mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 05:53:34 +08:00
uavcannode updates and px4_fmu-v4_cannode example
- drivers/uavcannode add baro, mag, gps publications - delete old px4_cannode-v1 board - add stripped down simple rcS for CAN nodes
This commit is contained in:
Daniel Agar
@@ -38,4 +38,5 @@ px4_add_module(
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ms4525_airspeed.cpp
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DEPENDS
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drivers__airspeed
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mathlib
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)
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@@ -39,4 +39,5 @@ px4_add_module(
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MS5525_main.cpp
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DEPENDS
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drivers__airspeed
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mathlib
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)
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@@ -39,4 +39,5 @@ px4_add_module(
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SDP3X_main.cpp
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DEPENDS
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drivers__airspeed
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mathlib
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)
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@@ -42,4 +42,5 @@ px4_add_module(
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LidarLitePWM.cpp
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DEPENDS
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drivers_rangefinder
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#arch_io_pins # LidarLitePWM
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)
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@@ -37,4 +37,6 @@ px4_add_module(
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-Wno-cast-align # TODO: fix and enable
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SRCS
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bmm150.cpp
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DEPENDS
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conversion
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)
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@@ -40,4 +40,6 @@ px4_add_module(
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lis3mdl_spi.cpp
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lis3mdl_main.cpp
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lis3mdl.cpp
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DEPENDS
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conversion
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)
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@@ -1 +0,0 @@
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./dsdlc_generated/
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@@ -31,16 +31,19 @@
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#
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############################################################################
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px4_add_git_submodule(TARGET git_uavcan PATH "libuavcan")
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set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/drivers/uavcan/libuavcan)
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set(LIBUAVCAN_DIR_DRIVERS ${PX4_SOURCE_DIR}/src/drivers/uavcan/uavcan_drivers)
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px4_add_git_submodule(TARGET git_uavcan PATH ${LIBUAVCAN_DIR})
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set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
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set(UAVCAN_PLATFORM "generic")
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if(CONFIG_ARCH_CHIP)
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if (${CONFIG_ARCH_CHIP} MATCHES "kinetis")
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if(${CONFIG_ARCH_CHIP} MATCHES "kinetis")
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set(UAVCAN_DRIVER "kinetis")
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set(UAVCAN_TIMER 1)
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elseif (${CONFIG_ARCH_CHIP} MATCHES "stm32")
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elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32")
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set(UAVCAN_DRIVER "stm32")
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set(UAVCAN_TIMER 5) # The default timer the 5
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endif()
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@@ -57,31 +60,31 @@ endif()
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string(TOUPPER "${PX4_PLATFORM}" OS_UPPER)
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string(TOUPPER "${UAVCAN_DRIVER}" UAVCAN_DRIVER_UPPER)
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add_definitions(
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-DUAVCAN_${UAVCAN_DRIVER_UPPER}_${OS_UPPER}=1
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-DUAVCAN_${UAVCAN_DRIVER_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces}
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-DUAVCAN_${UAVCAN_DRIVER_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER}
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-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
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-DUAVCAN_DRIVER=uavcan_${UAVCAN_DRIVER}
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-DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1
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-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
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-DUAVCAN_NO_ASSERTIONS
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-DUAVCAN_PLATFORM=${UAVCAN_PLATFORM}
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)
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-DUAVCAN_${UAVCAN_DRIVER_UPPER}_${OS_UPPER}=1
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-DUAVCAN_${UAVCAN_DRIVER_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces}
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-DUAVCAN_${UAVCAN_DRIVER_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER}
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-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
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-DUAVCAN_DRIVER=uavcan_${UAVCAN_DRIVER}
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-DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1
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-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
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-DUAVCAN_NO_ASSERTIONS
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-DUAVCAN_PLATFORM=${UAVCAN_PLATFORM}
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)
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add_compile_options(-Wno-cast-align) # TODO: fix and enable
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add_subdirectory(libuavcan EXCLUDE_FROM_ALL)
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add_subdirectory(${LIBUAVCAN_DIR} libuavcan EXCLUDE_FROM_ALL)
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add_dependencies(uavcan prebuild_targets)
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# driver
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add_subdirectory(uavcan_drivers/${UAVCAN_DRIVER}/driver EXCLUDE_FROM_ALL)
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add_subdirectory(${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver libuavcan_drivers EXCLUDE_FROM_ALL)
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target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
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./libuavcan/libuavcan/include
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./libuavcan/libuavcan/include/dsdlc_generated
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)
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${LIBUAVCAN_DIR}/libuavcan/include
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${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
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)
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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_INPUTS "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/com" "${LIBUAVCAN_DIR}/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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@@ -90,22 +93,22 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
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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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COMMAND ${PYTHON} ${LIBUAVCAN_DIR}/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 ${DSDLC_INPUT_FILES}
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COMMENT "PX4 UAVCAN dsdl compiler"
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)
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add_custom_target(px4_uavcan_dsdlc DEPENDS px4_uavcan_dsdlc_run.stamp)
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px4_add_module(
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MODULE modules__uavcan
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MODULE drivers__uavcan
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MAIN uavcan
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INCLUDES
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${DSDLC_OUTPUT}
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libuavcan/libuavcan/include
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libuavcan/libuavcan/include/dsdlc_generated
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libuavcan/libuavcan_drivers/posix/include
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uavcan_drivers/${UAVCAN_DRIVER}/driver/include
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${LIBUAVCAN_DIR}/libuavcan/include
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${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
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${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include
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${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver/include
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SRCS
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# Main
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uavcan_main.cpp
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@@ -1 +0,0 @@
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./dsdlc_generated/
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@@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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# Copyright (c) 2015-2020 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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@@ -37,60 +37,88 @@ set(LIBUAVCAN_DIR_DRIVERS ${PX4_SOURCE_DIR}/src/drivers/uavcan/uavcan_drivers)
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px4_add_git_submodule(TARGET git_uavcan PATH ${LIBUAVCAN_DIR})
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set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
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set(UAVCAN_PLATFORM generic CACHE STRING "uavcan platform")
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set(UAVCAN_PLATFORM "generic")
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if(CONFIG_ARCH_CHIP)
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if(${CONFIG_ARCH_CHIP} MATCHES "kinetis")
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set(UAVCAN_DRIVER "kinetis")
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set(UAVCAN_TIMER 1)
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elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32")
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set(UAVCAN_DRIVER "stm32")
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set(UAVCAN_TIMER 5) # The default timer the 5
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endif()
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endif()
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if(NOT DEFINED UAVCAN_DRIVER)
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message(FATAL_ERROR "UAVCAN_DRIVER not set")
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endif()
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if(NOT config_uavcan_num_ifaces)
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message(FATAL_ERROR "config_uavcan_num_ifaces not set")
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endif()
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string(TOUPPER "${PX4_PLATFORM}" OS_UPPER)
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string(TOUPPER "${UAVCAN_DRIVER}" UAVCAN_DRIVER_UPPER)
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add_definitions(
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-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
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-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
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-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
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-DUAVCAN_NO_ASSERTIONS
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-DUAVCAN_PLATFORM=generic
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-DUAVCAN_STM32_${OS_UPPER}=1
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-DUAVCAN_STM32_NUM_IFACES=1
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-DUAVCAN_STM32_TIMER_NUMBER=2
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-DUAVCAN_USE_CPP03=ON
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-DUAVCAN_USE_EXTERNAL_SNPRINT
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)
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-DUAVCAN_${UAVCAN_DRIVER_UPPER}_${OS_UPPER}=1
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-DUAVCAN_${UAVCAN_DRIVER_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces}
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-DUAVCAN_${UAVCAN_DRIVER_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER}
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-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
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-DUAVCAN_DRIVER=uavcan_${UAVCAN_DRIVER}
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-DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1
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-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
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-DUAVCAN_NO_ASSERTIONS
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-DUAVCAN_PLATFORM=${UAVCAN_PLATFORM}
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)
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add_compile_options(-Wno-cast-align) # TODO: fix and enable
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add_subdirectory(${LIBUAVCAN_DIR} uavcannode_libuavcan)
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add_subdirectory(${LIBUAVCAN_DIR_DRIVERS}/stm32/driver uavcanesc_uavcan_drivers)
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target_include_directories(uavcan_stm32_driver PUBLIC
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${LIBUAVCAN_DIR}/libuavcan/include
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${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
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)
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add_subdirectory(${LIBUAVCAN_DIR} libuavcan EXCLUDE_FROM_ALL)
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add_dependencies(uavcan prebuild_targets)
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# driver
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add_subdirectory(${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver libuavcan_drivers EXCLUDE_FROM_ALL)
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target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
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${LIBUAVCAN_DIR}/libuavcan/include
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${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
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)
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# generated DSDL
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set(DSDLC_INPUTS "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/com" "${LIBUAVCAN_DIR}/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} ${LIBUAVCAN_DIR}/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 ${DSDLC_INPUT_FILES}
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COMMENT "PX4 UAVCAN dsdl compiler"
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)
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add_custom_target(px4_uavcan_dsdlc DEPENDS px4_uavcan_dsdlc_run.stamp)
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px4_add_module(
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MODULE modules__uavcannode
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MODULE drivers__uavcannode
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MAIN uavcannode
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STACK_MAIN 1048
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INCLUDES
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${DSDLC_OUTPUT}
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${LIBUAVCAN_DIR}/libuavcan/include
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${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
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${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include
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${LIBUAVCAN_DIR_DRIVERS}/stm32/driver/include
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||||
COMPILE_FLAGS
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||||
-Wframe-larger-than=1500
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||||
-Wno-deprecated-declarations
|
||||
-O3
|
||||
${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver/include
|
||||
SRCS
|
||||
uavcannode_main.cpp
|
||||
indication_controller.cpp
|
||||
sim_controller.cpp
|
||||
led.cpp
|
||||
resources.cpp
|
||||
allocator.hpp
|
||||
uavcan_driver.hpp
|
||||
UavcanNode.cpp
|
||||
UavcanNode.hpp
|
||||
DEPENDS
|
||||
px4_uavcan_dsdlc
|
||||
drivers_bootloaders
|
||||
git_uavcan
|
||||
version
|
||||
|
||||
uavcan_stm32_driver
|
||||
|
||||
# within libuavcan
|
||||
libuavcan_dsdlc
|
||||
uavcan
|
||||
git_uavcan
|
||||
uavcan_${UAVCAN_DRIVER}_driver
|
||||
uavcan # within libuavcan
|
||||
)
|
||||
|
||||
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES uavcan_stm32_driver)
|
||||
|
||||
@@ -0,0 +1,520 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015-2020 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "UavcanNode.hpp"
|
||||
|
||||
#include "boot_app_shared.h"
|
||||
|
||||
#include <lib/ecl/geo/geo.h>
|
||||
#include <lib/version/version.h>
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
/**
|
||||
* @file uavcan_main.cpp
|
||||
*
|
||||
* Implements basic functionality of UAVCAN node.
