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This commit is contained in:
blah
2016-01-25 13:03:39 -08:00
committed by Lorenz Meier
parent 1188aa138c
commit ef7e11e56c
3 changed files with 84 additions and 84 deletions
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10
src/modules/uavcan/actuators/hardpoint.hpp
View File

@@ -69,11 +69,11 @@ private:
/*
* Max update rate to avoid exessive bus traffic
*/
static constexpr unsigned MAX_RATE_HZ = 1; ///< XXX make this configurable
static constexpr unsigned MAX_RATE_HZ = 1; ///< XXX make this configurable
uavcan::equipment::hardpoint::Command _cmd;
bool _cmd_set = false;
bool _cmd_set = false;
void periodic_update(const uavcan::TimerEvent &);
@@ -83,9 +83,9 @@ private:
/*
* libuavcan related things
*/
uavcan::MonotonicTime _prev_cmd_pub; ///< rate limiting
uavcan::INode &_node;
uavcan::MonotonicTime _prev_cmd_pub; ///< rate limiting
uavcan::INode &_node;
uavcan::Publisher<uavcan::equipment::hardpoint::Command> _uavcan_pub_raw_cmd;
uavcan::TimerEventForwarder<TimerCbBinder> _timer;
uavcan::TimerEventForwarder<TimerCbBinder> _timer;
};

40
src/modules/uavcan/uavcan_main.cpp
View File

@@ -7,14 +7,14 @@
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 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.
* 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.
* 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
@@ -37,8 +37,8 @@
* Implements basic functionality of UAVCAN node.
*
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
* David Sidrane <david_s5@nscdg.com>
* Andreas Jochum <Andreas@NicaDrone.com>
* David Sidrane <david_s5@nscdg.com>
* Andreas Jochum <Andreas@NicaDrone.com>
*/
#include <px4_config.h>
@@ -205,8 +205,8 @@ int UavcanNode::print_params(uavcan::protocol::param::GetSet::Response &resp)
resp.value.to<uavcan::protocol::param::Value::Tag::integer_value>());
} else if (resp.value.is(uavcan::protocol::param::Value::Tag::real_value)) {
return std::printf("name: %s %.4f\n", resp.name.c_str(),
static_cast<double>(resp.value.to<uavcan::protocol::param::Value::Tag::real_value>()));
return std::printf("name: %s %.4f\n", resp.name.c_str(),
static_cast<double>(resp.value.to<uavcan::protocol::param::Value::Tag::real_value>()));
} else if (resp.value.is(uavcan::protocol::param::Value::Tag::boolean_value)) {
return std::printf("name: %s %d\n", resp.name.c_str(),
@@ -703,9 +703,9 @@ int UavcanNode::add_poll_fd(int fd)
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[_poll_fds_num] = ::pollfd();
_poll_fds[_poll_fds_num].fd = fd;
_poll_fds[_poll_fds_num].events = POLLIN;
_poll_fds_num += 1;
return ret;
}
@@ -797,7 +797,7 @@ int UavcanNode::run()
/*
* XXX Mixing logic/subscriptions shall be moved into UavcanEscController::update();
* IO multiplexing shall be done here.
* IO multiplexing shall be done here.
*/
_node.setModeOperational();
@@ -822,7 +822,7 @@ int UavcanNode::run()
switch (_fw_server_action) {
case Start:
_fw_server_status = start_fw_server();
_fw_server_status = start_fw_server();
break;
case Stop:
@@ -1149,8 +1149,8 @@ UavcanNode::print_info()
printf("UAVCAN node status:\n");
printf("\tInternal failures: %llu\n", _node.getInternalFailureCount());
printf("\tTransfer errors: %llu\n", _node.getDispatcher().getTransferPerfCounter().getErrorCount());
printf("\tRX transfers: %llu\n", _node.getDispatcher().getTransferPerfCounter().getRxTransferCount());
printf("\tTX transfers: %llu\n", _node.getDispatcher().getTransferPerfCounter().getTxTransferCount());
printf("\tRX transfers: %llu\n", _node.getDispatcher().getTransferPerfCounter().getRxTransferCount());
printf("\tTX transfers: %llu\n", _node.getDispatcher().getTransferPerfCounter().getTxTransferCount());
// CAN driver status
for (unsigned i = 0; i < _node.getDispatcher().getCanIOManager().getCanDriver().getNumIfaces(); i++) {
@@ -1189,13 +1189,13 @@ UavcanNode::print_info()
printf("Addr\tV\tA\tTemp\tSetpt\tRPM\tErr\n");
for (uint8_t i = 0; i < _outputs.noutputs; i++) {
printf("%d\t", esc.esc[i].esc_address);
printf("%d\t", esc.esc[i].esc_address);
printf("%3.2f\t", (double)esc.esc[i].esc_voltage);
printf("%3.2f\t", (double)esc.esc[i].esc_current);
printf("%3.2f\t", (double)esc.esc[i].esc_temperature);
printf("%3.2f\t", (double)esc.esc[i].esc_setpoint);
printf("%d\t", esc.esc[i].esc_rpm);
printf("%d", esc.esc[i].esc_errorcount);
printf("%d\t", esc.esc[i].esc_rpm);
printf("%d", esc.esc[i].esc_errorcount);
printf("\n");
}

