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-rw-r--r--src/modules/uavcan/actuators/esc.cpp27
-rw-r--r--src/modules/uavcan/actuators/esc.hpp8
-rw-r--r--src/modules/uavcan/sensors/baro.cpp6
-rw-r--r--src/modules/uavcan/sensors/gnss.cpp2
-rw-r--r--src/modules/uavcan/sensors/gnss.hpp2
-rw-r--r--src/modules/uavcan/sensors/mag.cpp53
-rw-r--r--src/modules/uavcan/sensors/mag.hpp2
-rw-r--r--src/modules/uavcan/sensors/sensor_bridge.cpp3
-rw-r--r--src/modules/uavcan/sensors/sensor_bridge.hpp2
-rw-r--r--src/modules/uavcan/uavcan_main.cpp29
-rw-r--r--src/modules/uavcan/uavcan_main.hpp5
11 files changed, 107 insertions, 32 deletions
diff --git a/src/modules/uavcan/actuators/esc.cpp b/src/modules/uavcan/actuators/esc.cpp
index 1990651ef..1d23099f3 100644
--- a/src/modules/uavcan/actuators/esc.cpp
+++ b/src/modules/uavcan/actuators/esc.cpp
@@ -40,6 +40,9 @@
#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),
@@ -95,9 +98,8 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
static const int cmd_max = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max();
- if (_armed) {
- for (unsigned i = 0; i < num_outputs; i++) {
-
+ for (unsigned i = 0; i < num_outputs; i++) {
+ if (_armed_mask & MOTOR_BIT(i)) {
float scaled = (outputs[i] + 1.0F) * 0.5F * cmd_max;
if (scaled < 1.0F) {
scaled = 1.0F; // Since we're armed, we don't want to stop it completely
@@ -111,6 +113,8 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
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));
}
}
@@ -121,9 +125,22 @@ 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)
diff --git a/src/modules/uavcan/actuators/esc.hpp b/src/modules/uavcan/actuators/esc.hpp
index f4a3877e6..12c035542 100644
--- a/src/modules/uavcan/actuators/esc.hpp
+++ b/src/modules/uavcan/actuators/esc.hpp
@@ -61,7 +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:
/**
@@ -99,6 +100,11 @@ private:
uavcan::TimerEventForwarder<TimerCbBinder> _orb_timer;
/*
+ * ESC states
+ */
+ uint32_t _armed_mask = 0;
+
+ /*
* Perf counters
*/
perf_counter_t _perfcnt_invalid_input = perf_alloc(PC_COUNT, "uavcan_esc_invalid_input");
diff --git a/src/modules/uavcan/sensors/baro.cpp b/src/modules/uavcan/sensors/baro.cpp
index 80c5e3828..8741ae20d 100644
--- a/src/modules/uavcan/sensors/baro.cpp
+++ b/src/modules/uavcan/sensors/baro.cpp
@@ -91,11 +91,7 @@ void UavcanBarometerBridge::air_data_sub_cb(const uavcan::ReceivedDataStructure<
{
auto report = ::baro_report();
- report.timestamp = msg.getUtcTimestamp().toUSec();
- if (report.timestamp == 0) {
- report.timestamp = msg.getMonotonicTimestamp().toUSec();
- }
-
+ report.timestamp = msg.getMonotonicTimestamp().toUSec();
report.temperature = msg.static_temperature;
report.pressure = msg.static_pressure / 100.0F; // Convert to millibar
diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/modules/uavcan/sensors/gnss.cpp
index 24afe6aaf..a375db37f 100644
--- a/src/modules/uavcan/sensors/gnss.cpp
+++ b/src/modules/uavcan/sensors/gnss.cpp
@@ -92,7 +92,7 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
auto report = ::vehicle_gps_position_s();
- report.timestamp_position = hrt_absolute_time();
+ 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;
diff --git a/src/modules/uavcan/sensors/gnss.hpp b/src/modules/uavcan/sensors/gnss.hpp
index e8466b401..2111ff80b 100644
--- a/src/modules/uavcan/sensors/gnss.hpp
+++ b/src/modules/uavcan/sensors/gnss.hpp
@@ -43,8 +43,6 @@
#pragma once
-#include <drivers/drv_hrt.h>
-
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>
diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp
index 8e6a9a22f..35ebee542 100644
--- a/src/modules/uavcan/sensors/mag.cpp