|
||||
*
|
||||
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
|
||||
* David Sidrane <david_s5@nscdg.com>
|
||||
*/
|
||||
|
||||
/*
|
||||
* This is the AppImageDescriptor used
|
||||
* by the make_can_boot_descriptor.py tool to set
|
||||
* the application image's descriptor so that the
|
||||
* uavcan bootloader has the ability to validate the
|
||||
* image crc, size etc of this application
|
||||
*/
|
||||
|
||||
boot_app_shared_section app_descriptor_t AppDescriptor = {
|
||||
.signature = {APP_DESCRIPTOR_SIGNATURE},
|
||||
.image_crc = 0,
|
||||
.image_size = 0,
|
||||
.vcs_commit = 0,
|
||||
.major_version = APP_VERSION_MAJOR,
|
||||
.minor_version = APP_VERSION_MINOR,
|
||||
.reserved = {0xff, 0xff, 0xff, 0xff, 0xff, 0xff }
|
||||
};
|
||||
|
||||
UavcanNode *UavcanNode::_instance;
|
||||
|
||||
UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) :
|
||||
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::uavcan),
|
||||
_node(can_driver, system_clock, _pool_allocator),
|
||||
_time_sync_slave(_node),
|
||||
_fw_update_listner(_node),
|
||||
_ahrs_magnetic_field_strength2_publisher(_node),
|
||||
_gnss_fix2_publisher(_node),
|
||||
_power_battery_info_publisher(_node),
|
||||
_air_data_static_pressure_publisher(_node),
|
||||
_air_data_static_temperature_publisher(_node),
|
||||
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")),
|
||||
_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")),
|
||||
_reset_timer(_node)
|
||||
{
|
||||
int res = pthread_mutex_init(&_node_mutex, nullptr);
|
||||
|
||||
if (res < 0) {
|
||||
std::abort();
|
||||
}
|
||||
}
|
||||
|
||||
UavcanNode::~UavcanNode()
|
||||
{
|
||||
if (_instance) {
|
||||
/* tell the task we want it to go away */
|
||||
_task_should_exit.store(true);
|
||||
ScheduleNow();
|
||||
|
||||
unsigned i = 10;
|
||||
|
||||
do {
|
||||
/* wait 5ms - it should wake every 10ms or so worst-case */
|
||||
usleep(5000);
|
||||
|
||||
if (--i == 0) {
|
||||
break;
|
||||
}
|
||||
|
||||
} while (_instance);
|
||||
}
|
||||
|
||||
perf_free(_cycle_perf);
|
||||
perf_free(_interval_perf);
|
||||
}
|
||||
|
||||
int UavcanNode::getHardwareVersion(uavcan::protocol::HardwareVersion &hwver)
|
||||
{
|
||||
int rv = -1;
|
||||
|
||||
if (UavcanNode::instance()) {
|
||||
|
||||
hwver.major = HW_VERSION_MAJOR;
|
||||
hwver.minor = HW_VERSION_MINOR;
|
||||
|
||||
mfguid_t mfgid = {};
|
||||
board_get_mfguid(mfgid);
|
||||
uavcan::copy(mfgid, mfgid + sizeof(mfgid), hwver.unique_id.begin());
|
||||
rv = 0;
|
||||
}
|
||||
|
||||
return rv;
|
||||
}
|
||||
|
||||
int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
|
||||
{
|
||||
if (_instance != nullptr) {
|
||||
PX4_WARN("Already started");
|
||||
return -1;
|
||||
}
|
||||
|
||||
/*
|
||||
* CAN driver init
|
||||
* Note that we instantiate and initialize CanInitHelper only once, because the STM32's bxCAN driver
|
||||
* shipped with libuavcan does not support deinitialization.
|
||||
*/
|
||||
static CanInitHelper *can = nullptr;
|
||||
|
||||
if (can == nullptr) {
|
||||
|
||||
can = new CanInitHelper();
|
||||
|
||||
if (can == nullptr) { // We don't have exceptions so bad_alloc cannot be thrown
|
||||
PX4_ERR("Out of memory");
|
||||
return -1;
|
||||
}
|
||||
|
||||
const int can_init_res = can->init(bitrate);
|
||||
|
||||
if (can_init_res < 0) {
|
||||
PX4_ERR("CAN driver init failed %i", can_init_res);
|
||||
return can_init_res;
|
||||
}
|
||||
}
|
||||
|
||||
// Node init
|
||||
_instance = new UavcanNode(can->driver, UAVCAN_DRIVER::SystemClock::instance());
|
||||
|
||||
if (_instance == nullptr) {
|
||||
PX4_ERR("Out of memory");
|
||||
return -1;
|
||||
}
|
||||
|
||||
const int node_init_res = _instance->init(node_id, can->driver.updateEvent());
|
||||
|
||||
if (node_init_res < 0) {
|
||||
delete _instance;
|
||||
_instance = nullptr;
|
||||
PX4_ERR("Node init failed %i", node_init_res);
|
||||
return node_init_res;
|
||||
}
|
||||
|
||||
// Keep the bit rate for reboots on BenginFirmware updates
|
||||
_instance->active_bitrate = bitrate;
|
||||
|
||||
_instance->ScheduleOnInterval(ScheduleIntervalMs * 1000);
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
void UavcanNode::fill_node_info()
|
||||
{
|
||||
// software version
|
||||
uavcan::protocol::SoftwareVersion swver;
|
||||
|
||||
// Extracting the first 8 hex digits of the git hash and converting them to int
|
||||
char fw_git_short[9] = {};
|
||||
std::memmove(fw_git_short, px4_firmware_version_string(), 8);
|
||||
char *end = nullptr;
|
||||
swver.vcs_commit = std::strtol(fw_git_short, &end, 16);
|
||||
swver.optional_field_flags |= swver.OPTIONAL_FIELD_FLAG_VCS_COMMIT;
|
||||
swver.major = AppDescriptor.major_version;
|
||||
swver.minor = AppDescriptor.minor_version;
|
||||
swver.image_crc = AppDescriptor.image_crc;
|
||||
|
||||
_node.setSoftwareVersion(swver);
|
||||
|
||||
/* hardware version */
|
||||
uavcan::protocol::HardwareVersion hwver;
|
||||
getHardwareVersion(hwver);
|
||||
_node.setHardwareVersion(hwver);
|
||||
}
|
||||
|
||||
void UavcanNode::busevent_signal_trampoline()
|
||||
{
|
||||
if (_instance) {
|
||||
// trigger the work queue (Note, this is called from IRQ context)
|
||||
_instance->ScheduleNow();
|
||||
}
|
||||
}
|
||||
|
||||
static void cb_reboot(const uavcan::TimerEvent &)
|
||||
{
|
||||
px4_systemreset(false);
|
||||
}
|
||||
|
||||
void UavcanNode::cb_beginfirmware_update(const uavcan::ReceivedDataStructure<UavcanNode::BeginFirmwareUpdate::Request>
|
||||
&req, uavcan::ServiceResponseDataStructure<UavcanNode::BeginFirmwareUpdate::Response> &rsp)
|
||||
{
|
||||
static bool inprogress = false;
|
||||
|
||||
rsp.error = rsp.ERROR_UNKNOWN;
|
||||
|
||||
if (req.image_file_remote_path.path.size()) {
|
||||
rsp.error = rsp.ERROR_IN_PROGRESS;
|
||||
|
||||
if (!inprogress) {
|
||||
inprogress = true;
|
||||
bootloader_app_shared_t shared;
|
||||
shared.bus_speed = active_bitrate;
|
||||
shared.node_id = _node.getNodeID().get();
|
||||
bootloader_app_shared_write(&shared, App);
|
||||
//rgb_led(255, 128, 0, 5);
|
||||
_reset_timer.setCallback(cb_reboot);
|
||||
_reset_timer.startOneShotWithDelay(uavcan::MonotonicDuration::fromMSec(1000));
|
||||
rsp.error = rsp.ERROR_OK;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
|
||||
{
|
||||
_node.setName(HW_UAVCAN_NAME);
|
||||
_node.setNodeID(node_id);
|
||||
|
||||
fill_node_info();
|
||||
|
||||
const int srv_start_res = _fw_update_listner.start(BeginFirmwareUpdateCallBack(this,
|
||||
&UavcanNode::cb_beginfirmware_update));
|
||||
|
||||
if (srv_start_res < 0) {
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
bus_events.registerSignalCallback(UavcanNode::busevent_signal_trampoline);
|
||||
|
||||
return _node.start();
|
||||
}
|
||||
|
||||
// Restart handler
|
||||
class RestartRequestHandler: public uavcan::IRestartRequestHandler
|
||||
{
|
||||
bool handleRestartRequest(uavcan::NodeID request_source) override
|
||||
{
|
||||
PX4_INFO("UAVCAN: Restarting by request from %i\n", int(request_source.get()));
|
||||
usleep(20 * 1000 * 1000);
|
||||
px4_systemreset(false);
|
||||
return true; // Will never be executed BTW
|
||||
}
|
||||
} restart_request_handler;
|
||||
|
||||
void UavcanNode::Run()
|
||||
{
|
||||
pthread_mutex_lock(&_node_mutex);
|
||||
|
||||
if (!_initialized) {
|
||||
|
||||
get_node().setRestartRequestHandler(&restart_request_handler);
|
||||
|
||||
// Set up the time synchronization
|
||||
const int slave_init_res = _time_sync_slave.start();
|
||||
|
||||
if (slave_init_res < 0) {
|
||||
PX4_ERR("Failed to start time_sync_slave");
|
||||
_task_should_exit.store(true);
|
||||
}
|
||||
|
||||
_node.setModeOperational();
|
||||
|
||||
_sensor_baro_sub.registerCallback();
|
||||
_sensor_mag_sub.registerCallback();
|
||||
_vehicle_gps_position_sub.registerCallback();
|
||||
|
||||
_initialized = true;
|
||||
}
|
||||
|
||||
perf_begin(_cycle_perf);
|
||||
perf_count(_interval_perf);
|
||||
|
||||
// check for parameter updates
|
||||
if (_parameter_update_sub.updated()) {
|
||||
// clear update
|
||||
parameter_update_s pupdate;
|
||||
_parameter_update_sub.copy(&pupdate);
|
||||
|
||||
// update parameters from storage
|
||||
}
|
||||
|
||||
const int spin_res = _node.spin(uavcan::MonotonicTime());
|
||||
|
||||
if (spin_res < 0) {
|
||||
PX4_ERR("node spin error %i", spin_res);
|
||||
}
|
||||
|
||||
// sensor_baro -> uavcan::equipment::air_data::StaticTemperature
|
||||
if (_sensor_baro_sub.updated()) {
|
||||
sensor_baro_s baro;
|
||||
|
||||
