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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Initial Cannode PWM Support (#19748)
* Add uavcannode esc/servo pwm control pipeline * Remove cannode rc.interface with mixer purge * Cannode add Kconfig options to reduce flash usage
This commit is contained in:
Alex Klimaj
@@ -2,4 +2,75 @@ menuconfig DRIVERS_UAVCANNODE
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bool "uavcannode"
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default n
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---help---
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Enable support for uavcannode
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Enable support for uavcannode
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if DRIVERS_UAVCANNODE
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config UAVCANNODE_ARMING_STATUS
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bool "Include arming status"
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default n
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config UAVCANNODE_BATTERY_INFO
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bool "Include battery info"
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default n
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config UAVCANNODE_BEEP_COMMAND
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bool "Include beep command"
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default n
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config UAVCANNODE_ESC_RAW_COMMAND
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bool "Include ESC raw command"
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default n
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config UAVCANNODE_ESC_STATUS
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bool "Include ESC status"
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default n
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config UAVCANNODE_FLOW_MEASUREMENT
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bool "Include flow measurement"
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default n
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config UAVCANNODE_GNSS_FIX
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bool "Include GNSS fix"
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default n
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config UAVCANNODE_HYDROMETER_MEASUREMENT
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bool "Include hydrometer measurement"
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default n
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config UAVCANNODE_LIGHTS_COMMAND
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bool "Include lights command"
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default n
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config UAVCANNODE_MAGNETIC_FIELD_STRENGTH
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bool "Include magnetic field strength"
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default n
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config UAVCANNODE_RANGE_SENSOR_MEASUREMENT
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bool "Include range sensor measurement"
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default n
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config UAVCANNODE_RAW_AIR_DATA
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bool "Include raw air data"
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default n
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config UAVCANNODE_RTK_DATA
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bool "Include RTK data"
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default n
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config UAVCANNODE_SAFETY_BUTTON
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bool "Include safety button"
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default n
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config UAVCANNODE_SERVO_ARRAY_COMMAND
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bool "Include servo array command"
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default n
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config UAVCANNODE_STATIC_PRESSURE
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bool "Include static pressure"
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default n
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config UAVCANNODE_STATIC_TEMPERATURE
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bool "Include static temperature"
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default n
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endif #DRIVERS_UAVCANNODE
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@@ -0,0 +1,96 @@
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/****************************************************************************
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*
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* Copyright (c) 2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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||||
* 2. Redistributions in binary form must reproduce the above copyright
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||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include "UavcanPublisherBase.hpp"
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#include <uavcan/equipment/esc/Status.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/esc_status.h>
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namespace uavcannode
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{
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class ESCStatus :
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public UavcanPublisherBase,
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private uORB::SubscriptionCallbackWorkItem,
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private uavcan::Publisher<uavcan::equipment::esc::Status>
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{
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public:
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ESCStatus(px4::WorkItem *work_item, uavcan::INode &node) :
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UavcanPublisherBase(uavcan::equipment::esc::Status::DefaultDataTypeID),
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uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(esc_status)),
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uavcan::Publisher<uavcan::equipment::esc::Status>(node)
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{
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this->setPriority(uavcan::TransferPriority::MiddleLower);
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}
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void PrintInfo() override
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{
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if (uORB::SubscriptionCallbackWorkItem::advertised()) {
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printf("\t%s -> %s:%d\n",
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uORB::SubscriptionCallbackWorkItem::get_topic()->o_name,
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uavcan::equipment::esc::Status::getDataTypeFullName(),
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uavcan::equipment::esc::Status::DefaultDataTypeID);
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}
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}
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void BroadcastAnyUpdates() override
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{
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// esc_status -> uavcan::equipment::esc::Status
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esc_status_s esc_status;
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if (uORB::SubscriptionCallbackWorkItem::update(&esc_status)) {
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for (size_t i = 0; i < esc_status.esc_count; i++) {
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uavcan::equipment::esc::Status status{};
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status.esc_index = i;
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status.error_count = esc_status.esc[i].esc_errorcount;
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status.voltage = esc_status.esc[i].esc_voltage;
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status.current = esc_status.esc[i].esc_current;
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status.temperature = esc_status.esc[i].esc_temperature;
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status.rpm = esc_status.esc[i].esc_rpm;
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//status.power_rating_pct = NAN;
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uavcan::Publisher<uavcan::equipment::esc::Status>::broadcast(status);
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// ensure callback is registered
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uORB::SubscriptionCallbackWorkItem::registerCallback();
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}
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}
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}
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};
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} // namespace uavcan
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@@ -0,0 +1,98 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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||||
* are met:
|
||||
*
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||||
* 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.
|
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* 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.