+++ b/src/modules/uavcan/sensors/mag.cpp
@@ -37,6 +37,8 @@
#include "mag.hpp"
+#include <systemlib/err.h>
+
static const orb_id_t MAG_TOPICS[3] = {
ORB_ID(sensor_mag0),
ORB_ID(sensor_mag1),
@@ -49,6 +51,8 @@ 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;
@@ -69,9 +73,36 @@ int UavcanMagnetometerBridge::init()
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;
@@ -84,7 +115,7 @@ int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long ar
return 0; // Nothing to do
}
case MAGIOCGEXTERNAL: {
- return 0; // We don't want anyone to transform the coordinate frame, so we declare it onboard
+ 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
@@ -106,18 +137,14 @@ int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long ar
void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg)
{
- auto report = ::mag_report();
-
- report.range_ga = 1.3F; // Arbitrary number, doesn't really mean anything
-
- report.timestamp = msg.getUtcTimestamp().toUSec();
- if (report.timestamp == 0) {
- report.timestamp = msg.getMonotonicTimestamp().toUSec();
- }
+ 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;
+ _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);
+ publish(msg.getSrcNodeID().get(), &_report);
}
diff --git a/src/modules/uavcan/sensors/mag.hpp b/src/modules/uavcan/sensors/mag.hpp
index 6d413a8f7..74077d883 100644
--- a/src/modules/uavcan/sensors/mag.hpp
+++ b/src/modules/uavcan/sensors/mag.hpp
@@ -54,6 +54,7 @@ public:
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);
@@ -65,4 +66,5 @@ private:
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
index 9608ce680..0999938fc 100644
--- a/src/modules/uavcan/sensors/sensor_bridge.cpp
+++ b/src/modules/uavcan/sensors/sensor_bridge.cpp
@@ -103,6 +103,9 @@ void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
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)) {
diff --git a/src/modules/uavcan/sensors/sensor_bridge.hpp b/src/modules/uavcan/sensors/sensor_bridge.hpp
index 1316f7ecc..e31960537 100644
--- a/src/modules/uavcan/sensors/sensor_bridge.hpp
+++ b/src/modules/uavcan/sensors/sensor_bridge.hpp
@@ -112,6 +112,8 @@ protected:
_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;
}
/**
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index a8485ee44..2c543462e 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -279,6 +279,7 @@ int UavcanNode::run()
_output_count = 2;
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
+ _test_motor_sub = orb_subscribe(ORB_ID(test_motor));
actuator_outputs_s outputs;
memset(&outputs, 0, sizeof(outputs));
@@ -344,7 +345,13 @@ int UavcanNode::run()
}
// can we mix?
- if (controls_updated && (_mixers != nullptr)) {
+ 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);
+ } else if (controls_updated && (_mixers != nullptr)) {
// XXX one output group has 8 outputs max,
// but this driver could well serve multiple groups.
@@ -384,15 +391,27 @@ int UavcanNode::run()
}
}
- // Check arming state
+ // 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
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);
}
@@ -429,7 +448,7 @@ int
UavcanNode::arm_actuators(bool arm)
{
_is_armed = arm;
- _esc_controller.arm_esc(arm);
+ _esc_controller.arm_all_escs(arm);
return OK;
}
diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp
index be7db9741..274321f0d 100644
--- a/src/modules/uavcan/uavcan_main.hpp
+++ b/src/modules/uavcan/uavcan_main.hpp
@@ -41,6 +41,7 @@
#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 "actuators/esc.hpp"
#include "sensors/sensor_bridge.hpp"
@@ -103,6 +104,10 @@ 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
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-01 10:14:45 +0000