mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-03 09:20:35 +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
88 lines
3.1 KiB
C++
88 lines
3.1 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2023 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 <lib/mixer_module/mixer_module.hpp>
|
|
|
|
#include <gz/msgs.hh>
|
|
#include <gz/transport.hh>
|
|
|
|
#include <uORB/PublicationMulti.hpp>
|
|
#include <uORB/topics/esc_status.h>
|
|
|
|
|
|
// GZBridge mixing class for ESCs.
|
|
// It is separate from GZBridge to have separate WorkItems and therefore allowing independent scheduling
|
|
// All work items are expected to run on the same work queue.
|
|
class GZMixingInterfaceESC : public OutputModuleInterface
|
|
{
|
|
public:
|
|
static constexpr int MAX_ACTUATORS = MixingOutput::MAX_ACTUATORS;
|
|
|
|
GZMixingInterfaceESC(gz::transport::Node &node) :
|
|
OutputModuleInterface(MODULE_NAME "-actuators-esc", px4::wq_configurations::rate_ctrl),
|
|
_node(node)
|
|
{}
|
|
|
|
bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
|
|
unsigned num_outputs, unsigned num_control_groups_updated) override;
|
|
|
|
MixingOutput &mixingOutput() { return _mixing_output; }
|
|
|
|
bool init(const std::string &model_name);
|
|
|
|
void stop()
|
|
{
|
|
_mixing_output.unregister();
|
|
ScheduleClear();
|
|
}
|
|
|
|
private:
|
|
friend class GZBridge;
|
|
|
|
void Run() override;
|
|
|
|
void motorSpeedCallback(const gz::msgs::Actuators &actuators);
|
|
|
|
gz::transport::Node &_node;
|
|
pthread_mutex_t _node_mutex;
|
|
|
|
MixingOutput _mixing_output{"SIM_GZ_EC", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
|
|
|
|
gz::transport::Node::Publisher _actuators_pub;
|
|
|
|
uORB::Publication<esc_status_s> _esc_status_pub{ORB_ID(esc_status)};
|
|
|
|
};
|