if (_sensor_baro_sub.copy(&baro)) {
|
||||
uavcan::equipment::air_data::StaticPressure static_pressure{};
|
||||
static_pressure.static_pressure = baro.pressure * 100; // millibar -> pascals
|
||||
_air_data_static_pressure_publisher.broadcast(static_pressure);
|
||||
|
||||
if (hrt_elapsed_time(&_last_static_temperature_publish) > 1_s) {
|
||||
uavcan::equipment::air_data::StaticTemperature static_temperature{};
|
||||
static_temperature.static_temperature = baro.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS;
|
||||
_air_data_static_temperature_publisher.broadcast(static_temperature);
|
||||
_last_static_temperature_publish = hrt_absolute_time();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// sensor_mag -> uavcan::equipment::ahrs::MagneticFieldStrength2
|
||||
if (_sensor_mag_sub.updated()) {
|
||||
sensor_mag_s mag;
|
||||
|
||||
if (_sensor_mag_sub.copy(&mag)) {
|
||||
uavcan::equipment::ahrs::MagneticFieldStrength2 magnetic_field{};
|
||||
magnetic_field.sensor_id = mag.device_id;
|
||||
magnetic_field.magnetic_field_ga[0] = mag.x;
|
||||
magnetic_field.magnetic_field_ga[1] = mag.y;
|
||||
magnetic_field.magnetic_field_ga[2] = mag.z;
|
||||
_ahrs_magnetic_field_strength2_publisher.broadcast(magnetic_field);
|
||||
}
|
||||
}
|
||||
|
||||
// vehicle_gps_position -> uavcan::equipment::gnss::Fix2
|
||||
if (_vehicle_gps_position_sub.updated()) {
|
||||
vehicle_gps_position_s gps;
|
||||
|
||||
if (_vehicle_gps_position_sub.copy(&gps)) {
|
||||
uavcan::equipment::gnss::Fix2 fix2{};
|
||||
|
||||
//fix2.gnss_timestamp = gps.time_utc_usec;
|
||||
fix2.latitude_deg_1e8 = gps.lat * 10;
|
||||
fix2.longitude_deg_1e8 = gps.lon * 10;
|
||||
fix2.height_msl_mm = gps.alt;
|
||||
fix2.height_ellipsoid_mm = gps.alt_ellipsoid;
|
||||
fix2.status = gps.fix_type;
|
||||
fix2.ned_velocity[0] = gps.vel_n_m_s;
|
||||
fix2.ned_velocity[1] = gps.vel_e_m_s;
|
||||
fix2.ned_velocity[2] = gps.vel_d_m_s;
|
||||
|
||||
_gnss_fix2_publisher.broadcast(fix2);
|
||||
}
|
||||
}
|
||||
|
||||
perf_end(_cycle_perf);
|
||||
|
||||
pthread_mutex_unlock(&_node_mutex);
|
||||
|
||||
if (_task_should_exit.load()) {
|
||||
ScheduleClear();
|
||||
_instance = nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
void UavcanNode::print_info()
|
||||
{
|
||||
pthread_mutex_lock(&_node_mutex);
|
||||
|
||||
// Memory status
|
||||
printf("Pool allocator status:\n");
|
||||
printf("\tCapacity hard/soft: %u/%u blocks\n",
|
||||
_pool_allocator.getBlockCapacityHardLimit(), _pool_allocator.getBlockCapacity());
|
||||
printf("\tReserved: %u blocks\n", _pool_allocator.getNumReservedBlocks());
|
||||
printf("\tAllocated: %u blocks\n", _pool_allocator.getNumAllocatedBlocks());
|
||||
|
||||
printf("\n");
|
||||
|
||||
// UAVCAN node perfcounters
|
||||
printf("UAVCAN node status:\n");
|
||||
printf("\tInternal failures: %llu\n", _node.getInternalFailureCount());
|
||||
printf("\tTransfer errors: %llu\n", _node.getDispatcher().getTransferPerfCounter().getErrorCount());
|
||||
printf("\tRX transfers: %llu\n", _node.getDispatcher().getTransferPerfCounter().getRxTransferCount());
|
||||
printf("\tTX transfers: %llu\n", _node.getDispatcher().getTransferPerfCounter().getTxTransferCount());
|
||||
|
||||
printf("\n");
|
||||
|
||||
// CAN driver status
|
||||
for (unsigned i = 0; i < _node.getDispatcher().getCanIOManager().getCanDriver().getNumIfaces(); i++) {
|
||||
printf("CAN%u status:\n", unsigned(i + 1));
|
||||
|
||||
auto iface = _node.getDispatcher().getCanIOManager().getCanDriver().getIface(i);
|
||||
printf("\tHW errors: %llu\n", iface->getErrorCount());
|
||||
|
||||
auto iface_perf_cnt = _node.getDispatcher().getCanIOManager().getIfacePerfCounters(i);
|
||||
printf("\tIO errors: %llu\n", iface_perf_cnt.errors);
|
||||
printf("\tRX frames: %llu\n", iface_perf_cnt.frames_rx);
|
||||
printf("\tTX frames: %llu\n", iface_perf_cnt.frames_tx);
|
||||
}
|
||||
|
||||
printf("\n");
|
||||
|
||||
perf_print_counter(_cycle_perf);
|
||||
perf_print_counter(_interval_perf);
|
||||
|
||||
pthread_mutex_unlock(&_node_mutex);
|
||||
}
|
||||
|
||||
void UavcanNode::shrink()
|
||||
{
|
||||
(void)pthread_mutex_lock(&_node_mutex);
|
||||
_pool_allocator.shrink();
|
||||
(void)pthread_mutex_unlock(&_node_mutex);
|
||||
}
|
||||
|
||||
static void print_usage()
|
||||
{
|
||||
PX4_INFO("usage: \n"
|
||||
"\tuavcannode {start|status|stop|arm|disarm}");
|
||||
}
|
||||
|
||||
extern "C" int uavcannode_start(int argc, char *argv[])
|
||||
{
|
||||
//board_app_initialize(nullptr);
|
||||
|
||||
// CAN bitrate
|
||||
int32_t bitrate = 0;
|
||||
|
||||
// Node ID
|
||||
int32_t node_id = 0;
|
||||
|
||||
// Did the bootloader auto baud and get a node ID Allocated
|
||||
bootloader_app_shared_t shared;
|
||||
int valid = bootloader_app_shared_read(&shared, BootLoader);
|
||||
|
||||
if (valid == 0) {
|
||||
|
||||
bitrate = shared.bus_speed;
|
||||
node_id = shared.node_id;
|
||||
|
||||
// Invalidate to prevent deja vu
|
||||
bootloader_app_shared_invalidate();
|
||||
|
||||
} else {
|
||||
// Node ID
|
||||
(void)param_get(param_find("CANNODE_NODE_ID"), &node_id);
|
||||
(void)param_get(param_find("CANNODE_BITRATE"), &bitrate);
|
||||
}
|
||||
|
||||
if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) {
|
||||
PX4_ERR("Invalid Node ID %i", node_id);
|
||||
return 1;
|
||||
}
|
||||
|
||||
// Start
|
||||
PX4_INFO("Node ID %u, bitrate %u", node_id, bitrate);
|
||||
int rv = UavcanNode::start(node_id, bitrate);
|
||||
|
||||
return rv;
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int uavcannode_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
print_usage();
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (!std::strcmp(argv[1], "start")) {
|
||||
if (UavcanNode::instance()) {
|
||||
PX4_ERR("already started");
|
||||
return 1;
|
||||
}
|
||||
|
||||
return uavcannode_start(argc, argv);
|
||||
}
|
||||
|
||||
/* commands below require the app to be started */
|
||||
UavcanNode *const inst = UavcanNode::instance();
|
||||
|
||||
if (!inst) {
|
||||
PX4_ERR("application not running");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (!std::strcmp(argv[1], "status") || !std::strcmp(argv[1], "info")) {
|
||||
inst->print_info();
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!std::strcmp(argv[1], "stop")) {
|
||||
delete inst;
|
||||
return 0;
|
||||
}
|
||||
|
||||
print_usage();
|
||||
return 1;
|
||||
}
|
||||
+86
-48
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2015-2020 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
|
||||
@@ -31,14 +31,6 @@
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <uavcan_stm32/uavcan_stm32.hpp>
|
||||
#include <drivers/device/device.h>
|
||||
#include <uavcan/protocol/global_time_sync_slave.hpp>
|
||||
#include <uavcan/protocol/file/BeginFirmwareUpdate.hpp>
|
||||
#include <uavcan/node/timer.hpp>
|
||||
/**
|
||||
* @file uavcan_main.hpp
|
||||
*
|
||||
@@ -48,16 +40,44 @@
|
||||
* David Sidrane <david_s5@nscdg.com>
|
||||
*/
|
||||
|
||||
#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN 1
|
||||
#define UAVCAN_DEVICE_PATH "/dev/uavcan/node"
|
||||
#pragma once
|
||||
|
||||
// we add 1 to allow for busevent
|
||||
#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+1)
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/atomic.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
|
||||
#include "uavcan_driver.hpp"
|
||||
#include "allocator.hpp"
|
||||
|
||||
#include <uavcan/helpers/heap_based_pool_allocator.hpp>
|
||||
#include <uavcan/protocol/global_time_sync_slave.hpp>
|
||||
#include <uavcan/protocol/file/BeginFirmwareUpdate.hpp>
|
||||
#include <uavcan/node/timer.hpp>
|
||||
#include <uavcan/protocol/node_status_monitor.hpp>
|
||||
#include <uavcan/protocol/param/GetSet.hpp>
|
||||
#include <uavcan/protocol/param/ExecuteOpcode.hpp>
|
||||
#include <uavcan/protocol/RestartNode.hpp>
|
||||
#include <uavcan/equipment/ahrs/MagneticFieldStrength2.hpp>
|
||||
#include <uavcan/equipment/air_data/StaticPressure.hpp>
|
||||
#include <uavcan/equipment/air_data/StaticTemperature.hpp>
|
||||
#include <uavcan/equipment/gnss/Fix2.hpp>
|
||||
#include <uavcan/equipment/power/BatteryInfo.hpp>
|
||||
|
||||
|
||||
#include <lib/parameters/param.h>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/SubscriptionCallback.hpp>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
#include <uORB/topics/sensor_baro.h>
|
||||
#include <uORB/topics/sensor_mag.h>
|
||||
#include <uORB/topics/vehicle_gps_position.h>
|
||||
|
||||
/**
|
||||
* A UAVCAN node.
