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uavcan: add optical flow support (Here Flow)
* move uavcan dsdlc generation to module * 20200.Measurement.uavcan sync with upstream project (https://github.com/OpenMotorDrive/flow/blob/master/dsdl/com/hex/equipment/flow/20200.Measurement.uavcan) Signed-off-by: DanielePettenuzzo <daniele@px4.io>
This commit is contained in:
Daniele Pettenuzzo
Daniel Agar
parent
dab66e92d3
commit
be3d09c700
@ -71,12 +71,31 @@ add_compile_options(-Wno-cast-align) # TODO: fix and enable
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add_subdirectory(libuavcan EXCLUDE_FROM_ALL)
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add_dependencies(uavcan prebuild_targets)
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# generated DSDL
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set(DSDLC_INPUTS "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/com" "${CMAKE_CURRENT_SOURCE_DIR}/libuavcan/dsdl/uavcan")
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set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
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set(DSDLC_INPUT_FILES)
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foreach(DSDLC_INPUT ${DSDLC_INPUTS})
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file(GLOB_RECURSE DSDLC_NEW_INPUT_FILES ${CMAKE_CURRENT_SOURCE_DIR} "${DSDLC_INPUT}/*.uavcan")
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list(APPEND DSDLC_INPUT_FILES ${DSDLC_NEW_INPUT_FILES})
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endforeach(DSDLC_INPUT)
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add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
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COMMAND ${PYTHON} ${CMAKE_CURRENT_SOURCE_DIR}/libuavcan/libuavcan/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
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COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp
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DEPENDS ${DSDLC_INPUT_FILES}
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COMMENT "PX4 UAVCAN dsdl compiler"
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)
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add_custom_target(px4_uavcan_dsdlc DEPENDS px4_uavcan_dsdlc_run.stamp)
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px4_add_module(
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MODULE modules__uavcan
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MAIN uavcan
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STACK_MAIN 3200
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STACK_MAX 1500
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INCLUDES
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${DSDLC_OUTPUT}
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${PX4_SOURCE_DIR}/mavlink/include/mavlink
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libuavcan/libuavcan/include
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libuavcan/libuavcan/include/dsdlc_generated
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@ -97,15 +116,17 @@ px4_add_module(
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sensors/gnss.cpp
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sensors/mag.cpp
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sensors/baro.cpp
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sensors/flow.cpp
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DEPENDS
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px4_uavcan_dsdlc
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mixer
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version
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git_uavcan
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# within libuavcan
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libuavcan_dsdlc
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uavcan
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uavcan_${UAVCAN_PLATFORM}_driver
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)
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@ -0,0 +1,4 @@
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float32 integration_interval
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float32[2] rate_gyro_integral
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float32[2] flow_integral
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uint8 quality
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83
src/drivers/uavcan/sensors/flow.cpp
Normal file
83
src/drivers/uavcan/sensors/flow.cpp
Normal file
@ -0,0 +1,83 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 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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#include "flow.hpp"
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#include <drivers/drv_hrt.h>
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const char *const UavcanFlowBridge::NAME = "flow";
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UavcanFlowBridge::UavcanFlowBridge(uavcan::INode &node) :
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UavcanCDevSensorBridgeBase("uavcan_flow", "/dev/uavcan/flow", "/dev/flow", ORB_ID(optical_flow)),
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_sub_flow(node)
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{
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}
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int
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UavcanFlowBridge::init()
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{
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int res = device::CDev::init();
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if (res < 0) {
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return res;
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}
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res = _sub_flow.start(FlowCbBinder(this, &UavcanFlowBridge::flow_sub_cb));
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if (res < 0) {
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DEVICE_LOG("failed to start uavcan sub: %d", res);
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return res;
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}
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return 0;
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}
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void
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UavcanFlowBridge::flow_sub_cb(const uavcan::ReceivedDataStructure<com::hex::equipment::flow::Measurement> &msg)
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{
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optical_flow_s flow{};
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flow.timestamp = hrt_absolute_time();
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flow.pixel_flow_x_integral = msg.flow_integral[0];
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flow.pixel_flow_y_integral = msg.flow_integral[1];
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flow.gyro_x_rate_integral = msg.rate_gyro_integral[0];
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flow.gyro_y_rate_integral = msg.rate_gyro_integral[1];
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flow.quality = msg.quality;
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flow.max_flow_rate = 5.0f; // Datasheet: 7.4 rad/s
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flow.min_ground_distance = 0.1f; // Datasheet: 80mm
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flow.max_ground_distance = 30.0f; // Datasheet: infinity
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publish(msg.getSrcNodeID().get(), &flow);
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}
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67
src/drivers/uavcan/sensors/flow.hpp
Normal file
67
src/drivers/uavcan/sensors/flow.hpp
Normal file
@ -0,0 +1,67 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 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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#pragma once
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#include "sensor_bridge.hpp"
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#include <stdint.h>
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#include <sys/ioctl.h>
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#include <uORB/topics/optical_flow.h>
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#include <com/hex/equipment/flow/Measurement.hpp>
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class UavcanFlowBridge : public UavcanCDevSensorBridgeBase
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{
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public:
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static const char *const NAME;
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UavcanFlowBridge(uavcan::INode &node);
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const char *get_name() const override { return NAME; }
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int init() override;
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private:
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void flow_sub_cb(const uavcan::ReceivedDataStructure<com::hex::equipment::flow::Measurement> &msg);
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typedef uavcan::MethodBinder < UavcanFlowBridge *,
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void (UavcanFlowBridge::*)
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(const uavcan::ReceivedDataStructure<com::hex::equipment::flow::Measurement> &) >
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FlowCbBinder;
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uavcan::Subscriber<com::hex::equipment::flow::Measurement, FlowCbBinder> _sub_flow;
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};
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@ -41,6 +41,7 @@
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#include "gnss.hpp"
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#include "mag.hpp"
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#include "baro.hpp"
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#include "flow.hpp"
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/*
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* IUavcanSensorBridge
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@ -50,6 +51,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
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list.add(new UavcanBarometerBridge(node));
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list.add(new UavcanMagnetometerBridge(node));
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list.add(new UavcanGnssBridge(node));
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list.add(new UavcanFlowBridge(node));
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}
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/*
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