Update motor test tool

4 files changed, 58 insertions, 11 deletions

diff --git a/src/modules/uavcan/actuators/esc.cpp b/src/modules/uavcan/actuators/esc.cpp
index 1990651ef..1d23099f3 100644
--- a/src/modules/uavcan/actuators/esc.cpp
+++ b/src/modules/uavcan/actuators/esc.cpp
@@ -40,6 +40,9 @@
 #include "esc.hpp"
 #include <systemlib/err.h>
 
+
+#define MOTOR_BIT(x) (1<<(x))
+
 UavcanEscController::UavcanEscController(uavcan::INode &node) :
 	_node(node),
 	_uavcan_pub_raw_cmd(node),
@@ -95,9 +98,8 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
 
 	static const int cmd_max = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max();
 
-	if (_armed) {
-		for (unsigned i = 0; i < num_outputs; i++) {
-
+	for (unsigned i = 0; i < num_outputs; i++) {
+		if (_armed_mask & MOTOR_BIT(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
@@ -111,6 +113,8 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
 			msg.cmd.push_back(static_cast<int>(scaled));
 
 			_esc_status.esc[i].esc_setpoint_raw = abs(static_cast<int>(scaled));
+		} else {
+			msg.cmd.push_back(static_cast<unsigned>(0));
 		}
 	}
 
@@ -121,9 +125,22 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
 	(void)_uavcan_pub_raw_cmd.broadcast(msg);
 }
 
-void UavcanEscController::arm_esc(bool arm)
+void UavcanEscController::arm_all_escs(bool arm)
+{
+	if (arm) {
+		_armed_mask = -1;
+	} else {
+		_armed_mask = 0;
+	}
+}
+
+void UavcanEscController::arm_single_esc(int num, bool arm)
 {
-	_armed = arm;
+	if (arm) {
+		_armed_mask = MOTOR_BIT(num);
+	} else {
+		_armed_mask = 0;
+	}
 }
 
 void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
diff --git a/src/modules/uavcan/actuators/esc.hpp b/src/modules/uavcan/actuators/esc.hpp
index f4a3877e6..12c035542 100644
--- a/src/modules/uavcan/actuators/esc.hpp
+++ b/src/modules/uavcan/actuators/esc.hpp
@@ -61,7 +61,8 @@ public:
 
 	void update_outputs(float *outputs, unsigned num_outputs);
 
-	void arm_esc(bool arm);
+	void arm_all_escs(bool arm);
+	void arm_single_esc(int num, bool arm);
 
 private:
 	/**
@@ -99,6 +100,11 @@ private:
 	uavcan::TimerEventForwarder<TimerCbBinder>				_orb_timer;
 
 	/*
+	 * ESC states
+	 */
+	uint32_t 			_armed_mask = 0;
+
+	/*
 	 * Perf counters
 	 */
 	perf_counter_t _perfcnt_invalid_input = perf_alloc(PC_COUNT, "uavcan_esc_invalid_input");
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index a8485ee44..2c543462e 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -279,6 +279,7 @@ int UavcanNode::run()
 	_output_count = 2;
 
 	_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
+	_test_motor_sub = orb_subscribe(ORB_ID(test_motor));
 
 	actuator_outputs_s outputs;
 	memset(&outputs, 0, sizeof(outputs));
@@ -344,7 +345,13 @@ int UavcanNode::run()
 			}
 
 			// can we mix?
-			if (controls_updated && (_mixers != nullptr)) {
+			if (_test_in_progress) {
+				float test_outputs[NUM_ACTUATOR_OUTPUTS] = {};
+				test_outputs[_test_motor.motor_number] = _test_motor.value*2.0f-1.0f;
+
+				// Output to the bus
+				_esc_controller.update_outputs(test_outputs, NUM_ACTUATOR_OUTPUTS);
+			} else if (controls_updated && (_mixers != nullptr)) {
 
 				// XXX one output group has 8 outputs max,
 				// but this driver could well serve multiple groups.
@@ -384,15 +391,27 @@ int UavcanNode::run()
 			}
 		}
 
-		// Check arming state
+		// Check motor test state
 		bool updated = false;
+		orb_check(_test_motor_sub, &updated);
+
+		if (updated) {
+			orb_copy(ORB_ID(test_motor), _test_motor_sub, &_test_motor);
+
+			// Update the test status and check that we're not locked down
+			_test_in_progress = (_test_motor.value > 0);
+			_esc_controller.arm_single_esc(_test_motor.motor_number, _test_in_progress);
+		}
+
+		// Check arming state
 		orb_check(_armed_sub, &updated);
 
 		if (updated) {
 			orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
 
-			// Update the armed status and check that we're not locked down
-			bool set_armed = _armed.armed && !_armed.lockdown;
+			// Update the armed status and check that we're not locked down and motor 
+			// test is not running
+			bool set_armed = _armed.armed && !_armed.lockdown && !_test_in_progress;
 
 			arm_actuators(set_armed);
 		}
@@ -429,7 +448,7 @@ int
 UavcanNode::arm_actuators(bool arm)
 {
 	_is_armed = arm;
-	_esc_controller.arm_esc(arm);
+	_esc_controller.arm_all_escs(arm);
 	return OK;
 }
 
diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp
index be7db9741..274321f0d 100644
--- a/src/modules/uavcan/uavcan_main.hpp
+++ b/src/modules/uavcan/uavcan_main.hpp
@@ -41,6 +41,7 @@
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_armed.h>
+#include <uORB/topics/test_motor.h>
 
 #include "actuators/esc.hpp"
 #include "sensors/sensor_bridge.hpp"
@@ -103,6 +104,10 @@ private:
 	actuator_armed_s	_armed;				///< the arming request of the system
 	bool			_is_armed = false;		///< the arming status of the actuators on the bus
 
+	int			_test_motor_sub = -1;   ///< uORB subscription of the test_motor status
+	test_motor_s		_test_motor;
+	bool			_test_in_progress = false;
+
 	unsigned		_output_count = 0;		///< number of actuators currently available
 
 	static UavcanNode	*_instance;			///< singleton pointer