Adding px4cannode-v1 board and bootloader

2026-06-26 07:20:34 +08:00 · 2016-12-12 03:38:52 -10:00
parent cd8b759fed
commit bba8371b0f
45 changed files with 9232 additions and 0 deletions
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+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: Pavel Kirienko <pavel.kirienko@gmail.com>
+ *           David Sidrane<david_s5@nscdg.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+#include <px4_config.h>
+
+#include <syslog.h>
+#include <systemlib/systemlib.h>
+
+#include "sim_controller.hpp"
+#include <uavcan/equipment/esc/RawCommand.hpp>
+#include <uavcan/equipment/esc/RPMCommand.hpp>
+#include <uavcan/equipment/esc/Status.hpp>
+#include "led.hpp"
+
+
+uavcan::Publisher<uavcan::equipment::esc::Status> *pub_status;
+namespace
+{
+unsigned self_index = 0;
+int rpm = 0;
+
+static void cb_raw_command(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::RawCommand> &msg)
+{
+	if (msg.cmd.size() <= self_index) {
+		rgb_led(0, 0, 0, 0);
+		return;
+	}
+
+	const float scaled = msg.cmd[self_index] / float(
+				     uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max());
+
+	static int c = 0;
+
+	if (c++ % 100 == 0) {
+		::syslog(LOG_INFO, "scaled:%d\n", (int)scaled);
+	}
+
+	if (scaled > 0) {
+	} else {
+	}
+}
+
+static void cb_rpm_command(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::RPMCommand> &msg)
+{
+	if (msg.rpm.size() <= self_index) {
+		return;
+	}
+
+	rpm = msg.rpm[self_index];
+	static int c = 0;
+
+	if (c++ % 100 == 0) {
+		::syslog(LOG_INFO, "rpm:%d\n", rpm);
+	}
+
+	if (rpm > 0) {
+		rgb_led(255, 0, 0, rpm);
+
+	} else {
+		rgb_led(0, 0, 0, 0);
+	}
+}
+
+void cb_10Hz(const uavcan::TimerEvent &event)
+{
+	uavcan::equipment::esc::Status msg;
+
+	msg.esc_index = self_index;
+	msg.rpm = rpm;
+	msg.voltage = 3.3F;
+	msg.current = 0.001F;
+	msg.temperature = 24.0F;
+	msg.power_rating_pct = static_cast<unsigned>(.5F * 100 + 0.5F);
+	msg.error_count = 0;
+
+	if (rpm != 0) {
+		// Lower the publish rate to 1Hz if the motor is not running
+		static uavcan::MonotonicTime prev_pub_ts;
+
+		if ((event.scheduled_time - prev_pub_ts).toMSec() >= 990) {
+			prev_pub_ts = event.scheduled_time;
+			pub_status->broadcast(msg);
+		}
+
+	} else {
+		pub_status->broadcast(msg);
+	}
+}
+
+}
+int init_sim_controller(uavcan::INode &node)
+{
+
+	typedef void (*cb)(const uavcan::TimerEvent &);
+	static uavcan::Subscriber<uavcan::equipment::esc::RawCommand> sub_raw_command(node);
+	static uavcan::Subscriber<uavcan::equipment::esc::RPMCommand> sub_rpm_command(node);
+	static uavcan::TimerEventForwarder<cb>  timer_10hz(node);
+
+	self_index = 0;
+
+	int res = 0;
+
+	res = sub_raw_command.start(cb_raw_command);
+
+	if (res != 0) {
+		return res;
+	}
+
+	res = sub_rpm_command.start(cb_rpm_command);
+
+	if (res != 0) {
+		return res;
+	}
+
+	pub_status = new uavcan::Publisher<uavcan::equipment::esc::Status>(node);
+	res = pub_status->init();
+
+	if (res != 0) {
+		return res;
+	}
+
+	timer_10hz.setCallback(&cb_10Hz);
+	timer_10hz.startPeriodic(uavcan::MonotonicDuration::fromMSec(100));
+
+	return 0;
+}