Wip Added uavcan functionality and led driver

6 files changed, 430 insertions, 0 deletions

diff --git a/src/modules/uavcannode/indication_controller.cpp b/src/modules/uavcannode/indication_controller.cpp
new file mode 100644
index 000000000..100f43472
--- /dev/null
+++ b/src/modules/uavcannode/indication_controller.cpp
@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *   Author: Pavel Kirienko <pavel.kirienko@gmail.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#include <systemlib/systemlib.h>
+#include "indication_controller.hpp"
+#include <uavcan/equipment/indication/LightsCommand.hpp>
+#include "led.hpp"
+
+namespace
+{
+unsigned self_light_index = 0;
+
+void cb_light_command(const uavcan::ReceivedDataStructure<uavcan::equipment::indication::LightsCommand>& msg)
+{
+	for (auto& cmd : msg.commands)
+	{
+		if (cmd.light_id == self_light_index)
+		{
+			using uavcan::equipment::indication::RGB565;
+
+			uavcan::uint32_t red = uavcan::uint32_t(float(cmd.color.red) *
+			                       (255.0F / float(RGB565::FieldTypes::red::max())) + 0.5F);
+
+			uavcan::uint32_t green = uavcan::uint32_t(float(cmd.color.green) *
+			                         (255.0F / float(RGB565::FieldTypes::green::max())) + 0.5F);
+
+			uavcan::uint32_t blue = uavcan::uint32_t(float(cmd.color.blue) *
+			                        (255.0F / float(RGB565::FieldTypes::blue::max())) + 0.5F);
+
+			red   = uavcan::min<uavcan::uint32_t>(red, 0xFFU);
+			green = uavcan::min<uavcan::uint32_t>(green, 0xFFU);
+			blue  = uavcan::min<uavcan::uint32_t>(blue, 0xFFU);
+
+			rgb_led(red, green, blue, 0);
+			break;
+		}
+	}
+}
+}
+int init_indication_controller(uavcan::INode& node)
+{
+	static uavcan::Subscriber<uavcan::equipment::indication::LightsCommand> sub_light(node);
+
+	self_light_index = 0;
+
+	int res = 0;
+
+	res = sub_light.start(cb_light_command);
+	if (res != 0) {
+		return res;
+	}
+	return 0;
+}
diff --git a/src/modules/uavcannode/indication_controller.hpp b/src/modules/uavcannode/indication_controller.hpp
new file mode 100644
index 000000000..1b78e2872
--- /dev/null
+++ b/src/modules/uavcannode/indication_controller.hpp
@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *   Author: Pavel Kirienko <pavel.kirienko@gmail.com>
+ *
+ * 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 <uavcan_stm32/uavcan_stm32.hpp>
+
+
+int init_indication_controller(uavcan::INode& node);
+
diff --git a/src/modules/uavcannode/led.cpp b/src/modules/uavcannode/led.cpp
new file mode 100644
index 000000000..af57edd15
--- /dev/null
+++ b/src/modules/uavcannode/led.cpp
@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+#include <nuttx/config.h>
+
+#include <stdint.h>
+
+#include <arch/board/board.h>
+#include "chip/stm32_tim.h"
+
+
+#include "led.hpp"
+
+void rgb_led(int r, int g ,int b, int freqs)
+{
+
+  long fosc = 72000000;
+  long prescale = 2048;
+  long p1s = fosc/prescale;
+  long p0p5s  = p1s/2;
+  stm32_tim_channel_t mode = (stm32_tim_channel_t)(STM32_TIM_CH_OUTPWM | STM32_TIM_CH_POLARITY_NEG);
+  static struct stm32_tim_dev_s *tim = 0;
+
+  if (tim == 0) {
+      tim = stm32_tim_init(3);
+      STM32_TIM_SETMODE(tim, STM32_TIM_MODE_UP);
+      STM32_TIM_SETCLOCK(tim, p1s-8);
+      STM32_TIM_SETPERIOD(tim, p1s);
+      STM32_TIM_SETCOMPARE(tim, 1, 0);
+      STM32_TIM_SETCOMPARE(tim, 2, 0);
+      STM32_TIM_SETCOMPARE(tim, 3, 0);
+      STM32_TIM_SETCHANNEL(tim, 1, mode);
+      STM32_TIM_SETCHANNEL(tim, 2, mode);
+      STM32_TIM_SETCHANNEL(tim, 3, mode);
+  }
+
+  long p  = freqs==0 ? p1s : p1s/freqs;
+  STM32_TIM_SETPERIOD(tim, p);
+
+  p  = freqs==0 ? p1s+1 : p0p5s/freqs;
+
+  STM32_TIM_SETCOMPARE(tim, 2, (r * p)/255 );
+  STM32_TIM_SETCOMPARE(tim, 1, (b * p)/255);
+  STM32_TIM_SETCOMPARE(tim, 3, (g * p)/255);
+}
+
diff --git a/src/modules/uavcannode/led.hpp b/src/modules/uavcannode/led.hpp
new file mode 100644
index 000000000..53d8d653f
--- /dev/null
