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-rw-r--r--src/modules/uavcan/actuators/esc.cpp (renamed from src/modules/uavcan/esc_controller.cpp)90
-rw-r--r--src/modules/uavcan/actuators/esc.hpp (renamed from src/modules/uavcan/esc_controller.hpp)19
-rw-r--r--src/modules/uavcan/module.mk21
-rw-r--r--src/modules/uavcan/sensors/baro.cpp113
-rw-r--r--src/modules/uavcan/sensors/baro.hpp68
-rw-r--r--src/modules/uavcan/sensors/gnss.cpp (renamed from src/modules/uavcan/gnss_receiver.cpp)100
-rw-r--r--src/modules/uavcan/sensors/gnss.hpp (renamed from src/modules/uavcan/gnss_receiver.hpp)39
-rw-r--r--src/modules/uavcan/sensors/mag.cpp150
-rw-r--r--src/modules/uavcan/sensors/mag.hpp70
-rw-r--r--src/modules/uavcan/sensors/sensor_bridge.cpp161
-rw-r--r--src/modules/uavcan/sensors/sensor_bridge.hpp133
-rw-r--r--src/modules/uavcan/uavcan_clock.cpp2
-rw-r--r--src/modules/uavcan/uavcan_main.cpp369
-rw-r--r--src/modules/uavcan/uavcan_main.hpp40
-rw-r--r--src/modules/uavcan/uavcan_params.c73
15 files changed, 1218 insertions, 230 deletions
diff --git a/src/modules/uavcan/esc_controller.cpp b/src/modules/uavcan/actuators/esc.cpp
index 406eba88c..9f682c7e1 100644
--- a/src/modules/uavcan/esc_controller.cpp
+++ b/src/modules/uavcan/actuators/esc.cpp
@@ -32,14 +32,17 @@
****************************************************************************/
/**
- * @file esc_controller.cpp
+ * @file esc.cpp
*
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
*/
-#include "esc_controller.hpp"
+#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),
@@ -73,7 +76,9 @@ int UavcanEscController::init()
void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
{
- if ((outputs == nullptr) || (num_outputs > MAX_ESCS)) {
+ if ((outputs == nullptr) ||
+ (num_outputs > uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize) ||
+ (num_outputs > CONNECTED_ESC_MAX)) {
perf_count(_perfcnt_invalid_input);
return;
}
@@ -93,25 +98,30 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
*/
uavcan::equipment::esc::RawCommand msg;
- if (_armed) {
- for (unsigned i = 0; i < num_outputs; i++) {
-
- float scaled = (outputs[i] + 1.0F) * 0.5F * uavcan::equipment::esc::RawCommand::CMD_MAX;
- if (scaled < 1.0F) {
- scaled = 1.0F; // Since we're armed, we don't want to stop it completely
- }
-
- if (scaled < uavcan::equipment::esc::RawCommand::CMD_MIN) {
- scaled = uavcan::equipment::esc::RawCommand::CMD_MIN;
+ static const int cmd_max = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max();
+
+ for (unsigned i = 0; i < num_outputs; i++) {
+ if (_armed_mask & MOTOR_BIT(i)) {
+ float scaled = (outputs[i] + 1.0F) * 0.5F * cmd_max;
+ // trim negative values back to 0. Previously
+ // we set this to 0.1, which meant motors kept
+ // spinning when armed, but that should be a
+ // policy decision for a specific vehicle
+ // type, as it is not appropriate for all
+ // types of vehicles (eg. fixed wing).
+ if (scaled < 0.0F) {
+ scaled = 0.0F;
+ }
+ if (scaled > cmd_max) {
+ scaled = cmd_max;
perf_count(_perfcnt_scaling_error);
- } else if (scaled > uavcan::equipment::esc::RawCommand::CMD_MAX) {
- scaled = uavcan::equipment::esc::RawCommand::CMD_MAX;
- perf_count(_perfcnt_scaling_error);
- } else {
- ; // Correct value
}
- msg.cmd.push_back(static_cast<unsigned>(scaled));
+ 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));
}
}
@@ -122,17 +132,51 @@ 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)
{
- // TODO save status into a local storage; publish to ORB later from orb_pub_timer_cb()
+ if (msg.esc_index < CONNECTED_ESC_MAX) {
+ _esc_status.esc_count = uavcan::max<int>(_esc_status.esc_count, msg.esc_index + 1);
+ _esc_status.timestamp = msg.getMonotonicTimestamp().toUSec();
+
+ auto &ref = _esc_status.esc[msg.esc_index];
+
+ ref.esc_address = msg.getSrcNodeID().get();
+
+ ref.esc_voltage = msg.voltage;
+ ref.esc_current = msg.current;
+ ref.esc_temperature = msg.temperature;
+ ref.esc_setpoint = msg.power_rating_pct;
+ ref.esc_rpm = msg.rpm;
+ ref.esc_errorcount = msg.error_count;
+ }
}
void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent&)
{
- // TODO publish to ORB
+ _esc_status.counter += 1;
+ _esc_status.esc_connectiontype = ESC_CONNECTION_TYPE_CAN;
+
+ if (_esc_status_pub > 0) {
+ (void)orb_publish(ORB_ID(esc_status), _esc_status_pub, &_esc_status);
+ } else {
+ _esc_status_pub = orb_advertise(ORB_ID(esc_status), &_esc_status);
+ }
}
diff --git a/src/modules/uavcan/esc_controller.hpp b/src/modules/uavcan/actuators/esc.hpp
index 559ede561..12c035542 100644
--- a/src/modules/uavcan/esc_controller.hpp
+++ b/src/modules/uavcan/actuators/esc.hpp
@@ -32,7 +32,7 @@
****************************************************************************/
/**
- * @file esc_controller.hpp
+ * @file esc.hpp
*
* UAVCAN <--> ORB bridge for ESC messages:
