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/**
* @file esc.cpp
*
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include "esc.hpp"
#include <systemlib/err.h>
UavcanEscController::UavcanEscController(uavcan::INode &node) :
_node(node),
_uavcan_pub_raw_cmd(node),
_uavcan_sub_status(node),
_orb_timer(node)
{
}
UavcanEscController::~UavcanEscController()
{
perf_free(_perfcnt_invalid_input);
perf_free(_perfcnt_scaling_error);
}
int UavcanEscController::init()
{
// ESC status subscription
int res = _uavcan_sub_status.start(StatusCbBinder(this, &UavcanEscController::esc_status_sub_cb));
if (res < 0)
{
warnx("ESC status sub failed %i", res);
return res;
}
// ESC status will be relayed from UAVCAN bus into ORB at this rate
_orb_timer.setCallback(TimerCbBinder(this, &UavcanEscController::orb_pub_timer_cb));
_orb_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / ESC_STATUS_UPDATE_RATE_HZ));
return res;
}
void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
{
if ((outputs == nullptr) || (num_outputs > uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize)) {
perf_count(_perfcnt_invalid_input);
return;
}
/*
* Rate limiting - we don't want to congest the bus
*/
const auto timestamp = _node.getMonotonicTime();
if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
return;
}
_prev_cmd_pub = timestamp;
/*
* Fill the command message
* If unarmed, we publish an empty message anyway
*/
uavcan::equipment::esc::RawCommand msg;
static const int cmd_max = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max();
if (_armed) {
for (unsigned i = 0; i < num_outputs; i++) {
float scaled = (outputs[i] + 1.0F) * 0.5F * cmd_max;
if (scaled < 1.0F) {
scaled = 1.0F; // Since we're armed, we don't want to stop it completely
}
if (scaled > cmd_max) {
scaled = cmd_max;
perf_count(_perfcnt_scaling_error);
}
msg.cmd.push_back(static_cast<int>(scaled));
}
}
/*
* Publish the command message to the bus
* Note that for a quadrotor it takes one CAN frame
*/
(void)_uavcan_pub_raw_cmd.broadcast(msg);
}
void UavcanEscController::arm_esc(bool arm)
{
_armed = arm;
}
void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
{
if (msg.esc_index < CONNECTED_ESC_MAX) {
_esc_status.esc_count = uavcan::max<int>(_esc_status.esc_count, msg.esc_index + 1);
_esc_status.timestamp = msg.getMonotonicTimestamp().toUSec();
auto &ref = _esc_status.esc[msg.esc_index];
ref.esc_address = msg.getSrcNodeID().get();
ref.esc_voltage = msg.voltage;
ref.esc_current = msg.current;
ref.esc_temperature = msg.temperature;
ref.esc_setpoint = msg.power_rating_pct;
ref.esc_rpm = abs(msg.rpm);
ref.esc_errorcount = msg.error_count;
}
}
void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent&)
{
_esc_status.counter += 1;
_esc_status.esc_connectiontype = ESC_CONNECTION_TYPE_CAN;
if (_esc_status_pub > 0) {
(void)orb_publish(ORB_ID(esc_status), _esc_status_pub, &_esc_status);
} else {
_esc_status_pub = orb_advertise(ORB_ID(esc_status), &_esc_status);
}
}