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/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* @file esc.cpp
*
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#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),
_uavcan_sub_status(node),
_orb_timer(node)
{
if (_perfcnt_invalid_input == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_invalid_input");
}
if (_perfcnt_scaling_error == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_scaling_error");
}
}
UavcanEscController::~UavcanEscController()
{
perf_free(_perfcnt_invalid_input);
perf_free(_perfcnt_scaling_error);
}
int UavcanEscController::init()
{
// ESC status subscription
int res = _uavcan_sub_status.start(StatusCbBinder(this, &UavcanEscController::esc_status_sub_cb));
if (res < 0)
{
warnx("ESC status sub failed %i", res);
return res;
}
// ESC status will be relayed from UAVCAN bus into ORB at this rate
_orb_timer.setCallback(TimerCbBinder(this, &UavcanEscController::orb_pub_timer_cb));
_orb_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / ESC_STATUS_UPDATE_RATE_HZ));
return res;
}
void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
{
if ((outputs == nullptr) ||
(num_outputs > uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize) ||
(num_outputs > CONNECTED_ESC_MAX)) {
perf_count(_perfcnt_invalid_input);
return;
}
/*
* Rate limiting - we don't want to congest the bus
*/
const auto timestamp = _node.getMonotonicTime();
if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
return;
}
_prev_cmd_pub = timestamp;
/*
* Fill the command message
* If unarmed, we publish an empty message anyway
*/
uavcan::equipment::esc::RawCommand msg;
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);
}
//fprintf(stderr, "[can] motor:%i\t\tval:%.8f\t\tscaled:%.8f\n", i, (double)outputs[i], (double)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));
}
}
/*
* Publish the command message to the bus
* Note that for a quadrotor it takes one CAN frame
*/
(void)_uavcan_pub_raw_cmd.broadcast(msg);
}
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)
{
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)
{
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&)
{
_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);
}
}
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