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||||
*
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||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* 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
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include "UavcanSubscriberBase.hpp"
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#include <uavcan/equipment/safety/ArmingStatus.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/topics/actuator_armed.h>
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namespace uavcannode
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{
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class ArmingStatus;
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typedef uavcan::MethodBinder<ArmingStatus *,
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void (ArmingStatus::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::safety::ArmingStatus>&)>
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ArmingStatusBinder;
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class ArmingStatus :
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public UavcanSubscriberBase,
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private uavcan::Subscriber<uavcan::equipment::safety::ArmingStatus, ArmingStatusBinder>
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{
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public:
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ArmingStatus(uavcan::INode &node) :
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UavcanSubscriberBase(uavcan::equipment::safety::ArmingStatus::DefaultDataTypeID),
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uavcan::Subscriber<uavcan::equipment::safety::ArmingStatus, ArmingStatusBinder>(node)
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{}
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bool init()
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{
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if (start(ArmingStatusBinder(this, &ArmingStatus::callback)) < 0) {
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PX4_ERR("uavcan::equipment::safety::ArmingStatus subscription failed");
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return false;
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}
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return true;
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}
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void PrintInfo() const override
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{
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printf("\t%s:%d -> %s\n",
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uavcan::equipment::safety::ArmingStatus::getDataTypeFullName(),
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uavcan::equipment::safety::ArmingStatus::DefaultDataTypeID,
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_actuator_armed_pub.get_topic()->o_name);
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}
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private:
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void callback(const uavcan::ReceivedDataStructure<uavcan::equipment::safety::ArmingStatus> &msg)
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{
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actuator_armed_s actuator_armed{};
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if (msg.status) {
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actuator_armed.armed = true;
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} else {
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actuator_armed.armed = false;
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}
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actuator_armed.timestamp = hrt_absolute_time();
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_actuator_armed_pub.publish(actuator_armed);
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}
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uORB::Publication<actuator_armed_s> _actuator_armed_pub{ORB_ID(actuator_armed)};
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};
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} // namespace uavcannode
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@@ -0,0 +1,105 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 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
|
||||
* 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.
|
||||
*
|
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****************************************************************************/
|
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#pragma once
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#include "UavcanSubscriberBase.hpp"
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#include <uavcan/equipment/esc/RawCommand.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/topics/actuator_motors.h>