* uavcan.equipment.esc.RawCommand
@@ -48,6 +48,8 @@
#include <uavcan/equipment/esc/RawCommand.hpp>
#include <uavcan/equipment/esc/Status.hpp>
#include <systemlib/perf_counter.h>
+#include <uORB/topics/esc_status.h>
+
class UavcanEscController
{
@@ -59,7 +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:
/**
@@ -73,9 +76,8 @@ private:
void orb_pub_timer_cb(const uavcan::TimerEvent &event);
- static constexpr unsigned MAX_RATE_HZ = 100; ///< XXX make this configurable
- static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 5;
- static constexpr unsigned MAX_ESCS = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize;
+ static constexpr unsigned MAX_RATE_HZ = 200; ///< XXX make this configurable
+ static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 10;
typedef uavcan::MethodBinder<UavcanEscController*,
void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)>
@@ -84,6 +86,10 @@ private:
typedef uavcan::MethodBinder<UavcanEscController*, void (UavcanEscController::*)(const uavcan::TimerEvent&)>
TimerCbBinder;
+ bool _armed = false;
+ esc_status_s _esc_status = {};
+ orb_advert_t _esc_status_pub = -1;
+
/*
* libuavcan related things
*/
@@ -96,8 +102,7 @@ private:
/*
* ESC states
*/
- bool _armed = false;
- uavcan::equipment::esc::Status _states[MAX_ESCS];
+ uint32_t _armed_mask = 0;
/*
* Perf counters
diff --git a/src/modules/uavcan/module.mk b/src/modules/uavcan/module.mk
index 1ef6f0cfa..f92bc754f 100644
--- a/src/modules/uavcan/module.mk
+++ b/src/modules/uavcan/module.mk
@@ -40,10 +40,19 @@ MODULE_COMMAND = uavcan
MAXOPTIMIZATION = -Os
-SRCS += uavcan_main.cpp \
- uavcan_clock.cpp \
- esc_controller.cpp \
- gnss_receiver.cpp
+# Main
+SRCS += uavcan_main.cpp \
+ uavcan_clock.cpp \
+ uavcan_params.c
+
+# Actuators
+SRCS += actuators/esc.cpp
+
+# Sensors
+SRCS += sensors/sensor_bridge.cpp \
+ sensors/gnss.cpp \
+ sensors/mag.cpp \
+ sensors/baro.cpp
#
# libuavcan
@@ -65,10 +74,6 @@ override EXTRADEFINES := $(EXTRADEFINES) -DUAVCAN_STM32_NUTTX -DUAVCAN_STM32_NUM
#
# Invoke DSDL compiler
-# TODO: Add make target for this, or invoke dsdlc manually.
-# The second option assumes that the generated headers shall be saved
-# under the version control, which may be undesirable.
-# The first option requires any Python and the Python Mako library for the sources to be built.
#
$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
INCLUDE_DIRS += dsdlc_generated
diff --git a/src/modules/uavcan/sensors/baro.cpp b/src/modules/uavcan/sensors/baro.cpp
new file mode 100644
index 000000000..8741ae20d
--- /dev/null
+++ b/src/modules/uavcan/sensors/baro.cpp
@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include "baro.hpp"
+#include <cmath>
+
+static const orb_id_t BARO_TOPICS[2] = {
+ ORB_ID(sensor_baro0),
+ ORB_ID(sensor_baro1)
+};
+
+const char *const UavcanBarometerBridge::NAME = "baro";
+
+UavcanBarometerBridge::UavcanBarometerBridge(uavcan::INode& node) :
+UavcanCDevSensorBridgeBase("uavcan_baro", "/dev/uavcan/baro", BARO_DEVICE_PATH, BARO_TOPICS),
+_sub_air_data(node)
+{
+}
+
+int UavcanBarometerBridge::init()
+{
+ int res = device::CDev::init();
+ if (res < 0) {
+ return res;
+ }
+
+ res = _sub_air_data.start(AirDataCbBinder(this, &UavcanBarometerBridge::air_data_sub_cb));
+ if (res < 0) {
+ log("failed to start uavcan sub: %d", res);
+ return res;
+ }
+ return 0;
+}
+
+int UavcanBarometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+ switch (cmd) {
+ case BAROIOCSMSLPRESSURE: {
+ if ((arg < 80000) || (arg > 120000)) {
+ return -EINVAL;
+ } else {
+ log("new msl pressure %u", _msl_pressure);
+ _msl_pressure = arg;
+ return OK;
+ }
+ }
+ case BAROIOCGMSLPRESSURE: {
+ return _msl_pressure;
+ }
+ default: {
+ return CDev::ioctl(filp, cmd, arg);
+ }
+ }
+}
+
+void UavcanBarometerBridge::air_data_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData> &msg)
+{
+ auto report = ::baro_report();
+
+ report.timestamp = msg.getMonotonicTimestamp().toUSec();
+ report.temperature = msg.static_temperature;
+ report.pressure = msg.static_pressure / 100.0F; // Convert to millibar
+
+ /*
+ * Altitude computation
+ * Refer to the MS5611 driver for details
+ */
+ const double T1 = 15.0 + 273.15; // temperature at base height in Kelvin
+ const double a = -6.5 / 1000; // temperature gradient in degrees per metre
+ const double g = 9.80665; // gravity constant in m/s/s
+ const double R = 287.05; // ideal gas constant in J/kg/K
+
+ const double p1 = _msl_pressure / 1000.0; // current pressure at MSL in kPa
+ const double p = double(msg.static_pressure) / 1000.0; // measured pressure in kPa
+
+ report.altitude = (((std::pow((p / p1), (-(a * R) / g))) * T1) - T1) / a;
+
+ publish(msg.getSrcNodeID().get(), &report);
+}
diff --git a/src/modules/uavcan/sensors/baro.hpp b/src/modules/uavcan/sensors/baro.hpp
