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Initial Cannode PWM Support (#19748)

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* 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
2023-03-15 11:20:07 -04:00
committed by GitHub
parent f0a95f9572
commit ea97a38b2b
24 changed files with 891 additions and 19 deletions
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src/drivers/uavcannode/UavcanNode.cpp
+128 -13
View File
@@ -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();
}