arm_all_escs(bool arm);
+	void arm_single_esc(int num, bool arm);
+
+	void enable_idle_throttle_when_armed(bool value) { _run_at_idle_throttle_when_armed = value; }
+
+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 = 200;			///< XXX make this configurable
+	static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 10;
+	static constexpr unsigned UAVCAN_COMMAND_TRANSFER_PRIORITY = 5;	///< 0..31, inclusive, 0 - highest, 31 - lowest
+
+	typedef uavcan::MethodBinder<UavcanEscController *,
+		void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)>
+		StatusCbBinder;
+
+	typedef uavcan::MethodBinder<UavcanEscController *, void (UavcanEscController::*)(const uavcan::TimerEvent &)>
+	TimerCbBinder;
+
+	bool		_armed = false;
+	bool		_run_at_idle_throttle_when_armed = false;
+	esc_status_s	_esc_status = {};
+	orb_advert_t	_esc_status_pub = nullptr;
+	orb_advert_t _actuator_outputs_pub = nullptr;
+
+	/*
+	 * 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
+	 */
+	uint32_t 			_armed_mask = 0;
+	uint8_t				_max_number_of_nonzero_outputs = 0;
+
+	/*
+	 * Perf counters
+	 */
+	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");
+};