mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-03 16:00:35 +08:00
Jacob Dahl
09ebd21e55
dshot: fix motor test on CANnode Also includes fixes for the DShot driver since stop_outputs is removed. The esc info command has been removed because it doesn't work with AM32, can only be used via command line, and complicates the driver
131 lines
4.0 KiB
C++
131 lines
4.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "GZMixingInterfaceESC.hpp"
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bool GZMixingInterfaceESC::init(const std::string &model_name)
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{
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// ESC feedback: /x500/command/motor_speed
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std::string motor_speed_topic = "/" + model_name + "/command/motor_speed";
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if (!_node.Subscribe(motor_speed_topic, &GZMixingInterfaceESC::motorSpeedCallback, this)) {
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PX4_ERR("failed to subscribe to %s", motor_speed_topic.c_str());
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return false;
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}
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// output eg /X500/command/motor_speed
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std::string actuator_topic = "/" + model_name + "/command/motor_speed";
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_actuators_pub = _node.Advertise<gz::msgs::Actuators>(actuator_topic);
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if (!_actuators_pub.Valid()) {
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PX4_ERR("failed to advertise %s", actuator_topic.c_str());
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return false;
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}
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_esc_status_pub.advertise();
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pthread_mutex_init(&_node_mutex, nullptr);
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ScheduleNow();
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return true;
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}
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bool GZMixingInterfaceESC::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
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unsigned num_control_groups_updated)
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{
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unsigned active_output_count = 0;
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for (unsigned i = 0; i < num_outputs; i++) {
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if (_mixing_output.isFunctionSet(i)) {
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active_output_count++;
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} else {
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break;
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}
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}
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if (active_output_count > 0) {
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gz::msgs::Actuators rotor_velocity_message;
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rotor_velocity_message.mutable_velocity()->Resize(active_output_count, 0);
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for (unsigned i = 0; i < active_output_count; i++) {
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rotor_velocity_message.set_velocity(i, outputs[i]);
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}
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if (_actuators_pub.Valid()) {
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return _actuators_pub.Publish(rotor_velocity_message);
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}
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}
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return false;
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}
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void GZMixingInterfaceESC::Run()
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{
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pthread_mutex_lock(&_node_mutex);
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_mixing_output.update();
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_mixing_output.updateSubscriptions(false);
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pthread_mutex_unlock(&_node_mutex);
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}
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void GZMixingInterfaceESC::motorSpeedCallback(const gz::msgs::Actuators &actuators)
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{
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if (hrt_absolute_time() == 0) {
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return;
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}
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pthread_mutex_lock(&_node_mutex);
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esc_status_s esc_status{};
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esc_status.esc_count = actuators.velocity_size();
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for (int i = 0; i < actuators.velocity_size(); i++) {
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esc_status.esc[i].timestamp = hrt_absolute_time();
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esc_status.esc[i].esc_rpm = actuators.velocity(i);
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esc_status.esc_online_flags |= 1 << i;
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if (actuators.velocity(i) > 0) {
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esc_status.esc_armed_flags |= 1 << i;
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}
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}
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if (esc_status.esc_count > 0) {
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esc_status.timestamp = hrt_absolute_time();
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_esc_status_pub.publish(esc_status);
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}
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pthread_mutex_unlock(&_node_mutex);
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}
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