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namespace uavcannode
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{
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class ESCRawCommand;
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typedef uavcan::MethodBinder<ESCRawCommand *,
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void (ESCRawCommand::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::RawCommand>&)>
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ESCRawCommandBinder;
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class ESCRawCommand :
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public UavcanSubscriberBase,
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private uavcan::Subscriber<uavcan::equipment::esc::RawCommand, ESCRawCommandBinder>
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{
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public:
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ESCRawCommand(uavcan::INode &node) :
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UavcanSubscriberBase(uavcan::equipment::esc::RawCommand::DefaultDataTypeID),
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uavcan::Subscriber<uavcan::equipment::esc::RawCommand, ESCRawCommandBinder>(node)
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{}
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bool init()
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{
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if (start(ESCRawCommandBinder(this, &ESCRawCommand::callback)) < 0) {
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PX4_ERR("uavcan::equipment::esc::RawCommand subscription failed");
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return false;
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}
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return true;
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}
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void PrintInfo() const override
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{
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printf("\t%s:%d -> %s\n",
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uavcan::equipment::esc::RawCommand::getDataTypeFullName(),
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uavcan::equipment::esc::RawCommand::DefaultDataTypeID,
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_actuator_motors_pub.get_topic()->o_name);
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}
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|
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private:
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void callback(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::RawCommand> &msg)
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{
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actuator_motors_s actuator_motors;
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actuator_motors.timestamp = hrt_absolute_time();
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actuator_motors.timestamp_sample = actuator_motors.timestamp;
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for (unsigned i = 0; i < msg.cmd.size(); i++) {
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if (i >= actuator_motors_s::NUM_CONTROLS) {
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break;
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}
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// Normalized to -8192, 8191 in uavcan. actuator_motors is -1 to 1
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actuator_motors.control[i] = msg.cmd[i] / 8192.f;
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}
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_actuator_motors_pub.publish(actuator_motors);
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}
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uORB::Publication<actuator_motors_s> _actuator_motors_pub{ORB_ID(actuator_motors)};
|
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};
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} // namespace uavcannode
|
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@@ -0,0 +1,108 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "UavcanSubscriberBase.hpp"
|
||||
|
||||
#include <uavcan/equipment/actuator/ArrayCommand.hpp>
|
||||
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/topics/actuator_servos.h>
|
||||
|
||||
namespace uavcannode
|
||||
{
|
||||
|
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class ServoArrayCommand;
|
||||
|
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typedef uavcan::MethodBinder<ServoArrayCommand *,
|
||||
void (ServoArrayCommand::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::actuator::ArrayCommand>&)>
|
||||
ServoArrayCommandBinder;
|
||||
|