|
||||
*/
|
||||
class UavcanNode : public cdev::CDev
|
||||
class UavcanNode : public px4::ScheduledWorkItem
|
||||
{
|
||||
/*
|
||||
* This memory is reserved for uavcan to use as over flow for message
|
||||
@@ -68,69 +88,70 @@ class UavcanNode : public cdev::CDev
|
||||
* free -and multiply it times getBlockSize to get the number of bytes
|
||||
*
|
||||
*/
|
||||
static constexpr unsigned MemPoolSize = 2048;
|
||||
static constexpr unsigned MemPoolSize = 2048;
|
||||
|
||||
static constexpr unsigned MaxBitRatePerSec = 1000000;
|
||||
static constexpr unsigned bitPerFrame = 148;
|
||||
static constexpr unsigned FramePerSecond = MaxBitRatePerSec / bitPerFrame;
|
||||
static constexpr unsigned FramePerMSecond = ((FramePerSecond / 1000) + 1);
|
||||
|
||||
static constexpr unsigned ScheduleIntervalMs = 10;
|
||||
|
||||
/*
|
||||
* This memory is reserved for uavcan to use for queuing CAN frames.
|
||||
* At 1Mbit there is approximately one CAN frame every 200 uS.
|
||||
* At 1Mbit there is approximately one CAN frame every 145 uS.
|
||||
* The number of buffers sets how long you can go without calling
|
||||
* node_spin_xxxx. Since our task is the only one running and the
|
||||
* driver will light the fd when there is a CAN frame we can nun with
|
||||
* driver will light the callback when there is a CAN frame we can nun with
|
||||
* a minimum number of buffers to conserver memory. Each buffer is
|
||||
* 32 bytes. So 5 buffers costs 160 bytes and gives us a maximum required
|
||||
* poll rate of ~1 mS
|
||||
*
|
||||
*/
|
||||
static constexpr unsigned RxQueueLenPerIface = 5;
|
||||
|
||||
/*
|
||||
* This memory is uses for the tasks stack size
|
||||
* 32 bytes. So 5 buffers costs 160 bytes and gives us a poll rate
|
||||
* of ~1 mS
|
||||
* 1000000/200
|
||||
*/
|
||||
|
||||
static constexpr unsigned StackSize = 2500;
|
||||
static constexpr unsigned RxQueueLenPerIface = FramePerMSecond * ScheduleIntervalMs;
|
||||
|
||||
public:
|
||||
typedef uavcan::Node<MemPoolSize> Node;
|
||||
typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
|
||||
typedef UAVCAN_DRIVER::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
|
||||
typedef uavcan::protocol::file::BeginFirmwareUpdate BeginFirmwareUpdate;
|
||||
|
||||
UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock);
|
||||
|
||||
virtual ~UavcanNode();
|
||||
|
||||
virtual int ioctl(file *filp, int cmd, unsigned long arg);
|
||||
|
||||
static int start(uavcan::NodeID node_id, uint32_t bitrate);
|
||||
|
||||
Node &get_node() { return _node; }
|
||||
|
||||
int teardown();
|
||||
uavcan::Node<> &get_node() { return _node; }
|
||||
|
||||
void print_info();
|
||||
|
||||
static UavcanNode *instance() { return _instance; }
|
||||
void shrink();
|
||||
|
||||
static UavcanNode *instance() { return _instance; }
|
||||
static int getHardwareVersion(uavcan::protocol::HardwareVersion &hwver);
|
||||
|
||||
static void busevent_signal_trampoline();
|
||||
|
||||
/* The bit rate that can be passed back to the bootloader */
|
||||
int32_t active_bitrate{0};
|
||||
|
||||
int32_t active_bitrate;
|
||||
|
||||
|
||||
protected:
|
||||
void Run() override;
|
||||
private:
|
||||
void fill_node_info();
|
||||
int init(uavcan::NodeID node_id, uavcan_stm32::BusEvent &bus_events);
|
||||
void node_spin_once();
|
||||
int run();
|
||||
static void busevent_signal_trampoline();
|
||||
int init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events);
|
||||
|
||||
px4::atomic_bool _task_should_exit{false}; ///< flag to indicate to tear down the CAN driver
|
||||
|
||||
px4_sem_t _sem; ///< semaphore for scheduling the task
|
||||
int _task = -1; ///< handle to the OS task
|
||||
bool _task_should_exit = false; ///< flag to indicate to tear down the CAN driver
|
||||
bool _initialized{false}; ///< number of actuators currently available
|
||||
|
||||
static UavcanNode *_instance; ///< singleton pointer
|
||||
Node _node; ///< library instance
|
||||
pthread_mutex_t _node_mutex;
|
||||
|
||||
uavcan_node::Allocator _pool_allocator;
|
||||
|
||||
uavcan::Node<> _node; ///< library instance
|
||||
pthread_mutex_t _node_mutex;
|
||||
|
||||
uavcan::GlobalTimeSyncSlave _time_sync_slave;
|
||||
|
||||
typedef uavcan::MethodBinder<UavcanNode *,
|
||||
@@ -142,10 +163,27 @@ private:
|
||||
void cb_beginfirmware_update(const uavcan::ReceivedDataStructure<UavcanNode::BeginFirmwareUpdate::Request> &req,
|
||||
uavcan::ServiceResponseDataStructure<UavcanNode::BeginFirmwareUpdate::Response> &rsp);
|
||||
|
||||
|
||||
uavcan::Publisher<uavcan::equipment::ahrs::MagneticFieldStrength2> _ahrs_magnetic_field_strength2_publisher;
|
||||
uavcan::Publisher<uavcan::equipment::gnss::Fix2> _gnss_fix2_publisher;
|
||||
uavcan::Publisher<uavcan::equipment::power::BatteryInfo> _power_battery_info_publisher;
|
||||
uavcan::Publisher<uavcan::equipment::air_data::StaticPressure> _air_data_static_pressure_publisher;
|
||||
uavcan::Publisher<uavcan::equipment::air_data::StaticTemperature> _air_data_static_temperature_publisher;
|
||||
hrt_abstime _last_static_temperature_publish{0};
|
||||
|
||||
|
||||
|
||||
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
|
||||
|
||||
uORB::SubscriptionCallbackWorkItem _sensor_baro_sub{this, ORB_ID(sensor_baro)};
|
||||
uORB::SubscriptionCallbackWorkItem _sensor_mag_sub{this, ORB_ID(sensor_mag)};
|
||||
uORB::SubscriptionCallbackWorkItem _vehicle_gps_position_sub{this, ORB_ID(vehicle_gps_position)};
|
||||
|
||||
perf_counter_t _cycle_perf;
|
||||
perf_counter_t _interval_perf;
|
||||
|
||||
public:
|
||||
|
||||
/* A timer used to reboot after the response is sent */
|
||||
|
||||
uavcan::TimerEventForwarder<void (*)(const uavcan::TimerEvent &)> _reset_timer;
|
||||
|
||||
};
|
||||
@@ -1,7 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: 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
|
||||
@@ -32,6 +31,40 @@
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
__BEGIN_DECLS
|
||||
void rgb_led(int r, int g, int b, int freqs);
|
||||
__END_DECLS
|
||||
/**
|
||||
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <systemlib/err.h>
|
||||
#include <uavcan/uavcan.hpp>
|
||||
#include <uavcan/helpers/heap_based_pool_allocator.hpp>
|
||||
|
||||
// TODO: Entire UAVCAN application should be moved into a namespace later; this is the first step.
