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move uavcan from modules to drivers
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Daniel Agar
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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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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file uavcan_main.hpp
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*
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* Defines basic functinality of UAVCAN node.
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*
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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* Andreas Jochum <Andreas@NicaDrone.com>
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*/
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#pragma once
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#include <px4_config.h>
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#include "uavcan_driver.hpp"
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#include <uavcan/helpers/heap_based_pool_allocator.hpp>
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#include <uavcan/protocol/global_time_sync_master.hpp>
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#include <uavcan/protocol/global_time_sync_slave.hpp>
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#include <uavcan/protocol/node_status_monitor.hpp>
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#include <uavcan/protocol/param/GetSet.hpp>
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#include <uavcan/protocol/param/ExecuteOpcode.hpp>
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#include <uavcan/protocol/RestartNode.hpp>
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#include <drivers/device/device.h>
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#include <perf/perf_counter.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/test_motor.h>
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#include <uORB/topics/actuator_direct.h>
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#include "actuators/esc.hpp"
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#include "actuators/hardpoint.hpp"
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#include "sensors/sensor_bridge.hpp"
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#include "uavcan_servers.hpp"
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#include "allocator.hpp"
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#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN 4
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// we add two to allow for actuator_direct and busevent
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#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)
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/**
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* A UAVCAN node.
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*/
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class UavcanNode : public cdev::CDev
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{
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static constexpr unsigned MaxBitRatePerSec = 1000000;
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static constexpr unsigned bitPerFrame = 148;
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static constexpr unsigned FramePerSecond = MaxBitRatePerSec / bitPerFrame;
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static constexpr unsigned FramePerMSecond = ((FramePerSecond / 1000) + 1);
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static constexpr unsigned PollTimeoutMs = 3;
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/*
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* This memory is reserved for uavcan to use for queuing CAN frames.
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* At 1Mbit there is approximately one CAN frame every 145 uS.
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* The number of buffers sets how long you can go without calling
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* node_spin_xxxx. Since our task is the only one running and the
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* driver will light the fd when there is a CAN frame we can nun with
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* a minimum number of buffers to conserver memory. Each buffer is
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* 32 bytes. So 5 buffers costs 160 bytes and gives us a poll rate
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* of ~1 mS
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* 1000000/200
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*/
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static constexpr unsigned RxQueueLenPerIface = FramePerMSecond * PollTimeoutMs; // At
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static constexpr unsigned StackSize = 2400;
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public:
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typedef UAVCAN_DRIVER::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
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enum eServerAction {None, Start, Stop, CheckFW, Busy};
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UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock);
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virtual ~UavcanNode();
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virtual int ioctl(file *filp, int cmd, unsigned long arg);
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static int start(uavcan::NodeID node_id, uint32_t bitrate);
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uavcan::Node<> &get_node() { return _node; }
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// TODO: move the actuator mixing stuff into the ESC controller class
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static int control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input);
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void subscribe();
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int teardown();
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int arm_actuators(bool arm);
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void print_info();
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void shrink();
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void hardpoint_controller_set(uint8_t hardpoint_id, uint16_t command);
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static UavcanNode *instance() { return _instance; }
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static int getHardwareVersion(uavcan::protocol::HardwareVersion &hwver);
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int fw_server(eServerAction action);
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void attachITxQueueInjector(ITxQueueInjector *injector) {_tx_injector = injector;}
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int list_params(int remote_node_id);
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int save_params(int remote_node_id);
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int set_param(int remote_node_id, const char *name, char *value);
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int get_param(int remote_node_id, const char *name);
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int reset_node(int remote_node_id);
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private:
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void fill_node_info();
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int init(uavcan::NodeID node_id);
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void node_spin_once();
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int run();
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int add_poll_fd(int fd); ///< add a fd to poll list, returning index into _poll_fds[]
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int start_fw_server();
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int stop_fw_server();
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int request_fw_check();
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int print_params(uavcan::protocol::param::GetSet::Response &resp);
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int get_set_param(int nodeid, const char *name, uavcan::protocol::param::GetSet::Request &req);
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void update_params();
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void set_setget_response(uavcan::protocol::param::GetSet::Response *resp)
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{
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_setget_response = resp;
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}
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void free_setget_response(void)
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{
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_setget_response = nullptr;
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}
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int _task = -1; ///< handle to the OS task
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bool _task_should_exit = false; ///< flag to indicate to tear down the CAN driver
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volatile eServerAction _fw_server_action;
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int _fw_server_status;
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int _armed_sub = -1; ///< uORB subscription of the arming status
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actuator_armed_s _armed = {}; ///< the arming request of the system
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bool _is_armed = false; ///< the arming status of the actuators on the bus
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int _test_motor_sub = -1; ///< uORB subscription of the test_motor status
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test_motor_s _test_motor = {};
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bool _test_in_progress = false;
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unsigned _output_count = 0; ///< number of actuators currently available
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static UavcanNode *_instance; ///< singleton pointer
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uavcan_node::Allocator _pool_allocator;
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uavcan::Node<> _node; ///< library instance
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pthread_mutex_t _node_mutex;
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px4_sem_t _server_command_sem;
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UavcanEscController _esc_controller;
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UavcanHardpointController _hardpoint_controller;
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uavcan::GlobalTimeSyncMaster _time_sync_master;
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uavcan::GlobalTimeSyncSlave _time_sync_slave;
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uavcan::NodeStatusMonitor _node_status_monitor;
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List<IUavcanSensorBridge *> _sensor_bridges; ///< List of active sensor bridges
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MixerGroup *_mixers = nullptr;
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ITxQueueInjector *_tx_injector;
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uint32_t _groups_required = 0;
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uint32_t _groups_subscribed = 0;
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int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
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actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
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orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
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pollfd _poll_fds[UAVCAN_NUM_POLL_FDS] = {};
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unsigned _poll_fds_num = 0;
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int32_t _idle_throttle_when_armed = 0;
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int _actuator_direct_sub = -1; ///< uORB subscription of the actuator_direct topic
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uint8_t _actuator_direct_poll_fd_num = 0;
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actuator_direct_s _actuator_direct = {};
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actuator_outputs_s _outputs = {};
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perf_counter_t _perf_control_latency;
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bool _airmode = false;
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// index into _poll_fds for each _control_subs handle
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uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
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void handle_time_sync(const uavcan::TimerEvent &);
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typedef uavcan::MethodBinder<UavcanNode *, void (UavcanNode::*)(const uavcan::TimerEvent &)> TimerCallback;
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uavcan::TimerEventForwarder<TimerCallback> _master_timer;
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bool _callback_success;
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uavcan::protocol::param::GetSet::Response *_setget_response;
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typedef uavcan::MethodBinder<UavcanNode *,
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void (UavcanNode::*)(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &)> GetSetCallback;
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typedef uavcan::MethodBinder<UavcanNode *,
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void (UavcanNode::*)(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &)> ExecuteOpcodeCallback;
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typedef uavcan::MethodBinder<UavcanNode *,
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void (UavcanNode::*)(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &)> RestartNodeCallback;
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void cb_setget(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result);
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void cb_opcode(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &result);
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void cb_restart(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &result);
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};
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