diff options
Diffstat (limited to 'src/modules/uavcan/uavcan_main.cpp')
-rw-r--r-- | src/modules/uavcan/uavcan_main.cpp | 170 |
1 files changed, 125 insertions, 45 deletions
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp index 2c543462e..60901e0c7 100644 --- a/src/modules/uavcan/uavcan_main.cpp +++ b/src/modules/uavcan/uavcan_main.cpp @@ -46,6 +46,8 @@ #include <arch/board/board.h> #include <arch/chip/chip.h> +#include <uORB/topics/esc_status.h> + #include <drivers/drv_hrt.h> #include <drivers/drv_pwm_output.h> @@ -269,6 +271,24 @@ void UavcanNode::node_spin_once() } } +/* + add a fd to the list of polled events. This assumes you want + POLLIN for now. + */ +int UavcanNode::add_poll_fd(int fd) +{ + int ret = _poll_fds_num; + if (_poll_fds_num >= UAVCAN_NUM_POLL_FDS) { + errx(1, "uavcan: too many poll fds, exiting"); + } + _poll_fds[_poll_fds_num] = ::pollfd(); + _poll_fds[_poll_fds_num].fd = fd; + _poll_fds[_poll_fds_num].events = POLLIN; + _poll_fds_num += 1; + return ret; +} + + int UavcanNode::run() { (void)pthread_mutex_lock(&_node_mutex); @@ -280,9 +300,9 @@ int UavcanNode::run() _armed_sub = orb_subscribe(ORB_ID(actuator_armed)); _test_motor_sub = orb_subscribe(ORB_ID(test_motor)); + _actuator_direct_sub = orb_subscribe(ORB_ID(actuator_direct)); - actuator_outputs_s outputs; - memset(&outputs, 0, sizeof(outputs)); + memset(&_outputs, 0, sizeof(_outputs)); const int busevent_fd = ::open(uavcan_stm32::BusEvent::DevName, 0); if (busevent_fd < 0) @@ -304,11 +324,15 @@ int UavcanNode::run() * the value returned from poll() to detect whether actuator control has timed out or not. * Instead, all ORB events need to be checked individually (see below). */ - _poll_fds_num = 0; - _poll_fds[_poll_fds_num] = ::pollfd(); - _poll_fds[_poll_fds_num].fd = busevent_fd; - _poll_fds[_poll_fds_num].events = POLLIN; - _poll_fds_num += 1; + add_poll_fd(busevent_fd); + + /* + * setup poll to look for actuator direct input if we are + * subscribed to the topic + */ + if (_actuator_direct_sub != -1) { + _actuator_direct_poll_fd_num = add_poll_fd(_actuator_direct_sub); + } while (!_task_should_exit) { // update actuator controls subscriptions if needed @@ -326,6 +350,8 @@ int UavcanNode::run() node_spin_once(); // Non-blocking + bool new_output = false; + // this would be bad... if (poll_ret < 0) { log("poll error %d", errno); @@ -333,24 +359,39 @@ int UavcanNode::run() } else { // get controls for required topics bool controls_updated = false; - unsigned poll_id = 1; for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { if (_control_subs[i] > 0) { - if (_poll_fds[poll_id].revents & POLLIN) { + if (_poll_fds[_poll_ids[i]].revents & POLLIN) { controls_updated = true; orb_copy(_control_topics[i], _control_subs[i], &_controls[i]); } - poll_id++; } } + /* + see if we have any direct actuator updates + */ + if (_actuator_direct_sub != -1 && + (_poll_fds[_actuator_direct_poll_fd_num].revents & POLLIN) && + orb_copy(ORB_ID(actuator_direct), _actuator_direct_sub, &_actuator_direct) == OK && + !_test_in_progress) { + if (_actuator_direct.nvalues > NUM_ACTUATOR_OUTPUTS) { + _actuator_direct.nvalues = NUM_ACTUATOR_OUTPUTS; + } + memcpy(&_outputs.output[0], &_actuator_direct.values[0], + _actuator_direct.nvalues*sizeof(float)); + _outputs.noutputs = _actuator_direct.nvalues; + new_output = true; + } + // can we mix? 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); + memset(&_outputs, 0, sizeof(_outputs)); + if (_test_motor.motor_number < NUM_ACTUATOR_OUTPUTS) { + _outputs.output[_test_motor.motor_number] = _test_motor.value*2.0f-1.0f; + _outputs.noutputs = _test_motor.motor_number+1; + } + new_output = true; } else if (controls_updated && (_mixers != nullptr)) { // XXX one output group has 8 outputs max, @@ -358,39 +399,41 @@ int UavcanNode::run() unsigned num_outputs_max = 8; // Do mixing - outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs_max); - outputs.timestamp = hrt_absolute_time(); - - // iterate