new file mode 100644
index 000000000..9d470219e
--- /dev/null
+++ b/src/modules/uavcan/sensors/baro.hpp
@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include "sensor_bridge.hpp"
+#include <drivers/drv_baro.h>
+
+#include <uavcan/equipment/air_data/StaticAirData.hpp>
+
+class UavcanBarometerBridge : public UavcanCDevSensorBridgeBase
+{
+public:
+ static const char *const NAME;
+
+ UavcanBarometerBridge(uavcan::INode& node);
+
+ const char *get_name() const override { return NAME; }
+
+ int init() override;
+
+private:
+ int ioctl(struct file *filp, int cmd, unsigned long arg) override;
+
+ void air_data_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData> &msg);
+
+ typedef uavcan::MethodBinder<UavcanBarometerBridge*,
+ void (UavcanBarometerBridge::*)
+ (const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData>&)>
+ AirDataCbBinder;
+
+ uavcan::Subscriber<uavcan::equipment::air_data::StaticAirData, AirDataCbBinder> _sub_air_data;
+ unsigned _msl_pressure = 101325;
+};
diff --git a/src/modules/uavcan/gnss_receiver.cpp b/src/modules/uavcan/sensors/gnss.cpp
index ba1fe5e49..a375db37f 100644
--- a/src/modules/uavcan/gnss_receiver.cpp
+++ b/src/modules/uavcan/sensors/gnss.cpp
@@ -32,52 +32,72 @@
****************************************************************************/
/**
- * @file gnss_receiver.cpp
+ * @file gnss.cpp
*
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
* @author Andrew Chambers <achamber@gmail.com>
*
*/
-#include "gnss_receiver.hpp"
+#include "gnss.hpp"
#include <systemlib/err.h>
#include <mathlib/mathlib.h>
-#define MM_PER_CM 10 // Millimeters per centimeter
+const char *const UavcanGnssBridge::NAME = "gnss";
-UavcanGnssReceiver::UavcanGnssReceiver(uavcan::INode &node) :
+UavcanGnssBridge::UavcanGnssBridge(uavcan::INode &node) :
_node(node),
-_uavcan_sub_status(node),
+_sub_fix(node),
_report_pub(-1)
{
}
-int UavcanGnssReceiver::init()
+int UavcanGnssBridge::init()
{
- int res = -1;
-
- // GNSS fix subscription
- res = _uavcan_sub_status.start(FixCbBinder(this, &UavcanGnssReceiver::gnss_fix_sub_cb));
+ int res = _sub_fix.start(FixCbBinder(this, &UavcanGnssBridge::gnss_fix_sub_cb));
if (res < 0)
{
warnx("GNSS fix sub failed %i", res);
return res;
}
+ return res;
+}
- // Clear the uORB GPS report
- memset(&_report, 0, sizeof(_report));
+unsigned UavcanGnssBridge::get_num_redundant_channels() const
+{
+ return (_receiver_node_id < 0) ? 0 : 1;
+}
- return res;
+void UavcanGnssBridge::print_status() const
+{
+ printf("RX errors: %d, receiver node id: ", _sub_fix.getFailureCount());
+ if (_receiver_node_id < 0) {
+ printf("N/A\n");
+ } else {
+ printf("%d\n", _receiver_node_id);
+ }
}
-void UavcanGnssReceiver::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg)
+void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg)
{
- _report.timestamp_position = hrt_absolute_time();
- _report.lat = msg.lat_1e7;
- _report.lon = msg.lon_1e7;
- _report.alt = msg.alt_1e2 * MM_PER_CM; // Convert from centimeter (1e2) to millimeters (1e3)
+ // This bridge does not support redundant GNSS receivers yet.
+ if (_receiver_node_id < 0) {
+ _receiver_node_id = msg.getSrcNodeID().get();
+ warnx("GNSS receiver node ID: %d", _receiver_node_id);
+ } else {
+ if (_receiver_node_id != msg.getSrcNodeID().get()) {
+ return; // This GNSS receiver is the redundant one, ignore it.
+ }
+ }
+
+ auto report = ::vehicle_gps_position_s();
+
+ report.timestamp_position = msg.getMonotonicTimestamp().toUSec();
+ report.lat = msg.latitude_deg_1e8 / 10;
+ report.lon = msg.longitude_deg_1e8 / 10;
+ report.alt = msg.height_msl_mm;
- _report.timestamp_variance = _report.timestamp_position;
+ report.timestamp_variance = report.timestamp_position;
// Check if the msg contains valid covariance information
@@ -90,19 +110,19 @@ void UavcanGnssReceiver::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uav
// Horizontal position uncertainty
const float horizontal_pos_variance = math::max(pos_cov[0], pos_cov[4]);
- _report.eph = (horizontal_pos_variance > 0) ? sqrtf(horizontal_pos_variance) : -1.0F;
+ report.eph = (horizontal_pos_variance > 0) ? sqrtf(horizontal_pos_variance) : -1.0F;
// Vertical position uncertainty
- _report.epv = (pos_cov[8] > 0) ? sqrtf(pos_cov[8]) : -1.0F;
+ report.epv = (pos_cov[8] > 0) ? sqrtf(pos_cov[8]) : -1.0F;
} else {
- _report.eph = -1.0F;
- _report.epv = -1.0F;
+ report.eph = -1.0F;
+ report.epv = -1.0F;
}
if (valid_velocity_covariance) {
float vel_cov[9];
msg.velocity_covariance.unpackSquareMatrix(vel_cov);
- _report.s_variance_m_s = math::max(math::max(vel_cov[0], vel_cov[4]), vel_cov[8]);
+ report.s_variance_m_s = math::max(math::max(vel_cov[0], vel_cov[4]), vel_cov[8]);
/* There is a nonlinear relationship between the velocity vector and the heading.
