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Diffstat (limited to 'src/modules/uavcan/uavcan_main.cpp')
-rw-r--r-- | src/modules/uavcan/uavcan_main.cpp | 582 |
1 files changed, 582 insertions, 0 deletions
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp new file mode 100644 index 000000000..27e77e9c5 --- /dev/null +++ b/src/modules/uavcan/uavcan_main.cpp @@ -0,0 +1,582 @@ +/**************************************************************************** + * + * Copyright (c) 2014 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. + * + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <cstdlib> +#include <cstring> +#include <fcntl.h> +#include <systemlib/err.h> +#include <systemlib/systemlib.h> +#include <systemlib/mixer/mixer.h> +#include <arch/board/board.h> +#include <arch/chip/chip.h> + +#include <drivers/drv_hrt.h> +#include <drivers/drv_pwm_output.h> + +#include "uavcan_main.hpp" + +/** + * @file uavcan_main.cpp + * + * Implements basic functinality of UAVCAN node. + * + * @author Pavel Kirienko <pavel.kirienko@gmail.com> + */ + +/* + * UavcanNode + */ +UavcanNode *UavcanNode::_instance; + +UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) : + CDev("uavcan", UAVCAN_DEVICE_PATH), + _node(can_driver, system_clock), + _esc_controller(_node), + _gnss_receiver(_node) +{ + _control_topics[0] = ORB_ID(actuator_controls_0); + _control_topics[1] = ORB_ID(actuator_controls_1); + _control_topics[2] = ORB_ID(actuator_controls_2); + _control_topics[3] = ORB_ID(actuator_controls_3); + + // memset(_controls, 0, sizeof(_controls)); + // memset(_poll_fds, 0, sizeof(_poll_fds)); +} + +UavcanNode::~UavcanNode() +{ + if (_task != -1) { + /* tell the task we want it to go away */ + _task_should_exit = true; + + unsigned i = 10; + + do { + /* wait 5ms - it should wake every 10ms or so worst-case */ + usleep(5000); + + /* if we have given up, kill it */ + if (--i == 0) { + task_delete(_task); + break; + } + + } while (_task != -1); + } + + /* clean up the alternate device node */ + // unregister_driver(PWM_OUTPUT_DEVICE_PATH); + + ::close(_armed_sub); + + _instance = nullptr; +} + +int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate) +{ + if (_instance != nullptr) { + warnx("Already started"); + return -1; + } + + /* + * GPIO config. + * Forced pull up on CAN2 is required for Pixhawk v1 where the second interface lacks a transceiver. + * If no transceiver is connected, the RX pin will float, occasionally causing CAN controller to + * fail during initialization. + */ + stm32_configgpio(GPIO_CAN1_RX); + stm32_configgpio(GPIO_CAN1_TX); + stm32_configgpio(GPIO_CAN2_RX | GPIO_PULLUP); + stm32_configgpio(GPIO_CAN2_TX); + + /* + * CAN driver init + */ + static CanInitHelper can; + static bool can_initialized = false; + + if (!can_initialized) { + const int can_init_res = can.init(bitrate); + + if (can_init_res < 0) { + warnx("CAN driver init failed %i", can_init_res); + return can_init_res; + } + + can_initialized = true; + } + + /* + * Node init + */ + _instance = new UavcanNode(can.driver, uavcan_stm32::SystemClock::instance()); + + if (_instance == nullptr) { + warnx("Out of memory"); + return -1; + } + + const int node_init_res = _instance->init(node_id); + + if (node_init_res < 0) { + delete _instance; + _instance = nullptr; + warnx("Node init failed %i", node_init_res); + return node_init_res; + } + + /* + * Start the task. Normally it should never exit. + */ + static auto run_trampoline = [](int, char *[]) {return UavcanNode::_instance->run();}; + _instance->_task = task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, StackSize, + static_cast<main_t>(run_trampoline), nullptr); + + if (_instance->_task < 0) { + warnx("start failed: %d", errno); + return -errno; + } + + return OK; +} + +int UavcanNode::init(uavcan::NodeID node_id) +{ + int ret = -1; + + /* do regular cdev init */ + ret = CDev::init(); + + if (ret != OK) + return ret; + + ret = _esc_controller.init(); + if (ret < 0) + return ret; + + ret = _gnss_receiver.init(); + if (ret < 0) + return ret; + + uavcan::protocol::SoftwareVersion swver; + swver.major = 12; // TODO fill version info + swver.minor = 34; + _node.setSoftwareVersion(swver); + + uavcan::protocol::HardwareVersion hwver; + hwver.major = 42; // TODO fill version info + hwver.minor = 42; + _node.setHardwareVersion(hwver); + + _node.setName("org.pixhawk"); // Huh? + + _node.setNodeID(node_id); + + return _node.start(); +} + +void UavcanNode::node_spin_once() +{ + const int spin_res = _node.spin(uavcan::MonotonicTime()); + if (spin_res < 0) { + warnx("node spin error %i", spin_res); + } +} + +int UavcanNode::run() +{ + const unsigned PollTimeoutMs = 50; + + // XXX figure out the output count + _output_count = 2; + + + _armed_sub = orb_subscribe(ORB_ID(actuator_armed)); + + actuator_outputs_s outputs; + memset(&outputs, 0, sizeof(outputs)); + + const int busevent_fd = ::open(uavcan_stm32::BusEvent::DevName, 0); + if (busevent_fd < 0) + { + warnx("Failed to open %s", uavcan_stm32::BusEvent::DevName); + _task_should_exit = true; + } + + /* + * XXX Mixing logic/subscriptions shall be moved into UavcanEscController::update(); + * IO multiplexing shall be done here. + */ + + _node.setStatusOk(); + + while (!_task_should_exit) { + + if (_groups_subscribed != _groups_required) { + subscribe(); + _groups_subscribed = _groups_required; + /* + * This event is needed to wake up the thread on CAN bus activity (RX/TX/Error). + * Please note that with such multiplexing it is no longer possible to rely only on + * 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[_poll_fds_num] = ::pollfd(); + _poll_fds[_poll_fds_num].fd = busevent_fd; + _poll_fds[_poll_fds_num].events = POLLIN; + _poll_fds_num += 1; + } + + const int poll_ret = ::poll(_poll_fds, _poll_fds_num, PollTimeoutMs); + + node_spin_once(); // Non-blocking + + // this would be bad... + if (poll_ret < 0) { + log("poll error %d", errno); + continue; + } else { + // get controls for required topics + bool controls_updated = false; + unsigned poll_id = 0; + for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { + if (_control_subs[i] > 0) { + if (_poll_fds[poll_id].revents & POLLIN) { + controls_updated = true; + orb_copy(_control_topics[i], _control_subs[i], &_controls[i]); + } + poll_id++; + } + } + + if (!controls_updated) { + // timeout: no control data, switch to failsafe values + // XXX trigger failsafe + } + + //can we mix? + if (controls_updated && (_mixers != nullptr)) { + + // XXX one output group has 8 outputs max, + // but this driver could well serve multiple groups. + 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; + } + + // limit outputs to valid range + + // never go below min + if (outputs.output[i] < -1.0f) { + outputs.output[i] = -1.0f; + } + + // never go below max + if (outputs.output[i] > 1.0f) { + outputs.output[i] = 1.0f; + } + } + + // Output to the bus + _esc_controller.update_outputs(outputs.output, outputs.noutputs); + } + + } + + // Check arming state + bool updated = false; + 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; + + arm_actuators(set_armed); + } + } + + teardown(); + warnx("exiting."); + + exit(0); +} + +int +UavcanNode::control_callback(uintptr_t handle, + uint8_t control_group, + uint8_t control_index, + float &input) +{ + const actuator_controls_s *controls = (actuator_controls_s *)handle; + + input = controls[control_group].control[control_index]; + return 0; +} + +int +UavcanNode::teardown() +{ + for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { + if (_control_subs[i] > 0) { + ::close(_control_subs[i]); + _control_subs[i] = -1; + } + } + return ::close(_armed_sub); +} + +int +UavcanNode::arm_actuators(bool arm) +{ + _is_armed = arm; + _esc_controller.arm_esc(arm); + return OK; +} + +void +UavcanNode::subscribe() +{ + // Subscribe/unsubscribe to required actuator control groups + uint32_t sub_groups = _groups_required & ~_groups_subscribed; + uint32_t unsub_groups = _groups_subscribed & ~_groups_required; + _poll_fds_num = 0; + for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { + if (sub_groups & (1 << i)) { + warnx("subscribe to actuator_controls_%d", i); + _control_subs[i] = orb_subscribe(_control_topics[i]); + } + if (unsub_groups & (1 << i)) { + warnx("unsubscribe from actuator_controls_%d", i); + ::close(_control_subs[i]); + _control_subs[i] = -1; + } + + if (_control_subs[i] > 0) { + _poll_fds[_poll_fds_num].fd = _control_subs[i]; + _poll_fds[_poll_fds_num].events = POLLIN; + _poll_fds_num++; + } + } +} + +int +UavcanNode::ioctl(file *filp, int cmd, unsigned long arg) +{ + int ret = OK; + + lock(); + + switch (cmd) { + case PWM_SERVO_ARM: + arm_actuators(true); + break; + + case PWM_SERVO_SET_ARM_OK: + case PWM_SERVO_CLEAR_ARM_OK: + case PWM_SERVO_SET_FORCE_SAFETY_OFF: + // these are no-ops, as no safety switch + break; + + case PWM_SERVO_DISARM: + arm_actuators(false); + break; + + case MIXERIOCGETOUTPUTCOUNT: + *(unsigned *)arg = _output_count; + break; + + case MIXERIOCRESET: + if (_mixers != nullptr) { + delete _mixers; + _mixers = nullptr; + _groups_required = 0; + } + + break; + + case MIXERIOCLOADBUF: { + const char *buf = (const char *)arg; + unsigned buflen = strnlen(buf, 1024); + + if (_mixers == nullptr) + _mixers = new MixerGroup(control_callback, (uintptr_t)_controls); + + if (_mixers == nullptr) { + _groups_required = 0; + ret = -ENOMEM; + + } else { + + ret = _mixers->load_from_buf(buf, buflen); + + if (ret != 0) { + warnx("mixer load failed with %d", ret); + delete _mixers; + _mixers = nullptr; + _groups_required = 0; + ret = -EINVAL; + } else { + + _mixers->groups_required(_groups_required); + } + } + + break; + } + + default: + ret = -ENOTTY; + break; + } + + unlock(); + + if (ret == -ENOTTY) { + ret = CDev::ioctl(filp, cmd, arg); + } + + return ret; +} + +void +UavcanNode::print_info() +{ + if (!_instance) { + warnx("not running, start first"); + } + + warnx("groups: sub: %u / req: %u / fds: %u", (unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num); + warnx("mixer: %s", (_mixers == nullptr) ? "FAIL" : "OK"); +} + +/* + * App entry point + */ +static void print_usage() +{ + warnx("usage: uavcan start <node_id> [can_bitrate]"); +} + +extern "C" __EXPORT int uavcan_main(int argc, char *argv[]); + +int uavcan_main(int argc, char *argv[]) +{ + constexpr unsigned DEFAULT_CAN_BITRATE = 1000000; + + if (argc < 2) { + print_usage(); + ::exit(1); + } + + if (!std::strcmp(argv[1], "start")) { + if (argc < 3) { + print_usage(); + ::exit(1); + } + + /* + * Node ID + */ + const int node_id = atoi(argv[2]); + + if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) { + warnx("Invalid Node ID %i", node_id); + ::exit(1); + } + + /* + * CAN bitrate + */ + unsigned bitrate = 0; + + if (argc > 3) { + bitrate = atol(argv[3]); + } + + if (bitrate <= 0) { + bitrate = DEFAULT_CAN_BITRATE; + } + + if (UavcanNode::instance()) { + errx(1, "already started"); + } + + /* + * Start + */ + warnx("Node ID %u, bitrate %u", node_id, bitrate); + return UavcanNode::start(node_id, bitrate); + + } + + /* commands below require the app to be started */ + UavcanNode *inst = UavcanNode::instance(); + + if (!inst) { + errx(1, "application not running"); + } + + if (!std::strcmp(argv[1], "status") || !std::strcmp(argv[1], "info")) { + + inst->print_info(); + return OK; + } + + if (!std::strcmp(argv[1], "stop")) { + + delete inst; + inst = nullptr; + return OK; + } + + print_usage(); + ::exit(1); +} |