+++ b/src/modules/uavcannode/led.hpp
@@ -0,0 +1,38 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+#include <systemlib/visibility.h>
+
+__BEGIN_DECLS
+void rgb_led(int r, int g ,int b, int freqs);
+__END_DECLS
diff --git a/src/modules/uavcannode/sim_controller.cpp b/src/modules/uavcannode/sim_controller.cpp
new file mode 100644
index 000000000..816ce2e8d
--- /dev/null
+++ b/src/modules/uavcannode/sim_controller.cpp
@@ -0,0 +1,150 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: Pavel Kirienko <pavel.kirienko@gmail.com>
+ *           David Sidrane<david_s5@nscdg.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+#include <nuttx/config.h>
+
+#include <syslog.h>
+#include <systemlib/systemlib.h>
+
+#include "sim_controller.hpp"
+#include <uavcan/equipment/esc/RawCommand.hpp>
+#include <uavcan/equipment/esc/RPMCommand.hpp>
+#include <uavcan/equipment/esc/Status.hpp>
+#include "led.hpp"
+
+
+uavcan::Publisher<uavcan::equipment::esc::Status>* pub_status;
+namespace {
+unsigned self_index = 0;
+int rpm = 0;
+bool on = false;
+
+
+static void cb_raw_command(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::RawCommand>& msg)
+{
+	if (msg.cmd.size() <= self_index) {
+	        on = false;
+		rgb_led(0,0,0,0);
+		return;
+	}
+
+	const float scaled = msg.cmd[self_index] / float(uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max());
+
+        ::syslog(LOG_INFO,"scaled:%09.6f\n",(double)scaled);
+	if (scaled > 0) {
+            on = true;
+	    rgb_led(255,0,0,0);
+	} else {
+            on = false;
+	    rgb_led(0,0,0,0);
+	}
+}
+
+static void cb_rpm_command(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::RPMCommand>& msg)
+{
+	if (msg.rpm.size() <= self_index) {
+	        rgb_led(0,0,0,0);
+		return;
+	}
+
+	rpm = msg.rpm[self_index];
+	::syslog(LOG_INFO,"rpm:%d\n",rpm);
+	if (rpm > 0) {
+            on = true;
+            rgb_led(255,0,0,rpm);
+	} else {
+            on = false;
+	     rgb_led(0,0,0,0);
+	}
+}
+
+void cb_10Hz(const uavcan::TimerEvent& event)
+{
+	uavcan::equipment::esc::Status msg;
+
+	msg.esc_index = self_index;
+	msg.rpm = rpm;
+	msg.voltage = 3.3F;
+	msg.current = 0.001F;
+	msg.temperature = 24.0F;
+	msg.power_rating_pct = static_cast<unsigned>(.5F * 100 + 0.5F);
+	msg.error_count = 0;
+
+	if (!on) {
+		// Lower the publish rate to 1Hz if the motor is not running
+		static uavcan::MonotonicTime prev_pub_ts;
+		if ((event.scheduled_time - prev_pub_ts).toMSec() >= 990) {
+			prev_pub_ts = event.scheduled_time;
+			pub_status->broadcast(msg);
+		}
+	} else {
+		pub_status->broadcast(msg);
+	}
+}
+
+}
+int init_sim_controller(uavcan::INode& node)
+{
+
+        typedef void (*cb)(const uavcan::TimerEvent&);
+	static uavcan::Subscriber<uavcan::equipment::esc::RawCommand> sub_raw_command(node);
+        static uavcan::Subscriber<uavcan::equipment::esc::RPMCommand> sub_rpm_command(node);
+	static uavcan::TimerEventForwarder<cb>  timer_10hz(node);
+
+	self_index = 0;
+
+	int res = 0;
+
+	res = sub_raw_command.start(cb_raw_command);
+	if (res != 0) {
+		return res;
+	}
+
+	res = sub_rpm_command.start(cb_rpm_command);
+	if (res != 0) {
+		return res;
+	}
+
+	pub_status = new uavcan::Publisher<uavcan::equipment::esc::Status>(node);
+	res = pub_status->init();
+	if (res != 0) {
+		return res;
+	}
+
+	timer_10hz.setCallback(&cb_10Hz);
+	timer_10hz.startPeriodic(uavcan::MonotonicDuration::fromMSec(100));
+
+	return 0;
+}
+
diff --git a/src/modules/uavcannode/sim_controller.hpp b/src/modules/uavcannode/sim_controller.hpp
new file mode 100644
index 000000000..06f5312cd
--- /dev/null
+++ b/src/modules/uavcannode/sim_controller.hpp
@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: Pavel Kirienko <pavel.kirienko@gmail.com>
+ *           David Sidrane<david_s5@nscdg.com>
+ *
+ * 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 <uavcan_stm32/uavcan_stm32.hpp>
+
+int init_sim_controller(uavcan::INode& node);
+