* Use Jacobian to transform velocity covariance to heading covariance
@@ -118,36 +138,36 @@ void UavcanGnssReceiver::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uav
float vel_e = msg.ned_velocity[1];
float vel_n_sq = vel_n * vel_n;
float vel_e_sq = vel_e * vel_e;
- _report.c_variance_rad =
+ report.c_variance_rad =
(vel_e_sq * vel_cov[0] +
-2 * vel_n * vel_e * vel_cov[1] + // Covariance matrix is symmetric
vel_n_sq* vel_cov[4]) / ((vel_n_sq + vel_e_sq) * (vel_n_sq + vel_e_sq));
} else {
- _report.s_variance_m_s = -1.0F;
- _report.c_variance_rad = -1.0F;
+ report.s_variance_m_s = -1.0F;
+ report.c_variance_rad = -1.0F;
}
- _report.fix_type = msg.status;
+ report.fix_type = msg.status;
- _report.timestamp_velocity = _report.timestamp_position;
- _report.vel_n_m_s = msg.ned_velocity[0];
- _report.vel_e_m_s = msg.ned_velocity[1];
- _report.vel_d_m_s = msg.ned_velocity[2];
- _report.vel_m_s = sqrtf(_report.vel_n_m_s * _report.vel_n_m_s + _report.vel_e_m_s * _report.vel_e_m_s + _report.vel_d_m_s * _report.vel_d_m_s);
- _report.cog_rad = atan2f(_report.vel_e_m_s, _report.vel_n_m_s);
- _report.vel_ned_valid = true;
+ report.timestamp_velocity = report.timestamp_position;
+ report.vel_n_m_s = msg.ned_velocity[0];
+ report.vel_e_m_s = msg.ned_velocity[1];
+ report.vel_d_m_s = msg.ned_velocity[2];
+ report.vel_m_s = sqrtf(report.vel_n_m_s * report.vel_n_m_s + report.vel_e_m_s * report.vel_e_m_s + report.vel_d_m_s * report.vel_d_m_s);
+ report.cog_rad = atan2f(report.vel_e_m_s, report.vel_n_m_s);
+ report.vel_ned_valid = true;
- _report.timestamp_time = _report.timestamp_position;
- _report.time_gps_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec(); // Convert to microseconds
+ report.timestamp_time = report.timestamp_position;
+ report.time_gps_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec(); // Convert to microseconds
- _report.satellites_used = msg.sats_used;
+ report.satellites_used = msg.sats_used;
if (_report_pub > 0) {
- orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
+ orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &report);
} else {
- _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
+ _report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &report);
}
}
diff --git a/src/modules/uavcan/gnss_receiver.hpp b/src/modules/uavcan/sensors/gnss.hpp
index 18df8da2f..2111ff80b 100644
--- a/src/modules/uavcan/gnss_receiver.hpp
+++ b/src/modules/uavcan/sensors/gnss.hpp
@@ -32,7 +32,7 @@
****************************************************************************/
/**
- * @file gnss_receiver.hpp
+ * @file gnss.hpp
*
* UAVCAN --> ORB bridge for GNSS messages:
* uavcan.equipment.gnss.Fix
@@ -43,20 +43,28 @@
#pragma once
-#include <drivers/drv_hrt.h>
-
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uavcan/uavcan.hpp>
#include <uavcan/equipment/gnss/Fix.hpp>
-class UavcanGnssReceiver
+#include "sensor_bridge.hpp"
+
+class UavcanGnssBridge : public IUavcanSensorBridge
{
public:
- UavcanGnssReceiver(uavcan::INode& node);
+ static const char *const NAME;
+
+ UavcanGnssBridge(uavcan::INode& node);
+
+ const char *get_name() const override { return NAME; }
+
+ int init() override;
- int init();
+ unsigned get_num_redundant_channels() const override;
+
+ void print_status() const override;
private:
/**
@@ -64,21 +72,14 @@ private:
*/
void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg);
-
- typedef uavcan::MethodBinder<UavcanGnssReceiver*,
- void (UavcanGnssReceiver::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix>&)>
+ typedef uavcan::MethodBinder<UavcanGnssBridge*,
+ void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix>&)>
FixCbBinder;
- /*
- * libuavcan related things
- */
- uavcan::INode &_node;
- uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder> _uavcan_sub_status;
+ uavcan::INode &_node;
+ uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder> _sub_fix;
+ int _receiver_node_id = -1;
- /*
- * uORB
- */
- struct vehicle_gps_position_s _report; ///< uORB topic for gnss position
- orb_advert_t _report_pub; ///< uORB pub for gnss position
+ orb_advert_t _report_pub; ///< uORB pub for gnss position
};
diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp
new file mode 100644
index 000000000..35ebee542
--- /dev/null
+++ b/src/modules/uavcan/sensors/mag.cpp
@@ -0,0 +1,150 @@
+/****************************************************************************
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include "mag.hpp"
+
+#include <systemlib/err.h>
+
+static const orb_id_t MAG_TOPICS[3] = {
+ ORB_ID(sensor_mag0),
+ ORB_ID(sensor_mag1),
+ ORB_ID(sensor_mag2)
+};
+
+const char *const UavcanMagnetometerBridge::NAME = "mag";
+
+UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode& node) :
+UavcanCDevSensorBridgeBase("uavcan_mag", "/dev/uavcan/mag", MAG_DEVICE_PATH, MAG_TOPICS),
