diff options
Diffstat (limited to 'src/modules/uavcan/uavcan_main.cpp')
| -rw-r--r-- | src/modules/uavcan/uavcan_main.cpp | 99 |
1 files changed, 63 insertions, 36 deletions
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp index 27e77e9c5..4535b6d6a 100644 --- a/src/modules/uavcan/uavcan_main.cpp +++ b/src/modules/uavcan/uavcan_main.cpp @@ -39,6 +39,8 @@ #include <systemlib/err.h> #include <systemlib/systemlib.h> #include <systemlib/mixer/mixer.h> +#include <systemlib/board_serial.h> +#include <version/version.h> #include <arch/board/board.h> #include <arch/chip/chip.h> @@ -173,6 +175,41 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate) return OK; } +void UavcanNode::fill_node_info() +{ + /* software version */ + uavcan::protocol::SoftwareVersion swver; + + // Extracting the first 8 hex digits of FW_GIT and converting them to int + char fw_git_short[9] = {}; + std::memmove(fw_git_short, FW_GIT, 8); + assert(fw_git_short[8] == '\0'); + char *end = nullptr; + swver.vcs_commit = std::strtol(fw_git_short, &end, 16); + swver.optional_field_mask |= swver.OPTIONAL_FIELD_MASK_VCS_COMMIT; + + warnx("SW version vcs_commit: 0x%08x", unsigned(swver.vcs_commit)); + + _node.setSoftwareVersion(swver); + + /* hardware version */ + uavcan::protocol::HardwareVersion hwver; + + if (!std::strncmp(HW_ARCH, "PX4FMU_V1", 9)) { + hwver.major = 1; + } else if (!std::strncmp(HW_ARCH, "PX4FMU_V2", 9)) { + hwver.major = 2; + } else { + ; // All other values of HW_ARCH resolve to zero + } + + uint8_t udid[12] = {}; // Someone seems to love magic numbers + get_board_serial(udid); + uavcan::copy(udid, udid + sizeof(udid), hwver.unique_id.begin()); + + _node.setHardwareVersion(hwver); +} + int UavcanNode::init(uavcan::NodeID node_id) { int ret = -1; @@ -183,6 +220,13 @@ int UavcanNode::init(uavcan::NodeID node_id) if (ret != OK) return ret; + _node.setName("org.pixhawk.pixhawk"); + + _node.setNodeID(node_id); + + fill_node_info(); + + /* initializing the bridges UAVCAN <--> uORB */ ret = _esc_controller.init(); if (ret < 0) return ret; @@ -191,20 +235,6 @@ int UavcanNode::init(uavcan::NodeID node_id) 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(); } @@ -223,7 +253,6 @@ int UavcanNode::run() // XXX figure out the output count _output_count = 2; - _armed_sub = orb_subscribe(ORB_ID(actuator_armed)); actuator_outputs_s outputs; @@ -243,21 +272,23 @@ int UavcanNode::run() _node.setStatusOk(); - while (!_task_should_exit) { + /* + * 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_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; + while (!_task_should_exit) { + // update actuator controls subscriptions if needed 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); @@ -271,7 +302,7 @@ int UavcanNode::run() } else { // get controls for required topics bool controls_updated = false; - unsigned poll_id = 0; + 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) { @@ -282,12 +313,7 @@ int UavcanNode::run() } } - if (!controls_updated) { - // timeout: no control data, switch to failsafe values - // XXX trigger failsafe - } - - //can we mix? + // can we mix? if (controls_updated && (_mixers != nullptr)) { // XXX one output group has 8 outputs max, @@ -387,7 +413,8 @@ 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; + // 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); @@ -493,8 +520,8 @@ UavcanNode::print_info() 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"); + warnx("actuators control groups: sub: %u / req: %u / fds: %u", (unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num); + warnx("mixer: %s", (_mixers == nullptr) ? "NONE" : "OK"); } /* |