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class ServoArrayCommand :
|
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public UavcanSubscriberBase,
|
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private uavcan::Subscriber<uavcan::equipment::actuator::ArrayCommand, ServoArrayCommandBinder>
|
||||
{
|
||||
public:
|
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ServoArrayCommand(uavcan::INode &node) :
|
||||
UavcanSubscriberBase(uavcan::equipment::actuator::ArrayCommand::DefaultDataTypeID),
|
||||
uavcan::Subscriber<uavcan::equipment::actuator::ArrayCommand, ServoArrayCommandBinder>(node)
|
||||
{}
|
||||
|
||||
bool init()
|
||||
{
|
||||
if (start(ServoArrayCommandBinder(this, &ServoArrayCommand::callback)) < 0) {
|
||||
PX4_ERR("uavcan::equipment::actuator::ArrayCommand subscription failed");
|
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return false;
|
||||
}
|
||||
|
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return true;
|
||||
}
|
||||
|
||||
void PrintInfo() const override
|
||||
{
|
||||
printf("\t%s:%d -> %s\n",
|
||||
uavcan::equipment::actuator::ArrayCommand::getDataTypeFullName(),
|
||||
uavcan::equipment::actuator::ArrayCommand::DefaultDataTypeID,
|
||||
_actuator_servos_pub.get_topic()->o_name);
|
||||
}
|
||||
|
||||
private:
|
||||
void callback(const uavcan::ReceivedDataStructure<uavcan::equipment::actuator::ArrayCommand> &msg)
|
||||
{
|
||||
|
||||
actuator_servos_s actuator_servos;
|
||||
|
||||
actuator_servos.timestamp = hrt_absolute_time();
|
||||
actuator_servos.timestamp_sample = actuator_servos.timestamp;
|
||||
|
||||
for (unsigned i = 0; i < msg.commands.size(); i++) {
|
||||
if (i >= actuator_servos_s::NUM_CONTROLS) {
|
||||
break;
|
||||
}
|
||||
|
||||
if (msg.commands[i].command_type == uavcan::equipment::actuator::Command::COMMAND_TYPE_UNITLESS) {
|
||||
actuator_servos.control[i] = msg.commands[i].command_value; // -1.0 to +1.0
|
||||
|
||||
} else {
|
||||
actuator_servos.control[i] = NAN; // disarmed
|
||||
}
|
||||
}
|
||||
|
||||
_actuator_servos_pub.publish(actuator_servos);
|
||||
|
||||
}
|
||||
|
||||
uORB::Publication<actuator_servos_s> _actuator_servos_pub{ORB_ID(actuator_servos)};
|
||||
};
|
||||
} // namespace uavcannode
|
||||
@@ -40,23 +40,77 @@
|
||||
#include <lib/geo/geo.h>
|
||||
#include <lib/version/version.h>
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_BATTERY_INFO)
|
||||
#include "Publishers/BatteryInfo.hpp"
|
||||
#include "Publishers/FlowMeasurement.hpp"
|
||||
#include "Publishers/HygrometerMeasurement.hpp"
|
||||
#include "Publishers/GnssFix2.hpp"
|
||||
#include "Publishers/MagneticFieldStrength2.hpp"
|
||||
#include "Publishers/MovingBaselineData.hpp"
|
||||
#include "Publishers/RangeSensorMeasurement.hpp"
|
||||
#include "Publishers/RawAirData.hpp"
|
||||
#include "Publishers/RelPosHeading.hpp"
|
||||
#include "Publishers/SafetyButton.hpp"
|
||||
#include "Publishers/StaticPressure.hpp"
|
||||
#include "Publishers/StaticTemperature.hpp"
|
||||
#endif // CONFIG_UAVCANNODE_BATTERY_INFO
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_ESC_STATUS)
|
||||
#include "Publishers/ESCStatus.hpp"
|
||||
#endif // CONFIG_UAVCANNODE_ESC_STATUS
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_FLOW_MEASUREMENT)
|
||||
#include "Publishers/FlowMeasurement.hpp"
|
||||
#endif // CONFIG_UAVCANNODE_FLOW_MEASUREMENT
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_HYDROMETER_MEASUREMENT)
|
||||
#include "Publishers/HygrometerMeasurement.hpp"
|
||||
#endif // CONFIG_UAVCANNODE_HYDROMETER_MEASUREMENT
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_GNSS_FIX)
|
||||
#include "Publishers/GnssFix2.hpp"
|
||||
#endif // CONFIG_UAVCANNODE_GNSS_FIX
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH)
|
||||
#include "Publishers/MagneticFieldStrength2.hpp"
|
||||
#endif // CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT)
|
||||
#include "Publishers/RangeSensorMeasurement.hpp"
|
||||
#endif // CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_RAW_AIR_DATA)
|
||||
#include "Publishers/RawAirData.hpp"
|
||||
#endif // CONFIG_UAVCANNODE_RAW_AIR_DATA
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_SAFETY_BUTTON)
|
||||
#include "Publishers/SafetyButton.hpp"
|
||||
#endif // CONFIG_UAVCANNODE_SAFETY_BUTTON
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_STATIC_PRESSURE)
|
||||
#include "Publishers/StaticPressure.hpp"
|
||||
#endif // CONFIG_UAVCANNODE_STATIC_PRESSURE
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_STATIC_TEMPERATURE)
|
||||
#include "Publishers/StaticTemperature.hpp"
|
||||
#endif // CONFIG_UAVCANNODE_STATIC_TEMPERATURE
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_ARMING_STATUS)
|
||||
#include "Subscribers/ArmingStatus.hpp"
|
||||
#endif // CONFIG_UAVCANNODE_ARMING_STATUS
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_BEEP_COMMAND)
|
||||
#include "Subscribers/BeepCommand.hpp"
|
||||