+_sub_mag(node)
+{
+ _device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883;
+
+ _scale.x_scale = 1.0F;
+ _scale.y_scale = 1.0F;
+ _scale.z_scale = 1.0F;
+}
+
+int UavcanMagnetometerBridge::init()
+{
+ int res = device::CDev::init();
+ if (res < 0) {
+ return res;
+ }
+
+ res = _sub_mag.start(MagCbBinder(this, &UavcanMagnetometerBridge::mag_sub_cb));
+ if (res < 0) {
+ log("failed to start uavcan sub: %d", res);
+ return res;
+ }
+ return 0;
+}
+
+ssize_t UavcanMagnetometerBridge::read(struct file *filp, char *buffer, size_t buflen)
+{
+ static uint64_t last_read = 0;
+ struct mag_report *mag_buf = reinterpret_cast<struct mag_report *>(buffer);
+
+ /* buffer must be large enough */
+ unsigned count = buflen / sizeof(struct mag_report);
+ if (count < 1) {
+ return -ENOSPC;
+ }
+
+ if (last_read < _report.timestamp) {
+ /* copy report */
+ lock();
+ *mag_buf = _report;
+ last_read = _report.timestamp;
+ unlock();
+ return sizeof(struct mag_report);
+ } else {
+ /* no new data available, warn caller */
+ return -EAGAIN;
+ }
+}
+
+int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+ switch (cmd) {
+ case SENSORIOCSQUEUEDEPTH: {
+ return OK; // Pretend that this stuff is supported to keep APM happy
+ }
+ case MAGIOCSSCALE: {
+ std::memcpy(&_scale, reinterpret_cast<const void*>(arg), sizeof(_scale));
+ return 0;
+ }
+ case MAGIOCGSCALE: {
+ std::memcpy(reinterpret_cast<void*>(arg), &_scale, sizeof(_scale));
+ return 0;
+ }
+ case MAGIOCSELFTEST: {
+ return 0; // Nothing to do
+ }
+ case MAGIOCGEXTERNAL: {
+ return 1; // declare it external rise it's priority and to allow for correct orientation compensation
+ }
+ case MAGIOCSSAMPLERATE: {
+ return 0; // Pretend that this stuff is supported to keep the sensor app happy
+ }
+ case MAGIOCCALIBRATE:
+ case MAGIOCGSAMPLERATE:
+ case MAGIOCSRANGE:
+ case MAGIOCGRANGE:
+ case MAGIOCSLOWPASS:
+ case MAGIOCEXSTRAP:
+ case MAGIOCGLOWPASS: {
+ return -EINVAL;
+ }
+ default: {
+ return CDev::ioctl(filp, cmd, arg);
+ }
+ }
+}
+
+void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg)
+{
+ lock();
+ _report.range_ga = 1.3F; // Arbitrary number, doesn't really mean anything
+ _report.timestamp = msg.getMonotonicTimestamp().toUSec();
+
+ _report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale;
+ _report.y = (msg.magnetic_field[1] - _scale.y_offset) * _scale.y_scale;
+ _report.z = (msg.magnetic_field[2] - _scale.z_offset) * _scale.z_scale;
+ unlock();
+
+ publish(msg.getSrcNodeID().get(), &_report);
+}
diff --git a/src/modules/uavcan/sensors/mag.hpp b/src/modules/uavcan/sensors/mag.hpp
new file mode 100644
index 000000000..74077d883
--- /dev/null
+++ b/src/modules/uavcan/sensors/mag.hpp
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include "sensor_bridge.hpp"
+#include <drivers/drv_mag.h>
+
+#include <uavcan/equipment/ahrs/Magnetometer.hpp>
+
+class UavcanMagnetometerBridge : public UavcanCDevSensorBridgeBase
+{
+public:
+ static const char *const NAME;
+
+ UavcanMagnetometerBridge(uavcan::INode& node);
+
+ const char *get_name() const override { return NAME; }
+
+ int init() override;
+
+private:
+ ssize_t read(struct file *filp, char *buffer, size_t buflen);
+ int ioctl(struct file *filp, int cmd, unsigned long arg) override;
+
+ void mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg);
+
+ typedef uavcan::MethodBinder<UavcanMagnetometerBridge*,
+ void (UavcanMagnetometerBridge::*)
+ (const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer>&)>
+ MagCbBinder;
+
+ uavcan::Subscriber<uavcan::equipment::ahrs::Magnetometer, MagCbBinder> _sub_mag;
+ mag_scale _scale = {};
+ mag_report _report = {};
+};
diff --git a/src/modules/uavcan/sensors/sensor_bridge.cpp b/src/modules/uavcan/sensors/sensor_bridge.cpp
new file mode 100644
index 000000000..0999938fc
--- /dev/null
+++ b/src/modules/uavcan/sensors/sensor_bridge.cpp
@@ -0,0 +1,161 @@
+/****************************************************************************
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include "sensor_bridge.hpp"
+#include <cassert>
+
+#include "gnss.hpp"
+#include "mag.hpp"
+#include "baro.hpp"
+
+/*
+ * IUavcanSensorBridge
+ */
+void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge*> &list)
+{
+ list.add(new UavcanBarometerBridge(node));
+ list.add(new UavcanMagnetometerBridge(node));
+ list.add(new UavcanGnssBridge(node));
+}
+
+/*
+ * UavcanCDevSensorBridgeBase
+ */
+UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase()
+{
+ for (unsigned i = 0; i < _max_channels; i++) {
+ if (_channels[i].node_id >= 0) {
+ (void)unregister_class_devname(_class_devname, _channels[i].class_instance);
+ }
+ }
+ delete [] _orb_topics;
+ delete [] _channels;
+}
+
+void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
+{
+ assert(report != nullptr);
+
+ Channel *channel = nullptr;
+
+ // Checking if such channel already exists