|
||||
namespace uavcan_node
|
||||
{
|
||||
|
||||
struct AllocatorSynchronizer {
|
||||
const ::irqstate_t state = ::enter_critical_section();
|
||||
~AllocatorSynchronizer() { ::leave_critical_section(state); }
|
||||
};
|
||||
|
||||
struct Allocator : public uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSize, AllocatorSynchronizer> {
|
||||
static constexpr unsigned CapacitySoftLimit = 250;
|
||||
static constexpr unsigned CapacityHardLimit = 500;
|
||||
|
||||
Allocator() :
|
||||
uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSize, AllocatorSynchronizer>(CapacitySoftLimit, CapacityHardLimit)
|
||||
{ }
|
||||
|
||||
~Allocator()
|
||||
{
|
||||
if (getNumAllocatedBlocks() > 0) {
|
||||
PX4_ERR("UAVCAN LEAKS MEMORY: %u BLOCKS (%u BYTES) LOST",
|
||||
getNumAllocatedBlocks(), getNumAllocatedBlocks() * uavcan::MemPoolBlockSize);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
}
|
||||
@@ -1,96 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
|
||||
* Author: Pavel Kirienko <pavel.kirienko@gmail.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 "indication_controller.hpp"
|
||||
#include <uavcan/equipment/indication/LightsCommand.hpp>
|
||||
#include "led.hpp"
|
||||
|
||||
namespace
|
||||
{
|
||||
unsigned self_light_index = 0;
|
||||
|
||||
void cb_light_command(const uavcan::ReceivedDataStructure<uavcan::equipment::indication::LightsCommand> &msg)
|
||||
{
|
||||
uavcan::uint32_t red = 0;
|
||||
uavcan::uint32_t green = 0;
|
||||
uavcan::uint32_t blue = 0;
|
||||
|
||||
for (auto &cmd : msg.commands) {
|
||||
if (cmd.light_id == self_light_index) {
|
||||
using uavcan::equipment::indication::RGB565;
|
||||
|
||||
red = uavcan::uint32_t(float(cmd.color.red) *
|
||||
(255.0F / float(RGB565::FieldTypes::red::max())) + 0.5F);
|
||||
|
||||
green = uavcan::uint32_t(float(cmd.color.green) *
|
||||
(255.0F / float(RGB565::FieldTypes::green::max())) + 0.5F);
|
||||
|
||||
blue = uavcan::uint32_t(float(cmd.color.blue) *
|
||||
(255.0F / float(RGB565::FieldTypes::blue::max())) + 0.5F);
|
||||
|
||||
red = uavcan::min<uavcan::uint32_t>(red, 0xFFU);
|
||||
green = uavcan::min<uavcan::uint32_t>(green, 0xFFU);
|
||||
blue = uavcan::min<uavcan::uint32_t>(blue, 0xFFU);
|
||||
}
|
||||
|
||||
if (cmd.light_id == self_light_index + 1) {
|
||||
static int c = 0;
|
||||
|
||||
if (c++ % 100 == 0) {
|
||||
::syslog(LOG_INFO, "rgb:%d %d %d hz %d\n", red, green, blue, int(cmd.color.red));
|
||||
}
|
||||
|
||||
rgb_led(red, green, blue, int(cmd.color.red));
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int init_indication_controller(uavcan::INode &node)
|
||||
{
|
||||
static uavcan::Subscriber<uavcan::equipment::indication::LightsCommand> sub_light(node);
|
||||
|
||||
self_light_index = 0;
|
||||
|
||||
int res = 0;
|
||||
|
||||
res = sub_light.start(cb_light_command);
|
||||
|
||||
if (res != 0) {
|
||||
return res;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -1,40 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
|
||||
* Author: Pavel Kirienko <pavel.kirienko@gmail.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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <uavcan_stm32/uavcan_stm32.hpp>
|
||||
|
||||
|
||||
int init_indication_controller(uavcan::INode &node);
|
||||
@@ -1,75 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: 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 <nuttx/config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
|
||||
#include "hardware/stm32_tim.h"
|
||||
|
||||
|
||||
#include "led.hpp"
|
||||
|
||||
void rgb_led(int r, int g, int b, int freqs)
|
||||
{
|
||||
|
||||
long fosc = 72000000;
|
||||
long prescale = 2048;
|
||||
long p1s = fosc / prescale;
|
||||
long p0p5s = p1s / 2;
|
||||
stm32_tim_channel_t mode = (stm32_tim_channel_t)(STM32_TIM_CH_OUTPWM | STM32_TIM_CH_POLARITY_NEG);
|
||||
static struct stm32_tim_dev_s *tim = 0;
|
||||
|
||||
if (tim == 0) {
|
||||
tim = stm32_tim_init(3);
|
||||
STM32_TIM_SETMODE(tim, STM32_TIM_MODE_UP);
|
||||
STM32_TIM_SETCLOCK(tim, p1s - 8);
|
||||
STM32_TIM_SETPERIOD(tim, p1s);
|
||||
STM32_TIM_SETCOMPARE(tim, 1, 0);
|
||||
STM32_TIM_SETCOMPARE(tim, 2, 0);
|
||||
STM32_TIM_SETCOMPARE(tim, 3, 0);
|
||||
STM32_TIM_SETCHANNEL(tim, 1, mode);
|
||||
STM32_TIM_SETCHANNEL(tim, 2, mode);
|
||||
STM32_TIM_SETCHANNEL(tim, 3, mode);
|
||||
}
|
||||
|
||||
long p = freqs == 0 ? p1s : p1s / freqs;
|
||||
STM32_TIM_SETPERIOD(tim, p);
|
||||
|
||||
p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
|
||||
|
||||
STM32_TIM_SETCOMPARE(tim, 1, (r * p) / 255);
|
||||
STM32_TIM_SETCOMPARE(tim, 2, (g * p) / 255);
|
||||
STM32_TIM_SETCOMPARE(tim, 3, (b * p) / 255);
|
||||
}
|
||||
@@ -1,189 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: 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_platform_common/px4_config.h>
|
||||
#include <nuttx/progmem.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdlib.h>
|
||||
#include <syslog.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
|
||||
#include <systemlib/cpuload.h>
|
||||
#include "resources.hpp"
|
||||
|
||||
#if !defined(CONFIG_NSH_LIBRARY)
|
||||
|
||||
static const char *
|
||||
tstate_name(const tstate_t s)
|
||||
{
|
||||
switch (s) {
|
||||
case TSTATE_TASK_INVALID: return "init";
|
||||
|
||||
case TSTATE_TASK_PENDING: return "PEND";
|
||||
|
||||
case TSTATE_TASK_READYTORUN: return "READY";
|
||||
|
||||
case TSTATE_TASK_RUNNING: return "RUN";
|
||||
|
||||
case TSTATE_TASK_INACTIVE: return "inact";
|
||||
|
||||
case TSTATE_WAIT_SEM: return "w:sem";
|
||||
#ifndef CONFIG_DISABLE_SIGNALS
|
||||
|
||||
case TSTATE_WAIT_SIG: return "w:sig";
|
||||
#endif
|
||||
#ifndef CONFIG_DISABLE_MQUEUE
|
||||
|
||||
case TSTATE_WAIT_MQNOTEMPTY: return "w:mqe";
|
||||
|
||||
case TSTATE_WAIT_MQNOTFULL: return "w:mqf";
|
||||
#endif
|
||||
#ifdef CONFIG_PAGING
|
||||
|
||||
case TSTATE_WAIT_PAGEFILL: return "w:pgf";
|
||||
#endif
|
||||
|
||||
default:
|
||||
return "ERROR";
|
||||
}
|
||||
}
|
||||
|
||||
void stack_check(void)
|
||||
{
|
||||
|
||||
for (int i = 0; i < CONFIG_MAX_TASKS; i++) {
|
||||
|
||||
if (system_load.tasks[i].tcb) {
|
||||
size_t stack_size = system_load.tasks[i].tcb->adj_stack_size;
|
||||
ssize_t stack_free = 0;
|
||||
|
||||
#if CONFIG_ARCH_INTERRUPTSTACK > 3
|
||||
|
||||
if (system_load.tasks[i].tcb->pid == 0) {
|
||||
stack_size = (CONFIG_ARCH_INTERRUPTSTACK & ~3);
|
||||
stack_free = up_check_intstack_remain();
|
||||
|
||||
} else {
|
||||
#endif
|
||||
stack_free = up_check_tcbstack_remain(system_load.tasks[i].tcb);
|
||||
#if CONFIG_ARCH_INTERRUPTSTACK > 3
|
||||
}
|
||||
|
||||
#endif
|
||||
::syslog(LOG_INFO, "%4d %*-s %8lld %5u/%5u %3u (%3u) ",
|
||||
system_load.tasks[i].tcb->pid,
|
||||
CONFIG_TASK_NAME_SIZE, system_load.tasks[i].tcb->name,
|
||||
(system_load.tasks[i].total_runtime / 1000),
|
||||
stack_size - stack_free,
|
||||
stack_size,
|
||||
system_load.tasks[i].tcb->sched_priority,
|
||||
system_load.tasks[i].tcb->base_priority);
|
||||
|
||||
#if CONFIG_RR_INTERVAL > 0
|
||||
/* print scheduling info with RR time slice */
|
||||
::syslog(LOG_INFO, " %6d\n", system_load.tasks[i].tcb->timeslice);
|
||||
#else
|
||||
/* print task state instead */
|
||||
::syslog(LOG_INFO, " %-6s\n", tstate_name((tstate_t)system_load.tasks[i].tcb->task_state));
|
||||
#endif
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void free_getprogmeminfo(struct mallinfo *mem)
|
||||
{
|
||||
size_t page = 0, stpage = 0xFFFF;
|
||||
size_t pagesize = 0;
|
||||
ssize_t status;
|
||||
|
||||
mem->arena = 0;
|
||||
mem->fordblks = 0;
|
||||
mem->uordblks = 0;
|
||||
mem->mxordblk = 0;
|
||||
|
||||
for (status = 0, page = 0; status >= 0; page++) {
|
||||
status = up_progmem_ispageerased(page);
|
||||
pagesize = up_progmem_pagesize(page);
|
||||
|
||||
mem->arena += pagesize;
|
||||
|
||||
/* Is this beginning of new free space section */
|
||||
|
||||
if (status == 0) {
|
||||
if (stpage == 0xFFFF) { stpage = page; }
|
||||
|
||||
mem->fordblks += pagesize;
|
||||
|
||||
} else if (status != 0) {
|
||||
mem->uordblks += pagesize;
|
||||
|
||||
if (stpage != 0xFFFF && up_progmem_isuniform()) {
|
||||
stpage = page - stpage;
|
||||
|
||||
if (stpage > (size_t) mem->mxordblk) {
|
||||
mem->mxordblk = stpage;
|
||||
}
|
||||
|
||||
stpage = 0xFFFF;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
mem->mxordblk *= pagesize;
|
||||
}
|
||||
|
||||
void free_check(void)
|
||||
{
|
||||
struct mallinfo data;
|
||||
struct mallinfo prog;
|
||||
|
||||
#ifdef CONFIG_CAN_PASS_STRUCTS
|
||||
data = mallinfo();
|
||||
#else
|
||||
(void)mallinfo(&data);
|
||||
#endif
|
||||
|
||||
free_getprogmeminfo(&prog);
|
||||
|
||||
|
||||
::syslog(LOG_INFO, " total used free largest\n");
|
||||
|
||||
::syslog(LOG_INFO, "Data: %11d%11d%11d%11d\n",
|
||||
data.arena, data.uordblks, data.fordblks, data.mxordblk);
|
||||
|
||||
::syslog(LOG_INFO, "Prog: %11d%11d%11d%11d\n",
|
||||
prog.arena, prog.uordblks, prog.fordblks, prog.mxordblk);
|
||||
}
|
||||
#endif /* CONFIG_NSH_LIBRARY */
|
||||
@@ -1,43 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
__BEGIN_DECLS
|
||||
#if defined(CONFIG_NSH_LIBRARY)
|
||||
#define stack_check()
|
||||
#define free_check() free_main(0,0)
|
||||
#else
|
||||
void stack_check(void);
|
||||
void free_check(void);
|
||||
#endif
|
||||
__END_DECLS
|
||||
@@ -1,156 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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_platform_common/px4_config.h>
|
||||
|
||||
#include <syslog.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;
|
||||
}
|
||||
+12
-7
@@ -1,8 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
|
||||
* David Sidrane<david_s5@nscdg.com>
|
||||
* Copyright (C) 2018 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
|
||||
@@ -33,8 +31,15 @@
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @author David Sidrane <david_s5@nscdg.com>
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <uavcan_stm32/uavcan_stm32.hpp>
|
||||
|
||||
int init_sim_controller(uavcan::INode &node);
|
||||
#if defined(UAVCAN_KINETIS_NUTTX)
|
||||
# include <uavcan_kinetis/uavcan_kinetis.hpp>
|
||||
#elif defined(UAVCAN_STM32_NUTTX)
|
||||
# include <uavcan_stm32/uavcan_stm32.hpp>
|
||||
#else
|
||||
# error "Unsupported driver"
|
||||
#endif
|
||||
@@ -1,590 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
*
|
||||
* 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_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/log.h>
|
||||
#include <px4_platform_common/tasks.h>
|
||||
|
||||
#ifdef __PX4_NUTTX
|
||||
#include <nuttx/clock.h>
|
||||
#
|
||||
#else
|
||||
#include <px4_platform_common/workqueue.h>
|
||||
#endif
|
||||
|
||||
#include <cstdlib>
|
||||
#include <cstring>
|
||||
#include <fcntl.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <parameters/param.h>
|
||||
#include <lib/mixer/MixerGroup.hpp>
|
||||
#include <version/version.h>
|
||||
__BEGIN_DECLS
|
||||
#include <nuttx/board.h>
|
||||
#include <arch/chip/chip.h>
|
||||
__END_DECLS
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
|
||||
#include "uavcannode_main.hpp"
|
||||
#include "indication_controller.hpp"
|
||||
#include "sim_controller.hpp"
|
||||
#include "resources.hpp"
|
||||
#include "led.hpp"
|
||||
|
||||
#include "boot_app_shared.h"
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
/**
|
||||
* @file uavcan_main.cpp
|
||||
*
|
||||
* Implements basic functionality of UAVCAN node.