actuators - for (unsigned i = 0; i < outputs.noutputs; i++) { - // last resort: catch NaN, INF and out-of-band errors - if (!isfinite(outputs.output[i])) { - /* - * Value is NaN, INF or out of band - set to the minimum value. - * This will be clearly visible on the servo status and will limit the risk of accidentally - * spinning motors. It would be deadly in flight. - */ - outputs.output[i] = -1.0f; - } + _outputs.noutputs = _mixers->mix(&_outputs.output[0], num_outputs_max); - // limit outputs to valid range + new_output = true; + } + } - // never go below min - if (outputs.output[i] < -1.0f) { - outputs.output[i] = -1.0f; - } + if (new_output) { + // iterate actuators, checking for valid values + for (uint8_t i = 0; i < _outputs.noutputs; i++) { + // last resort: catch NaN, INF and out-of-band errors + if (!isfinite(_outputs.output[i])) { + /* + * Value is NaN, INF or out of band - set to the minimum value. + * This will be clearly visible on the servo status and will limit the risk of accidentally + * spinning motors. It would be deadly in flight. + */ + _outputs.output[i] = -1.0f; + } - // never go below max - if (outputs.output[i] > 1.0f) { - outputs.output[i] = 1.0f; - } + // never go below min + if (_outputs.output[i] < -1.0f) { + _outputs.output[i] = -1.0f; } - // Output to the bus - _esc_controller.update_outputs(outputs.output, outputs.noutputs); + // never go above max + if (_outputs.output[i] > 1.0f) { + _outputs.output[i] = 1.0f; + } } + // Output to the bus + _outputs.timestamp = hrt_absolute_time(); + _esc_controller.update_outputs(_outputs.output, _outputs.noutputs); } + // Check motor test state bool updated = false; orb_check(_test_motor_sub, &updated); @@ -459,7 +502,6 @@ UavcanNode::subscribe() uint32_t sub_groups = _groups_required & ~_groups_subscribed; uint32_t unsub_groups = _groups_subscribed & ~_groups_required; // the first fd used by CAN - _poll_fds_num = 1; for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { if (sub_groups & (1 << i)) { warnx("subscribe to actuator_controls_%d", i); @@ -472,9 +514,7 @@ UavcanNode::subscribe() } if (_control_subs[i] > 0) { - _poll_fds[_poll_fds_num].fd = _control_subs[i]; - _poll_fds[_poll_fds_num].events = POLLIN; - _poll_fds_num++; + _poll_ids[i] = add_poll_fd(_control_subs[i]); } } } @@ -572,6 +612,36 @@ UavcanNode::print_info() (unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num); printf("ESC mixer: %s\n", (_mixers == nullptr) ? "NONE" : "OK"); + if (_outputs.noutputs != 0) { + printf("ESC output: "); + + for (uint8_t i=0; i<_outputs.noutputs; i++) { + printf("%d ", (int)(_outputs.output[i]*1000)); + } + printf("\n"); + + // ESC status + int esc_sub = orb_subscribe(ORB_ID(esc_status)); + struct esc_status_s esc; + memset(&esc, 0, sizeof(esc)); + orb_copy(ORB_ID(esc_status), esc_sub, &esc); + + printf("ESC Status:\n"); + printf("Addr\tV\tA\tTemp\tSetpt\tRPM\tErr\n"); + for (uint8_t i=0; i<_outputs.noutputs; i++) { + printf("%d\t", esc.esc[i].esc_address); + printf("%3.2f\t", (double)esc.esc[i].esc_voltage); + printf("%3.2f\t", (double)esc.esc[i].esc_current); + printf("%3.2f\t", (double)esc.esc[i].esc_temperature); + printf("%3.2f\t", (double)esc.esc[i].esc_setpoint); + printf("%d\t", esc.esc[i].esc_rpm); + printf("%d", esc.esc[i].esc_errorcount); + printf("\n"); + } + + orb_unsubscribe(esc_sub); + } + // Sensor bridges auto br = _sensor_bridges.getHead(); while (br != nullptr) { @@ -590,7 +660,7 @@ UavcanNode::print_info() static void print_usage() { warnx("usage: \n" - "\tuavcan {start|status|stop}"); + "\tuavcan {start|status|stop|arm|disarm}"); } extern "C" __EXPORT int uavcan_main(int argc, char *argv[]); @@ -637,6 +707,16 @@ int uavcan_main(int argc, char *argv[]) ::exit(0); } + if (!std::strcmp(argv[1], "arm")) { + inst->arm_actuators(true); + ::exit(0); + } + + if (!std::strcmp(argv[1], "disarm")) { + inst->arm_actuators(false); + ::exit(0); + } + if (!std::strcmp(argv[1], "stop")) { delete inst; ::exit(0); |