+ for (unsigned i = 0; i < _max_channels; i++) {
+ if (_channels[i].node_id == node_id) {
+ channel = _channels + i;
+ break;
+ }
+ }
+
+ // No such channel - try to create one
+ if (channel == nullptr) {
+ if (_out_of_channels) {
+ return; // Give up immediately - saves some CPU time
+ }
+
+ log("adding channel %d...", node_id);
+
+ // Search for the first free channel
+ for (unsigned i = 0; i < _max_channels; i++) {
+ if (_channels[i].node_id < 0) {
+ channel = _channels + i;
+ break;
+ }
+ }
+
+ // No free channels left
+ if (channel == nullptr) {
+ _out_of_channels = true;
+ log("out of channels");
+ return;
+ }
+
+ // update device id as we now know our device node_id
+ _device_id.devid_s.address = static_cast<uint8_t>(node_id);
+
+ // Ask the CDev helper which class instance we can take
+ const int class_instance = register_class_devname(_class_devname);
+ if (class_instance < 0 || class_instance >= int(_max_channels)) {
+ _out_of_channels = true;
+ log("out of class instances");
+ (void)unregister_class_devname(_class_devname, class_instance);
+ return;
+ }
+
+ // Publish to the appropriate topic, abort on failure
+ channel->orb_id = _orb_topics[class_instance];
+ channel->node_id = node_id;
+ channel->class_instance = class_instance;
+
+ channel->orb_advert = orb_advertise(channel->orb_id, report);
+ if (channel->orb_advert < 0) {
+ log("ADVERTISE FAILED");
+ (void)unregister_class_devname(_class_devname, class_instance);
+ *channel = Channel();
+ return;
+ }
+
+ log("channel %d class instance %d ok", channel->node_id, channel->class_instance);
+ }
+ assert(channel != nullptr);
+
+ (void)orb_publish(channel->orb_id, channel->orb_advert, report);
+}
+
+unsigned UavcanCDevSensorBridgeBase::get_num_redundant_channels() const
+{
+ unsigned out = 0;
+ for (unsigned i = 0; i < _max_channels; i++) {
+ if (_channels[i].node_id >= 0) {
+ out += 1;
+ }
+ }
+ return out;
+}
+
+void UavcanCDevSensorBridgeBase::print_status() const
+{
+ printf("devname: %s\n", _class_devname);
+
+ for (unsigned i = 0; i < _max_channels; i++) {
+ if (_channels[i].node_id >= 0) {
+ printf("channel %d: node id %d --> class instance %d\n",
+ i, _channels[i].node_id, _channels[i].class_instance);
+ } else {
+ printf("channel %d: empty\n", i);
+ }
+ }
+}
diff --git a/src/modules/uavcan/sensors/sensor_bridge.hpp b/src/modules/uavcan/sensors/sensor_bridge.hpp
new file mode 100644
index 000000000..e31960537
--- /dev/null
+++ b/src/modules/uavcan/sensors/sensor_bridge.hpp
@@ -0,0 +1,133 @@
+/****************************************************************************
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <containers/List.hpp>
+#include <uavcan/uavcan.hpp>
+#include <drivers/device/device.h>
+#include <drivers/drv_orb_dev.h>
+
+/**
+ * A sensor bridge class must implement this interface.
+ */
+class IUavcanSensorBridge : uavcan::Noncopyable, public ListNode<IUavcanSensorBridge*>
+{
+public:
+ static constexpr unsigned MAX_NAME_LEN = 20;
+
+ virtual ~IUavcanSensorBridge() { }
+
+ /**
+ * Returns ASCII name of the bridge.
+ */
+ virtual const char *get_name() const = 0;
+
+ /**
+ * Starts the bridge.
+ * @return Non-negative value on success, negative on error.
+ */
+ virtual int init() = 0;
+
+ /**
+ * Returns number of active redundancy channels.
+ */
+ virtual unsigned get_num_redundant_channels() const = 0;
+
+ /**
+ * Prints current status in a human readable format to stdout.
+ */
+ virtual void print_status() const = 0;
+
+ /**
+ * Sensor bridge factory.
+ * Creates a bridge object by its ASCII name, e.g. "gnss", "mag".
+ * @return nullptr if such bridge can't be created.
+ */
+ static void make_all(uavcan::INode &node, List<IUavcanSensorBridge*> &list);
+};
+
+/**
+ * This is the base class for redundant sensors with an independent ORB topic per each redundancy channel.
+ * For example, sensor_mag0, sensor_mag1, etc.
+ */
+class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CDev
+{
+ struct Channel
+ {
+ int node_id = -1;
+ orb_id_t orb_id = nullptr;
+ orb_advert_t orb_advert = -1;
+ int class_instance = -1;
+ };
+
+ const unsigned _max_channels;
+ const char *const _class_devname;
+ orb_id_t *const _orb_topics;
+ Channel *const _channels;
+ bool _out_of_channels = false;
+
+protected:
+ template <unsigned MaxChannels>
+ UavcanCDevSensorBridgeBase(const char *name, const char *devname, const char *class_devname,
+ const orb_id_t (&orb_topics)[MaxChannels]) :
+ device::CDev(name, devname),
+ _max_channels(MaxChannels),
+ _class_devname(class_devname),
+ _orb_topics(new orb_id_t[MaxChannels]),
+ _channels(new Channel[MaxChannels])
+ {
+ memcpy(_orb_topics, orb_topics, sizeof(orb_id_t) * MaxChannels);
+ _device_id.devid_s.bus_type = DeviceBusType_UAVCAN;
+ _device_id.devid_s.bus = 0;
+ }
+
+ /**
+ * Sends one measurement into appropriate ORB topic.