#endif // CONFIG_UAVCANNODE_BEEP_COMMAND
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_ESC_RAW_COMMAND)
|
||||
#include "Subscribers/ESCRawCommand.hpp"
|
||||
#endif // CONFIG_UAVCANNODE_ESC_RAW_COMMAND
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_LIGHTS_COMMAND)
|
||||
#include "Subscribers/LightsCommand.hpp"
|
||||
#endif // CONFIG_UAVCANNODE_LIGHTS_COMMAND
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_RTK_DATA)
|
||||
#include "Publishers/RelPosHeading.hpp"
|
||||
#include "Publishers/MovingBaselineData.hpp"
|
||||
|
||||
#include "Subscribers/MovingBaselineData.hpp"
|
||||
#include "Subscribers/RTCMStream.hpp"
|
||||
#endif // CONFIG_UAVCANNODE_RTK_DATA
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND)
|
||||
#include "Subscribers/ServoArrayCommand.hpp"
|
||||
#endif // CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
@@ -294,14 +348,39 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
// TODO: make runtime (and build time?) configurable
|
||||
#if defined(CONFIG_UAVCANNODE_BATTERY_INFO)
|
||||
_publisher_list.add(new BatteryInfo(this, _node));
|
||||
#endif // CONFIG_UAVCANNODE_BATTERY_INFO
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_ESC_STATUS)
|
||||
_publisher_list.add(new ESCStatus(this, _node));
|
||||
#endif // CONFIG_UAVCANNODE_ESC_STATUS
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_FLOW_MEASUREMENT)
|
||||
_publisher_list.add(new FlowMeasurement(this, _node));
|
||||
#endif // CONFIG_UAVCANNODE_FLOW_MEASUREMENT
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_HYDROMETER_MEASUREMENT)
|
||||
_publisher_list.add(new HygrometerMeasurement(this, _node));
|
||||
#endif // CONFIG_UAVCANNODE_HYDROMETER_MEASUREMENT
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_GNSS_FIX)
|
||||
_publisher_list.add(new GnssFix2(this, _node));
|
||||
#endif // CONFIG_UAVCANNODE_GNSS_FIX
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH)
|
||||
_publisher_list.add(new MagneticFieldStrength2(this, _node));
|
||||
#endif // CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT)
|
||||
_publisher_list.add(new RangeSensorMeasurement(this, _node));
|
||||
#endif // CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_RAW_AIR_DATA)
|
||||
_publisher_list.add(new RawAirData(this, _node));
|
||||
#endif // CONFIG_UAVCANNODE_RAW_AIR_DATA
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_RTK_DATA)
|
||||
_publisher_list.add(new RelPosHeadingPub(this, _node));
|
||||
|
||||
int32_t cannode_pub_mbd = 0;
|
||||
@@ -311,13 +390,37 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
|
||||
_publisher_list.add(new MovingBaselineDataPub(this, _node));
|
||||
}
|
||||
|
||||
#endif // CONFIG_UAVCANNODE_RTK_DATA
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_SAFETY_BUTTON)
|
||||
_publisher_list.add(new SafetyButton(this, _node));
|
||||
#endif // CONFIG_UAVCANNODE_SAFETY_BUTTON
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_STATIC_PRESSURE)
|
||||
_publisher_list.add(new StaticPressure(this, _node));
|
||||
#endif // CONFIG_UAVCANNODE_STATIC_PRESSURE
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_STATIC_TEMPERATURE)
|
||||
_publisher_list.add(new StaticTemperature(this, _node));
|
||||
#endif // CONFIG_UAVCANNODE_STATIC_TEMPERATURE
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_ARMING_STATUS)
|
||||
_subscriber_list.add(new ArmingStatus(_node));
|
||||
#endif // CONFIG_UAVCANNODE_ARMING_STATUS
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_BEEP_COMMAND)
|
||||
_subscriber_list.add(new BeepCommand(_node));
|
||||
_subscriber_list.add(new LightsCommand(_node));
|
||||
#endif // CONFIG_UAVCANNODE_BEEP_COMMAND
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_ESC_RAW_COMMAND)
|
||||
_subscriber_list.add(new ESCRawCommand(_node));
|
||||
#endif // CONFIG_UAVCANNODE_ESC_RAW_COMMAND
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_LIGHTS_COMMAND)
|
||||
_subscriber_list.add(new LightsCommand(_node));
|
||||
#endif // CONFIG_UAVCANNODE_LIGHTS_COMMAND
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_RTK_DATA)
|
||||
int32_t cannode_sub_mbd = 0;
|
||||
param_get(param_find("CANNODE_SUB_MBD"), &cannode_sub_mbd);
|
||||
|
||||
@@ -332,6 +435,18 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
|
||||
_subscriber_list.add(new RTCMStream(_node));
|
||||
}
|
||||
|
||||
#endif // CONFIG_UAVCANNODE_RTK_DATA
|
||||
|
||||
#if defined(CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND)
|
||||
int32_t enable_servo_array_command_sub = 0;
|
||||
param_get(param_find("CANNODE_SUB_SERV"), &enable_servo_array_command_sub);
|
||||
|
||||
if (enable_servo_array_command_sub != 0) {
|
||||
_subscriber_list.add(new ServoArrayCommand(_node));
|
||||
}
|
||||
|
||||
#endif // CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND
|
||||
|
||||
for (auto &subscriber : _subscriber_list) {
|
||||
subscriber->init();
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user