|
||||
*
|
||||
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
|
||||
* David Sidrane <david_s5@nscdg.com>
|
||||
*/
|
||||
|
||||
#define RESOURCE_DEBUG
|
||||
#if defined(RESOURCE_DEBUG)
|
||||
#define resources(s) ::syslog(LOG_INFO," %s\n",(s)); \
|
||||
if (UavcanNode::instance()) { \
|
||||
syslog(LOG_INFO,"UAVCAN getPeakNumUsedBlocks() in bytes %d\n", \
|
||||
UAVCAN_MEM_POOL_BLOCK_SIZE * UavcanNode::instance()->get_node().getAllocator().getPeakNumUsedBlocks()); \
|
||||
} \
|
||||
free_check(); \
|
||||
stack_check();
|
||||
#else
|
||||
#define resources(s)
|
||||
#endif
|
||||
|
||||
/*
|
||||
* This is the AppImageDescriptor used
|
||||
* by the make_can_boot_descriptor.py tool to set
|
||||
* the application image's descriptor so that the
|
||||
* uavcan bootloader has the ability to validate the
|
||||
* image crc, size etc of this application
|
||||
*/
|
||||
|
||||
boot_app_shared_section app_descriptor_t AppDescriptor = {
|
||||
.signature = {APP_DESCRIPTOR_SIGNATURE},
|
||||
.image_crc = 0,
|
||||
.image_size = 0,
|
||||
.vcs_commit = 0,
|
||||
.major_version = APP_VERSION_MAJOR,
|
||||
.minor_version = APP_VERSION_MINOR,
|
||||
.reserved = {0xff, 0xff, 0xff, 0xff, 0xff, 0xff }
|
||||
};
|
||||
|
||||
/*
|
||||
* UavcanNode
|
||||
*/
|
||||
UavcanNode *UavcanNode::_instance;
|
||||
|
||||
UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) :
|
||||
CDev(UAVCAN_DEVICE_PATH),
|
||||
active_bitrate(0),
|
||||
_node(can_driver, system_clock),
|
||||
_node_mutex(),
|
||||
_time_sync_slave(_node),
|
||||
_fw_update_listner(_node),
|
||||
_reset_timer(_node)
|
||||
{
|
||||
const int res = pthread_mutex_init(&_node_mutex, nullptr);
|
||||
|
||||
if (res < 0) {
|
||||
std::abort();
|
||||
}
|
||||
|
||||
px4_sem_init(&_sem, 0, 0);
|
||||
/* semaphore use case is a signal */
|
||||
px4_sem_setprotocol(&_sem, SEM_PRIO_NONE);
|
||||
}
|
||||
|
||||
UavcanNode::~UavcanNode()
|
||||
{
|
||||
if (_task != -1) {
|
||||
/* tell the task we want it to go away */
|
||||
_task_should_exit = true;
|
||||
|
||||
unsigned i = 10;
|
||||
|
||||
do {
|
||||
/* wait 5ms - it should wake every 10ms or so worst-case */
|
||||
::usleep(5000);
|
||||
|
||||
/* if we have given up, kill it */
|
||||
if (--i == 0) {
|
||||
task_delete(_task);
|
||||
break;
|
||||
}
|
||||
|
||||
} while (_task != -1);
|
||||
}
|
||||
|
||||
_instance = nullptr;
|
||||
px4_sem_destroy(&_sem);
|
||||
}
|
||||
|
||||
int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
|
||||
{
|
||||
|
||||
|
||||
if (_instance != nullptr) {
|
||||
warnx("Already started");
|
||||
return -1;
|
||||
}
|
||||
|
||||
/*
|
||||
* CAN driver init
|
||||
*/
|
||||
static CanInitHelper can;
|
||||
static bool can_initialized = false;
|
||||
|
||||
if (!can_initialized) {
|
||||
const int can_init_res = can.init(bitrate);
|
||||
|
||||
if (can_init_res < 0) {
|
||||
warnx("CAN driver init failed %i", can_init_res);
|
||||
return can_init_res;
|
||||
}
|
||||
|
||||
can_initialized = true;
|
||||
}
|
||||
|
||||
/*
|
||||
* Node init
|
||||
*/
|
||||
_instance = new UavcanNode(can.driver, uavcan_stm32::SystemClock::instance());
|
||||
|
||||
if (_instance == nullptr) {
|
||||
warnx("Out of memory");
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
||||
resources("Before _instance->init:");
|
||||
const int node_init_res = _instance->init(node_id, can.driver.updateEvent());
|
||||
resources("After _instance->init:");
|
||||
|
||||
if (node_init_res < 0) {
|
||||
delete _instance;
|
||||
_instance = nullptr;
|
||||
warnx("Node init failed %i", node_init_res);
|
||||
return node_init_res;
|
||||
}
|
||||
|
||||
|
||||
/* Keep the bit rate for reboots on BenginFirmware updates */
|
||||
|
||||
_instance->active_bitrate = bitrate;
|
||||
|
||||
/*
|
||||
* Start the task. Normally it should never exit.
|
||||
*/
|
||||
static auto run_trampoline = [](int, char *[]) {return UavcanNode::_instance->run();};
|
||||
_instance->_task = px4_task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
|
||||
static_cast<main_t>(run_trampoline), nullptr);
|
||||
|
||||
if (_instance->_task < 0) {
|
||||
warnx("start failed: %d", errno);
|
||||
return -errno;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
void UavcanNode::fill_node_info()
|
||||
{
|
||||
/* software version */
|
||||
uavcan::protocol::SoftwareVersion swver;
|
||||
|
||||
// Extracting the first 8 hex digits of the git hash and converting them to int
|
||||
char fw_git_short[9] = {};
|
||||
std::memmove(fw_git_short, px4_firmware_version_string(), 8);
|
||||
char *end = nullptr;
|
||||
swver.vcs_commit = std::strtol(fw_git_short, &end, 16);
|
||||
swver.optional_field_flags |= swver.OPTIONAL_FIELD_FLAG_VCS_COMMIT;
|
||||
swver.major = AppDescriptor.major_version;
|
||||
swver.minor = AppDescriptor.minor_version;
|
||||
swver.image_crc = AppDescriptor.image_crc;
|
||||
|
||||
warnx("SW version vcs_commit: 0x%08x", unsigned(swver.vcs_commit));
|
||||
|
||||
_node.setSoftwareVersion(swver);
|
||||
|
||||
/* hardware version */
|
||||
uavcan::protocol::HardwareVersion hwver;
|
||||
|
||||
hwver.major = HW_VERSION_MAJOR;
|
||||
hwver.minor = HW_VERSION_MINOR;
|
||||
|
||||
mfguid_t mfgid = {};
|
||||
board_get_mfguid(mfgid);
|
||||
uavcan::copy(mfgid, mfgid + sizeof(mfgid), hwver.unique_id.begin());
|
||||
|
||||
_node.setHardwareVersion(hwver);
|
||||
}
|
||||
|
||||
static void cb_reboot(const uavcan::TimerEvent &)
|
||||
{
|
||||
px4_systemreset(false);
|
||||
|
||||
}
|
||||
|
||||
void UavcanNode::cb_beginfirmware_update(const uavcan::ReceivedDataStructure<UavcanNode::BeginFirmwareUpdate::Request>
|
||||
&req,
|
||||
uavcan::ServiceResponseDataStructure<UavcanNode::BeginFirmwareUpdate::Response> &rsp)
|
||||
{
|
||||
static bool inprogress = false;
|
||||
|
||||
rsp.error = rsp.ERROR_UNKNOWN;
|
||||
|
||||
if (req.image_file_remote_path.path.size()) {
|
||||
rsp.error = rsp.ERROR_IN_PROGRESS;
|
||||
|
||||
if (!inprogress) {
|
||||
inprogress = true;
|
||||
bootloader_app_shared_t shared;
|
||||
shared.bus_speed = active_bitrate;
|
||||
shared.node_id = _node.getNodeID().get();
|
||||
bootloader_app_shared_write(&shared, App);
|
||||
rgb_led(255, 128, 0, 5);
|
||||
_reset_timer.setCallback(cb_reboot);
|
||||
_reset_timer.startOneShotWithDelay(uavcan::MonotonicDuration::fromMSec(1000));
|
||||
rsp.error = rsp.ERROR_OK;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int UavcanNode::init(uavcan::NodeID node_id, uavcan_stm32::BusEvent &bus_events)
|
||||
{
|
||||
int ret = -1;
|
||||
|
||||
// Do regular cdev init
|
||||
ret = CDev::init();
|
||||
|
||||
if (ret != OK) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
_node.setName(HW_UAVCAN_NAME);
|
||||
|
||||
_node.setNodeID(node_id);
|
||||
|
||||
fill_node_info();
|
||||
|
||||
const int srv_start_res = _fw_update_listner.start(BeginFirmwareUpdateCallBack(this,
|
||||
&UavcanNode::cb_beginfirmware_update));
|
||||
|
||||
if (srv_start_res < 0) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
bus_events.registerSignalCallback(UavcanNode::busevent_signal_trampoline);
|
||||
|
||||
return _node.start();
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* Restart handler
|
||||
*/
|
||||
class RestartRequestHandler: public uavcan::IRestartRequestHandler
|
||||
{
|
||||
bool handleRestartRequest(uavcan::NodeID request_source) override
|
||||
{
|
||||
::syslog(LOG_INFO, "UAVCAN: Restarting by request from %i\n", int(request_source.get()));
|
||||
::usleep(20 * 1000 * 1000);
|
||||
px4_systemreset(false);
|
||||
return true; // Will never be executed BTW
|
||||
}
|
||||
} restart_request_handler;
|
||||
|
||||
void UavcanNode::node_spin_once()
|
||||
{
|
||||
const int spin_res = _node.spin(uavcan::MonotonicTime());
|
||||
|
||||
if (spin_res < 0) {
|
||||
warnx("node spin error %i", spin_res);
|
||||
}
|
||||
}
|
||||
|
||||
static void signal_callback(void *arg)
|
||||
{
|
||||
/* Note: we are in IRQ context here */
|
||||
px4_sem_t *sem = (px4_sem_t *)arg;
|
||||
int semaphore_value;
|
||||
|
||||
if (px4_sem_getvalue(sem, &semaphore_value) == 0 && semaphore_value > 1) {
|
||||
return;
|
||||
}
|
||||
|
||||