+ * New redundancy channels will be registered automatically.
+ * @param node_id Sensor's Node ID
+ * @param report Pointer to ORB message object
+ */
+ void publish(const int node_id, const void *report);
+
+public:
+ virtual ~UavcanCDevSensorBridgeBase();
+
+ unsigned get_num_redundant_channels() const override;
+
+ void print_status() const override;
+};
diff --git a/src/modules/uavcan/uavcan_clock.cpp b/src/modules/uavcan/uavcan_clock.cpp
index e41d5f953..fe8ba406a 100644
--- a/src/modules/uavcan/uavcan_clock.cpp
+++ b/src/modules/uavcan/uavcan_clock.cpp
@@ -62,6 +62,8 @@ void adjustUtc(uavcan::UtcDuration adjustment)
(void)adjustment;
}
+uavcan::uint64_t getUtcUSecFromCanInterrupt();
+
uavcan::uint64_t getUtcUSecFromCanInterrupt()
{
return 0;
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index 27e77e9c5..8147a8b89 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -38,7 +38,11 @@
#include <fcntl.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
+#include <systemlib/param/param.h>
#include <systemlib/mixer/mixer.h>
+#include <systemlib/board_serial.h>
+#include <systemlib/scheduling_priorities.h>
+#include <version/version.h>
#include <arch/board/board.h>
#include <arch/chip/chip.h>
@@ -63,16 +67,18 @@ 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)
+ _node_mutex(),
+ _esc_controller(_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));
+ const int res = pthread_mutex_init(&_node_mutex, nullptr);
+ if (res < 0) {
+ std::abort();
+ }
}
UavcanNode::~UavcanNode()
@@ -97,10 +103,18 @@ UavcanNode::~UavcanNode()
}
/* clean up the alternate device node */
- // unregister_driver(PWM_OUTPUT_DEVICE_PATH);
+ // unregister_driver(PWM_OUTPUT_DEVICE_PATH);
::close(_armed_sub);
+ // Removing the sensor bridges
+ auto br = _sensor_bridges.getHead();
+ while (br != nullptr) {
+ auto next = br->getSibling();
+ delete br;
+ br = next;
+ }
+
_instance = nullptr;
}
@@ -162,7 +176,7 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
* 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,
+ _instance->_task = task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
static_cast<main_t>(run_trampoline), nullptr);
if (_instance->_task < 0) {
@@ -173,37 +187,76 @@ 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;
- /* do regular cdev init */
+ // Do regular cdev init
ret = CDev::init();
- if (ret != OK)
- return ret;
-
- ret = _esc_controller.init();
- if (ret < 0)
+ if (ret != OK) {
return ret;
+ }
- ret = _gnss_receiver.init();
- if (ret < 0)
- return ret;
+ _node.setName("org.pixhawk.pixhawk");
- uavcan::protocol::SoftwareVersion swver;
- swver.major = 12; // TODO fill version info
- swver.minor = 34;
- _node.setSoftwareVersion(swver);
+ _node.setNodeID(node_id);
- uavcan::protocol::HardwareVersion hwver;
- hwver.major = 42; // TODO fill version info
- hwver.minor = 42;
- _node.setHardwareVersion(hwver);
+ fill_node_info();
- _node.setName("org.pixhawk"); // Huh?
+ // Actuators
+ ret = _esc_controller.init();
+ if (ret < 0) {
+ return ret;
+ }
- _node.setNodeID(node_id);
+ // Sensor bridges
+ IUavcanSensorBridge::make_all(_node, _sensor_bridges);
+ auto br = _sensor_bridges.getHead();
+ while (br != nullptr) {
+ ret = br->init();
+ if (ret < 0) {
+ warnx("cannot init sensor bridge '%s' (%d)", br->get_name(), ret);
+ return ret;
+ }
+ warnx("sensor bridge '%s' init ok", br->get_name());
+ br = br->getSibling();
+ }
return _node.start();
}
@@ -216,18 +269,38 @@ 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);
+
const unsigned PollTimeoutMs = 50;
// XXX figure out the output count
_output_count = 2;
-
_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)
@@ -243,27 +316,40 @@ 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).
+ */
+ 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
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;
}
+ // Mutex is unlocked while the thread is blocked on IO multiplexing
+ (void)pthread_mutex_unlock(&_node_mutex);
+
const int poll_ret = ::poll(_poll_fds, _poll_fds_num, PollTimeoutMs);
+ (void)pthread_mutex_lock(&_node_mutex);
+
node_spin_once(); // Non-blocking
+ bool new_output = false;
+
// this would be bad...
if (poll_ret < 0) {
log("poll error %d", errno);
@@ -271,73 +357,102 @@ int UavcanNode::run()
} 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) {
+ if (_poll_fds[_poll_ids[i]].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
+ /*
+ 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 (controls_updated && (_mixers != nullptr)) {
+ // can we mix?
