diff --git a/src/drivers/uavcan/CMakeLists.txt b/src/drivers/uavcan/CMakeLists.txt index 086909f15d..fd0a7270ff 100644 --- a/src/drivers/uavcan/CMakeLists.txt +++ b/src/drivers/uavcan/CMakeLists.txt @@ -94,7 +94,7 @@ target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC # generated DSDL -set(DSDLC_INPUTS "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/com" "${LIBUAVCAN_DIR}/dsdl/uavcan") +set(DSDLC_INPUTS "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/com" "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/ardupilot" "${LIBUAVCAN_DIR}/dsdl/uavcan") set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated") set(DSDLC_INPUT_FILES) @@ -123,6 +123,8 @@ px4_add_module( SRCS rgbled.cpp rgbled.hpp + safety_state.cpp + safety_state.hpp # Main uavcan_main.cpp diff --git a/src/drivers/uavcan/dsdl/ardupilot/indication/20000.SafetyState.uavcan b/src/drivers/uavcan/dsdl/ardupilot/indication/20000.SafetyState.uavcan new file mode 100755 index 0000000000..e647900916 --- /dev/null +++ b/src/drivers/uavcan/dsdl/ardupilot/indication/20000.SafetyState.uavcan @@ -0,0 +1,7 @@ +# +# support for Safety LED on UAVCAN + +uint8 STATUS_SAFETY_ON = 0 +uint8 STATUS_SAFETY_OFF = 255 + +uint8 status diff --git a/src/drivers/uavcan/safety_state.cpp b/src/drivers/uavcan/safety_state.cpp new file mode 100644 index 0000000000..3e293c22da --- /dev/null +++ b/src/drivers/uavcan/safety_state.cpp @@ -0,0 +1,77 @@ +/**************************************************************************** + * + * Copyright (c) 2020 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 safety_state.cpp + * + * @author CUAVcaijie + */ + +#include "safety_state.hpp" + +UavcanSafetyState::UavcanSafetyState(uavcan::INode &node) : + _safety_state_pub(node), + _timer(node) +{ +} + +int UavcanSafetyState::init() +{ + /* + * Setup timer and call back function for periodic updates + */ + if (!_timer.isRunning()) { + _timer.setCallback(TimerCbBinder(this, &UavcanSafetyState::periodic_update)); + _timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ)); + } + + return 0; +} + +void UavcanSafetyState::periodic_update(const uavcan::TimerEvent &) +{ + actuator_armed_s actuator_armed; + + if (_actuator_armed_sub.update(&actuator_armed)) { + ardupilot::indication::SafetyState cmd; + + if (actuator_armed.armed || actuator_armed.prearmed) { + cmd.status = cmd.STATUS_SAFETY_OFF; + + } else { + cmd.status = cmd.STATUS_SAFETY_ON; + } + + (void)_safety_state_pub.broadcast(cmd); + } +} diff --git a/src/drivers/uavcan/safety_state.hpp b/src/drivers/uavcan/safety_state.hpp new file mode 100644 index 0000000000..215cd99b8e --- /dev/null +++ b/src/drivers/uavcan/safety_state.hpp @@ -0,0 +1,83 @@ +/**************************************************************************** +* +* Copyright (c) 2020 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 safety_state.hpp + * + * @author CUAVcaijie + * + * @brief According to actuator_armed to control the CAN SafetyState led + */ + +#pragma once + +#include +#include +#include +#include + + +class UavcanSafetyState +{ +public: + UavcanSafetyState(uavcan::INode &node); + + /* + * setup periodic updater + */ + int init(); + +private: + /* + * Max update rate to avoid exessive bus traffic + */ + static constexpr unsigned MAX_RATE_HZ = 10; + + /* + * Setup timer and call back function for periodic updates + */ + void periodic_update(const uavcan::TimerEvent &); + + typedef uavcan::MethodBinder + TimerCbBinder; + + /* + * Publish CAN Safety state led + */ + uavcan::Publisher _safety_state_pub; + + uavcan::TimerEventForwarder _timer; + + uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)}; + +}; diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp index bce3606c40..903e53d74f 100644 --- a/src/drivers/uavcan/uavcan_main.cpp +++ b/src/drivers/uavcan/uavcan_main.cpp @@ -82,6 +82,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys _node(can_driver, system_clock, _pool_allocator), _esc_controller(_node), _hardpoint_controller(_node), + _safety_state_controller(_node), _rgbled_controller(_node), _time_sync_master(_node), _time_sync_slave(_node), @@ -622,6 +623,12 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events) return ret; } + ret = _safety_state_controller.init(); + + if (ret < 0) { + return ret; + } + ret = _rgbled_controller.init(); if (ret < 0) { diff --git a/src/drivers/uavcan/uavcan_main.hpp b/src/drivers/uavcan/uavcan_main.hpp index c902b6a6aa..2f05c4b83c 100644 --- a/src/drivers/uavcan/uavcan_main.hpp +++ b/src/drivers/uavcan/uavcan_main.hpp @@ -47,6 +47,7 @@ #include #include "rgbled.hpp" +#include "safety_state.hpp" #include "uavcan_driver.hpp" #include "uavcan_servers.hpp" #include "allocator.hpp" @@ -201,6 +202,7 @@ private: UavcanEscController _esc_controller; UavcanMixingInterface _mixing_interface{_node_mutex, _esc_controller}; UavcanHardpointController _hardpoint_controller; + UavcanSafetyState _safety_state_controller; UavcanRGBController _rgbled_controller; uavcan::GlobalTimeSyncMaster _time_sync_master; uavcan::GlobalTimeSyncSlave _time_sync_slave;