px4_sem_post(sem);
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
UavcanNode::busevent_signal_trampoline()
|
||||
{
|
||||
if (_instance) {
|
||||
signal_callback(&_instance->_sem);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
int UavcanNode::run()
|
||||
{
|
||||
|
||||
get_node().setRestartRequestHandler(&restart_request_handler);
|
||||
|
||||
while (init_indication_controller(get_node()) < 0) {
|
||||
::syslog(LOG_INFO, "UAVCAN: Indication controller init failed\n");
|
||||
::sleep(1);
|
||||
}
|
||||
|
||||
while (init_sim_controller(get_node()) < 0) {
|
||||
::syslog(LOG_INFO, "UAVCAN: sim controller init failed\n");
|
||||
::sleep(1);
|
||||
}
|
||||
|
||||
(void)pthread_mutex_lock(&_node_mutex);
|
||||
|
||||
/*
|
||||
* Set up the time synchronization
|
||||
*/
|
||||
|
||||
const int slave_init_res = _time_sync_slave.start();
|
||||
|
||||
if (slave_init_res < 0) {
|
||||
warnx("Failed to start time_sync_slave");
|
||||
_task_should_exit = true;
|
||||
}
|
||||
|
||||
_node.setModeOperational();
|
||||
|
||||
uint32_t start_tick = clock_systimer();
|
||||
|
||||
hrt_call timer_call{};
|
||||
hrt_call_every(&timer_call, 50_ms, 50_ms, signal_callback, &_sem);
|
||||
|
||||
while (!_task_should_exit) {
|
||||
// Mutex is unlocked while the thread is blocked on IO multiplexing
|
||||
(void)pthread_mutex_unlock(&_node_mutex);
|
||||
|
||||
while (px4_sem_wait(&_sem) != 0);
|
||||
|
||||
(void)pthread_mutex_lock(&_node_mutex);
|
||||
|
||||
node_spin_once(); // Non-blocking
|
||||
|
||||
|
||||
// Do Something
|
||||
|
||||
|
||||
if (clock_systimer() - start_tick > TICK_PER_SEC) {
|
||||
start_tick = clock_systimer();
|
||||
resources("Udate:");
|
||||
/*
|
||||
* Printing the slave status information once a second
|
||||
*/
|
||||
const bool active = _time_sync_slave.isActive(); // Whether it can sync with a remote master
|
||||
|
||||
const int master_node_id = _time_sync_slave.getMasterNodeID().get(); // Returns an invalid Node ID if (active == false)
|
||||
|
||||
const long msec_since_last_adjustment = (_node.getMonotonicTime() - _time_sync_slave.getLastAdjustmentTime()).toMSec();
|
||||
const uavcan::UtcTime utc = uavcan_stm32::clock::getUtc();
|
||||
syslog(LOG_INFO, "Time:%lld\n"
|
||||
" Time sync slave status:\n"
|
||||
" Active: %d\n"
|
||||
" Master Node ID: %d\n"
|
||||
" Last clock adjustment was %ld ms ago\n",
|
||||
utc .toUSec(), int(active), master_node_id, msec_since_last_adjustment);
|
||||
syslog(LOG_INFO, "UTC %lu sec Rate corr: %fPPM Jumps: %lu Locked: %i\n\n",
|
||||
static_cast<unsigned long>(utc.toMSec() / 1000),
|
||||
static_cast<double>(uavcan_stm32::clock::getUtcRateCorrectionPPM()),
|
||||
uavcan_stm32::clock::getUtcJumpCount(),
|
||||
int(uavcan_stm32::clock::isUtcLocked()));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
hrt_cancel(&timer_call);
|
||||
teardown();
|
||||
(void)pthread_mutex_unlock(&_node_mutex);
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
int
|
||||
UavcanNode::teardown()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int
|
||||
UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
int ret = OK;
|
||||
|
||||
lock();
|
||||
|
||||
switch (cmd) {
|
||||
|
||||
|
||||
|
||||
default:
|
||||
ret = -ENOTTY;
|
||||
break;
|
||||
}
|
||||
|
||||
unlock();
|
||||
|
||||
if (ret == -ENOTTY) {
|
||||
ret = CDev::ioctl(filp, cmd, arg);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void
|
||||
UavcanNode::print_info()
|
||||
{
|
||||
if (!_instance) {
|
||||
warnx("not running, start first");
|
||||
}
|
||||
|
||||
(void)pthread_mutex_lock(&_node_mutex);
|
||||
|
||||
|
||||
(void)pthread_mutex_unlock(&_node_mutex);
|
||||
}
|
||||
|
||||
/*
|
||||
* App entry point
|
||||
*/
|
||||
static void print_usage()
|
||||
{
|
||||
warnx("usage: \n"
|
||||
"\tuavcannode {start|status|stop|arm|disarm}");
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int uavcannode_start(int argc, char *argv[]);
|
||||
|
||||
int uavcannode_start(int argc, char *argv[])
|
||||
{
|
||||
resources("Before board_app_initialize");
|
||||
|
||||
board_app_initialize(NULL);
|
||||
|
||||
resources("After board_app_initialize");
|
||||
|
||||
// CAN bitrate
|
||||
int32_t bitrate = 0;
|
||||
// Node ID
|
||||
int32_t node_id = 0;
|
||||
|
||||
// Did the bootloader auto baud and get a node ID Allocated
|
||||
|
||||
bootloader_app_shared_t shared;
|
||||
int valid = bootloader_app_shared_read(&shared, BootLoader);
|
||||
|
||||
if (valid == 0) {
|
||||
|
||||
bitrate = shared.bus_speed;
|
||||
node_id = shared.node_id;
|
||||
|
||||
// Invalidate to prevent deja vu
|
||||
|
||||
bootloader_app_shared_invalidate();
|
||||
|
||||
} else {
|
||||
|
||||
// Node ID
|
||||
(void)param_get(param_find("CANNODE_NODE_ID"), &node_id);
|
||||
(void)param_get(param_find("CANNODE_BITRATE"), &bitrate);
|
||||
}
|
||||
|
||||
if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) {
|
||||
warnx("Invalid Node ID %i", node_id);
|
||||
::exit(1);
|
||||
}
|
||||
|
||||
// Start
|
||||
warnx("Node ID %u, bitrate %u", node_id, bitrate);
|
||||
int rv = UavcanNode::start(node_id, bitrate);
|
||||
resources("After UavcanNode::start");
|
||||
::sleep(1);
|
||||
return rv;
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int uavcannode_main(int argc, char *argv[]);
|
||||
int uavcannode_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
|
||||
if (!std::strcmp(argv[1], "start")) {
|
||||
|
||||
if (UavcanNode::instance()) {
|
||||
errx(1, "already started");
|
||||
}
|
||||
|
||||
return uavcannode_start(argc, argv);
|
||||
}
|
||||
|
||||
/* commands below require the app to be started */
|
||||
UavcanNode *const inst = UavcanNode::instance();
|
||||
|
||||
if (!inst) {
|
||||
errx(1, "application not running");
|
||||
}
|
||||
|
||||
if (!std::strcmp(argv[1], "status") || !std::strcmp(argv[1], "info")) {
|
||||
inst->print_info();
|
||||
::exit(0);
|
||||
}
|
||||
|
||||
if (!std::strcmp(argv[1], "stop")) {
|
||||
delete inst;
|
||||
::exit(0);
|
||||
}
|
||||
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
|
||||
* Copyright (C) 2014-2020 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
|
||||
@@ -31,13 +31,6 @@
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <parameters/param.h>
|
||||
|
||||
/**
|
||||
* UAVCAN Node ID.
|
||||
*
|
||||
|
||||
@@ -37,6 +37,7 @@ px4_add_library(drivers_accelerometer
|
||||
)
|
||||
target_link_libraries(drivers_accelerometer
|
||||
PRIVATE
|
||||
conversion
|
||||
drivers__device
|
||||
mathlib
|
||||
)
|
||||
)
|
||||
|
||||
@@ -35,4 +35,4 @@ px4_add_library(drivers_gyroscope
|
||||
PX4Gyroscope.cpp
|
||||
PX4Gyroscope.hpp
|
||||
)
|
||||
target_link_libraries(drivers_gyroscope PRIVATE drivers__device)
|
||||
target_link_libraries(drivers_gyroscope PRIVATE conversion drivers__device)
|
||||
|
||||
@@ -60,15 +60,10 @@
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
//#define PARAM_NO_ORB ///< if defined, avoid uorb dependency. This disables publication of parameter_update on param change
|
||||
//#define PARAM_NO_AUTOSAVE ///< if defined, do not autosave (avoids LP work queue dependency)
|
||||
|
||||
#if !defined(PARAM_NO_ORB)
|
||||
# include "uORB/uORB.h"
|
||||
# include "uORB/topics/parameter_update.h"
|
||||
# include <uORB/topics/actuator_armed.h>
|
||||
# include <uORB/Subscription.hpp>
|
||||
#endif
|
||||
#include "uORB/uORB.h"
|
||||
#include "uORB/topics/parameter_update.h"
|
||||
#include <uORB/topics/actuator_armed.h>
|
||||
#include <uORB/Subscription.hpp>
|
||||
|
||||
#if defined(FLASH_BASED_PARAMS)
|
||||
#include "flashparams/flashparams.h"
|
||||
@@ -90,14 +85,12 @@ static char *param_user_file = nullptr;
|
||||
#define PARAM_CLOSE close
|
||||
#endif
|
||||
|
||||
#ifndef PARAM_NO_AUTOSAVE
|
||||
#include <px4_platform_common/workqueue.h>
|
||||
/* autosaving variables */
|
||||
static hrt_abstime last_autosave_timestamp = 0;
|
||||
static struct work_s autosave_work {};
|
||||
static volatile bool autosave_scheduled = false;
|
||||
static bool autosave_disabled = false;
|
||||
#endif /* PARAM_NO_AUTOSAVE */
|
||||
|
||||
/**
|
||||
* Array of static parameter info.