+ if (_test_in_progress) {
+ 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,
// 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;
- }
+ _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);
+
+ 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
- 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;
+ // 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);
}
@@ -350,10 +465,7 @@ int UavcanNode::run()
}
int
-UavcanNode::control_callback(uintptr_t handle,
- uint8_t control_group,
- uint8_t control_index,
- float &input)
+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;
@@ -377,7 +489,7 @@ int
UavcanNode::arm_actuators(bool arm)
{
_is_armed = arm;
- _esc_controller.arm_esc(arm);
+ _esc_controller.arm_all_escs(arm);
return OK;
}
@@ -387,7 +499,7 @@ 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
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (sub_groups & (1 << i)) {
warnx("subscribe to actuator_controls_%d", i);
@@ -400,9 +512,7 @@ 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]);
}
}
}
@@ -493,8 +603,31 @@ 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");
+ (void)pthread_mutex_lock(&_node_mutex);
+
+ // ESC mixer status
+ printf("ESC actuators control groups: sub: %u / req: %u / fds: %u\n",
+ (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");
+ }
+
+ // Sensor bridges
+ auto br = _sensor_bridges.getHead();
+ while (br != nullptr) {
+ printf("Sensor '%s':\n", br->get_name());
+ br->print_status();
+ printf("\n");
+ br = br->getSibling();
+ }
+
+ (void)pthread_mutex_unlock(&_node_mutex);
}
/*
@@ -502,79 +635,67 @@ UavcanNode::print_info()
*/
static void print_usage()
{
- warnx("usage: uavcan start <node_id> [can_bitrate]");
+ warnx("usage: \n"
+ "\tuavcan {start|status|stop|arm|disarm}");
}
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);
+ if (UavcanNode::instance()) {
+ errx(1, "already started");
}
- /*
- * Node ID
- */
- const int node_id = atoi(argv[2]);
+ // Node ID
+ int32_t node_id = 0;
+ (void)param_get(param_find("UAVCAN_NODE_ID"), &node_id);
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");
- }
+ // CAN bitrate
+ int32_t bitrate = 0;
+ (void)param_get(param_find("UAVCAN_BITRATE"), &bitrate);
- /*
- * Start
- */
+ // 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();
+ UavcanNode *const 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;
+ inst->print_info();
+ ::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;
- inst = nullptr;
- return OK;
+ delete inst;
+ ::exit(0);
}
print_usage();
diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp
index 443525379..98f2e5ad4 100644
--- a/src/modules/uavcan/uavcan_main.hpp
+++ b/src/modules/uavcan/uavcan_main.hpp
@@ -41,9 +41,11 @@
#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 <uORB/topics/actuator_direct.h>
-#include "esc_controller.hpp"
-#include "gnss_receiver.hpp"
+#include "actuators/esc.hpp"
+#include "sensors/sensor_bridge.hpp"
/**
* @file uavcan_main.hpp
@@ -56,6 +58,9 @@
#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN 4
#define UAVCAN_DEVICE_PATH "/dev/uavcan/esc"
+// we add two to allow for actuator_direct and busevent
+#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)
+
/**
* A UAVCAN node.
*/
@@ -77,12 +82,10 @@ public:
static int start(uavcan::NodeID node_id, uint32_t bitrate);
- Node& getNode() { return _node; }
+ Node& get_node() { return _node; }
- static int control_callback(uintptr_t handle,
- uint8_t control_group,
- uint8_t control_index,
- float &input);
+ // TODO: move the actuator mixing stuff into the ESC controller class
+ static int control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input);
void subscribe();
@@ -94,9 +97,12 @@ public:
static UavcanNode* instance() { return _instance; }
private:
+ void fill_node_info();
int init(uavcan::NodeID node_id);
void node_spin_once();
int run();
+ int add_poll_fd(int fd); ///< add a fd to poll list, returning index into _poll_fds[]
+
int _task = -1; ///< handle to the OS task
bool _task_should_exit = false; ///< flag to indicate to tear down the CAN driver
@@ -104,12 +110,19 @@ 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
Node _node; ///< library instance
+ pthread_mutex_t _node_mutex;
+
UavcanEscController _esc_controller;
- UavcanGnssReceiver _gnss_receiver;
+
+ List<IUavcanSensorBridge*> _sensor_bridges; ///< List of active sensor bridges
MixerGroup *_mixers = nullptr;
@@ -118,6 +131,15 @@ private:
int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
- pollfd _poll_fds[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN + 1] = {}; ///< +1 for /dev/uavcan/busevent
+ pollfd _poll_fds[UAVCAN_NUM_POLL_FDS] = {};
unsigned _poll_fds_num = 0;
+
+ int _actuator_direct_sub = -1; ///< uORB subscription of the actuator_direct topic
+ uint8_t _actuator_direct_poll_fd_num;
+ actuator_direct_s _actuator_direct;
+
+ actuator_outputs_s _outputs;
+
+ // index into _poll_fds for each _control_subs handle
+ uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
};
diff --git a/src/modules/uavcan/uavcan_params.c b/src/modules/uavcan/uavcan_params.c
new file mode 100644
index 000000000..e6ea8a8fb
--- /dev/null
+++ b/src/modules/uavcan/uavcan_params.c
@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <nuttx/config.h>
+#include <systemlib/param/param.h>
+
+/**
+ * Enable UAVCAN.
+ *
+ * Enables support for UAVCAN-interfaced actuators and sensors.
+ *
+ * @min 0
+ * @max 1
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_ENABLE, 0);
+
+/**
+ * UAVCAN Node ID.
+ *
+ * Read the specs at http://uavcan.org to learn more about Node ID.
+ *
+ * @min 1
+ * @max 125
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_NODE_ID, 1);
+
+/**
+ * UAVCAN CAN bus bitrate.
+ *
+ * @min 20000
+ * @max 1000000
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_BITRATE, 1000000);
+
+
+
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-02 00:29:30 +0000