|
||||
@@ -146,11 +139,9 @@ UT_array *param_values{nullptr};
|
||||
/** array info for the modified parameters array */
|
||||
const UT_icd param_icd = {sizeof(param_wbuf_s), nullptr, nullptr, nullptr};
|
||||
|
||||
#if !defined(PARAM_NO_ORB)
|
||||
/** parameter update topic handle */
|
||||
static orb_advert_t param_topic = nullptr;
|
||||
static unsigned int param_instance = 0;
|
||||
#endif
|
||||
|
||||
static void param_set_used_internal(param_t param);
|
||||
|
||||
@@ -300,7 +291,6 @@ param_find_changed(param_t param)
|
||||
static void
|
||||
_param_notify_changes()
|
||||
{
|
||||
#if !defined(PARAM_NO_ORB)
|
||||
parameter_update_s pup = {};
|
||||
pup.timestamp = hrt_absolute_time();
|
||||
pup.instance = param_instance++;
|
||||
@@ -315,8 +305,6 @@ _param_notify_changes()
|
||||
} else {
|
||||
orb_publish(ORB_ID(parameter_update), param_topic, &pup);
|
||||
}
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
void
|
||||
@@ -606,7 +594,6 @@ param_get(param_t param, void *val)
|
||||
return result;
|
||||
}
|
||||
|
||||
#ifndef PARAM_NO_AUTOSAVE
|
||||
/**
|
||||
* worker callback method to save the parameters
|
||||
* @param arg unused
|
||||
@@ -616,8 +603,6 @@ autosave_worker(void *arg)
|
||||
{
|
||||
bool disabled = false;
|
||||
|
||||
#if !defined(PARAM_NO_ORB)
|
||||
|
||||
if (!param_get_default_file()) {
|
||||
// In case we save to FLASH, defer param writes until disarmed,
|
||||
// as writing to FLASH can stall the entire CPU (in rare cases around 300ms on STM32F7)
|
||||
@@ -629,8 +614,6 @@ autosave_worker(void *arg)
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
param_lock_writer();
|
||||
last_autosave_timestamp = hrt_absolute_time();
|
||||
autosave_scheduled = false;
|
||||
@@ -648,7 +631,6 @@ autosave_worker(void *arg)
|
||||
PX4_ERR("param auto save failed (%i)", ret);
|
||||
}
|
||||
}
|
||||
#endif /* PARAM_NO_AUTOSAVE */
|
||||
|
||||
/**
|
||||
* Automatically save the parameters after a timeout and limited rate.
|
||||
@@ -659,8 +641,6 @@ autosave_worker(void *arg)
|
||||
static void
|
||||
param_autosave()
|
||||
{
|
||||
#ifndef PARAM_NO_AUTOSAVE
|
||||
|
||||
if (autosave_scheduled || autosave_disabled) {
|
||||
return;
|
||||
}
|
||||
@@ -680,13 +660,11 @@ param_autosave()
|
||||
|
||||
autosave_scheduled = true;
|
||||
work_queue(LPWORK, &autosave_work, (worker_t)&autosave_worker, nullptr, USEC2TICK(delay));
|
||||
#endif /* PARAM_NO_AUTOSAVE */
|
||||
}
|
||||
|
||||
void
|
||||
param_control_autosave(bool enable)
|
||||
{
|
||||
#ifndef PARAM_NO_AUTOSAVE
|
||||
param_lock_writer();
|
||||
|
||||
if (!enable && autosave_scheduled) {
|
||||
@@ -696,7 +674,6 @@ param_control_autosave(bool enable)
|
||||
|
||||
autosave_disabled = !enable;
|
||||
param_unlock_writer();
|
||||
#endif /* PARAM_NO_AUTOSAVE */
|
||||
}
|
||||
|
||||
static int
|
||||
@@ -1410,15 +1387,12 @@ void param_print_status()
|
||||
utarray_len(param_values), param_values->n, param_values->n * sizeof(UT_icd));
|
||||
}
|
||||
|
||||
#ifndef PARAM_NO_AUTOSAVE
|
||||
PX4_INFO("auto save: %s", autosave_disabled ? "off" : "on");
|
||||
|
||||
if (!autosave_disabled && (last_autosave_timestamp > 0)) {
|
||||
PX4_INFO("last auto save: %.3f seconds ago", hrt_elapsed_time(&last_autosave_timestamp) * 1e-6);
|
||||
}
|
||||
|
||||
#endif /* PARAM_NO_AUTOSAVE */
|
||||
|
||||
perf_print_counter(param_export_perf);
|
||||
perf_print_counter(param_find_perf);
|
||||
perf_print_counter(param_get_perf);
|
||||
|
||||
@@ -59,13 +59,8 @@
|
||||
#include <perf/perf_counter.h>
|
||||
#include <systemlib/uthash/utarray.h>
|
||||
|
||||
//#define PARAM_NO_ORB ///< if defined, avoid uorb dependency. This disables publication of parameter_update on param change
|
||||
//#define PARAM_NO_AUTOSAVE ///< if defined, do not autosave (avoids LP work queue dependency)
|
||||
|
||||
#if !defined(PARAM_NO_ORB)
|
||||
# include "uORB/uORB.h"
|
||||
# include "uORB/topics/parameter_update.h"
|
||||
#endif
|
||||
#include "uORB/uORB.h"
|
||||
#include "uORB/topics/parameter_update.h"
|
||||
|
||||
#if defined(FLASH_BASED_PARAMS)
|
||||
#include "flashparams/flashparams.h"
|
||||
@@ -90,14 +85,12 @@ static char *param_user_file = nullptr;
|
||||
#endif
|
||||
#define PARAM_CLOSE close
|
||||
|
||||
#ifndef PARAM_NO_AUTOSAVE
|
||||
#include <px4_platform_common/workqueue.h>
|
||||
/* autosaving variables */
|
||||
static hrt_abstime last_autosave_timestamp = 0;
|
||||
static struct work_s autosave_work;
|
||||
static bool autosave_scheduled = false;
|
||||
static bool autosave_disabled = false;
|
||||
#endif /* PARAM_NO_AUTOSAVE */
|
||||
|
||||
/**
|
||||
* Array of static parameter info.
|
||||
@@ -156,11 +149,8 @@ UT_array *param_values{nullptr};
|
||||
/** array info for the modified parameters array */
|
||||
const UT_icd param_icd = {sizeof(param_wbuf_s), nullptr, nullptr, nullptr};
|
||||
|
||||
#if !defined(PARAM_NO_ORB)
|
||||
/** parameter update topic handle */
|
||||
static orb_advert_t param_topic = nullptr;
|
||||
static unsigned int param_instance = 0;
|
||||
#endif
|
||||
|
||||
static void param_set_used_internal(param_t param);
|
||||
|
||||
@@ -330,7 +320,6 @@ param_find_changed(param_t param)
|
||||
static void
|
||||
_param_notify_changes()
|
||||
{
|
||||
#if !defined(PARAM_NO_ORB)
|
||||
parameter_update_s pup = {};
|
||||
pup.timestamp = hrt_absolute_time();
|
||||
pup.instance = param_instance++;
|
||||
@@ -345,8 +334,6 @@ _param_notify_changes()
|
||||
} else {
|
||||
orb_publish(ORB_ID(parameter_update), param_topic, &pup);
|
||||
}
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
void
|
||||
@@ -663,7 +650,6 @@ param_get(param_t param, void *val)
|
||||
return result;
|
||||
}
|
||||
|
||||
#ifndef PARAM_NO_AUTOSAVE
|
||||
/**
|
||||
* worker callback method to save the parameters
|
||||
* @param arg unused
|
||||
@@ -690,7 +676,6 @@ autosave_worker(void *arg)
|
||||
PX4_ERR("param save failed (%i)", ret);
|
||||
}
|
||||
}
|
||||
#endif /* PARAM_NO_AUTOSAVE */
|
||||
|
||||
/**
|
||||
* Automatically save the parameters after a timeout and limited rate.
|
||||
@@ -701,8 +686,6 @@ autosave_worker(void *arg)
|
||||
static void
|
||||
param_autosave()
|
||||
{
|
||||
#ifndef PARAM_NO_AUTOSAVE
|
||||
|
||||
if (autosave_scheduled || autosave_disabled) {
|
||||
return;
|
||||
}
|
||||
@@ -722,13 +705,11 @@ param_autosave()
|
||||
|
||||
autosave_scheduled = true;
|
||||
work_queue(LPWORK, &autosave_work, (worker_t)&autosave_worker, nullptr, USEC2TICK(delay));
|
||||
#endif /* PARAM_NO_AUTOSAVE */
|
||||
}
|
||||
|
||||
void
|
||||
param_control_autosave(bool enable)
|
||||
{
|
||||
#ifndef PARAM_NO_AUTOSAVE
|
||||
param_lock_writer();
|
||||
|
||||
if (!enable && autosave_scheduled) {
|
||||
@@ -738,7 +719,6 @@ param_control_autosave(bool enable)
|
||||
|
||||
autosave_disabled = !enable;
|
||||
param_unlock_writer();
|
||||
#endif /* PARAM_NO_AUTOSAVE */
|
||||
}
|
||||
|
||||
static int
|
||||
@@ -1497,15 +1477,12 @@ void param_print_status()
|
||||
utarray_len(param_values), param_values->n, param_values->n * sizeof(UT_icd));
|
||||
}
|
||||
|
||||
#ifndef PARAM_NO_AUTOSAVE
|
||||
PX4_INFO("auto save: %s", autosave_disabled ? "off" : "on");
|
||||
|
||||
if (!autosave_disabled && (last_autosave_timestamp > 0)) {
|
||||
PX4_INFO("last auto save: %.3f seconds ago", hrt_elapsed_time(&last_autosave_timestamp) * 1e-6);
|
||||
}
|
||||
|
||||
#endif /* PARAM_NO_AUTOSAVE */
|
||||
|
||||
perf_print_counter(param_export_perf);
|
||||
perf_print_counter(param_find_perf);
|
||||
perf_print_counter(param_get_perf);
|
||||
|
||||
@@ -35,4 +35,9 @@ px4_add_library(vehicle_acceleration
|
||||
VehicleAcceleration.cpp
|
||||
VehicleAcceleration.hpp
|
||||
)
|
||||
target_link_libraries(vehicle_acceleration PRIVATE sensor_corrections px4_work_queue)
|
||||
target_link_libraries(vehicle_acceleration
|
||||
PRIVATE
|
||||
mathlib
|
||||
sensor_corrections
|
||||
px4_work_queue
|
||||
)
|
||||
|
||||
@@ -35,4 +35,9 @@ px4_add_library(vehicle_angular_velocity
|
||||
VehicleAngularVelocity.cpp
|
||||
VehicleAngularVelocity.hpp
|
||||
)
|
||||
target_link_libraries(vehicle_angular_velocity PRIVATE sensor_corrections px4_work_queue)
|
||||
target_link_libraries(vehicle_angular_velocity
|
||||
PRIVATE
|
||||
mathlib
|
||||
sensor_corrections
|
||||
px4_work_queue
|
||||
)
|
||||
|
||||
Reference in New Issue
Block a user