118
src/modules/uavcan/uavcan_main.hpp
View File

@@ -7,14 +7,14 @@
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 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.
* 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.
* 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
@@ -37,7 +37,7 @@
* Defines basic functinality of UAVCAN node.
*
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
* Andreas Jochum <Andreas@NicaDrone.com>
* Andreas Jochum <Andreas@NicaDrone.com>
*/
#pragma once
@@ -82,12 +82,12 @@ static constexpr unsigned UAVCANIOC_HARDPOINT_SET = _PX4_IOC(UAVCANIOCBASE, 0x10
*/
class UavcanNode : public device::CDev
{
static constexpr unsigned MaxBitRatePerSec = 1000000;
static constexpr unsigned bitPerFrame = 148;
static constexpr unsigned FramePerSecond = MaxBitRatePerSec / bitPerFrame;
static constexpr unsigned FramePerMSecond = ((FramePerSecond / 1000) + 1);
static constexpr unsigned MaxBitRatePerSec = 1000000;
static constexpr unsigned bitPerFrame = 148;
static constexpr unsigned FramePerSecond = MaxBitRatePerSec / bitPerFrame;
static constexpr unsigned FramePerMSecond = ((FramePerSecond / 1000) + 1);
static constexpr unsigned PollTimeoutMs = 3;
static constexpr unsigned PollTimeoutMs = 3;
/*
@@ -102,8 +102,8 @@ class UavcanNode : public device::CDev
* 1000000/200
*/
static constexpr unsigned RxQueueLenPerIface = FramePerMSecond * PollTimeoutMs; // At
static constexpr unsigned StackSize = 1800;
static constexpr unsigned RxQueueLenPerIface = FramePerMSecond * PollTimeoutMs; // At
static constexpr unsigned StackSize = 1800;
public:
typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
@@ -124,9 +124,9 @@ public:
void subscribe();
int teardown();
int teardown();
int arm_actuators(bool arm);
int arm_actuators(bool arm);
void print_info();
@@ -135,14 +135,14 @@ public:
void hardpoint_controller_set(uint8_t hardpoint_id, uint16_t command);
static UavcanNode *instance() { return _instance; }
static int getHardwareVersion(uavcan::protocol::HardwareVersion &hwver);
int fw_server(eServerAction action);
void attachITxQueueInjector(ITxQueueInjector *injector) {_tx_injector = injector;}
int list_params(int remote_node_id);
int save_params(int remote_node_id);
int set_param(int remote_node_id, const char *name, char *value);
int get_param(int remote_node_id, const char *name);
int reset_node(int remote_node_id);
static int getHardwareVersion(uavcan::protocol::HardwareVersion &hwver);
int fw_server(eServerAction action);
void attachITxQueueInjector(ITxQueueInjector *injector) {_tx_injector = injector;}
int list_params(int remote_node_id);
int save_params(int remote_node_id);
int set_param(int remote_node_id, const char *name, char *value);
int get_param(int remote_node_id, const char *name);
int reset_node(int remote_node_id);
@@ -152,24 +152,24 @@ private:
void node_spin_once();
int run();
int add_poll_fd(int fd); ///< add a fd to poll list, returning index into _poll_fds[]
int start_fw_server();
int stop_fw_server();
int request_fw_check();
int print_params(uavcan::protocol::param::GetSet::Response &resp);
int get_set_param(int nodeid, const char *name, uavcan::protocol::param::GetSet::Request &req);
void set_setget_response(uavcan::protocol::param::GetSet::Response *resp)
int start_fw_server();
int stop_fw_server();
int request_fw_check();
int print_params(uavcan::protocol::param::GetSet::Response &resp);
int get_set_param(int nodeid, const char *name, uavcan::protocol::param::GetSet::Request &req);
void set_setget_response(uavcan::protocol::param::GetSet::Response *resp)
{
_setget_response = resp;
}
void free_setget_response(void)
void free_setget_response(void)
{
_setget_response = nullptr;
}
int _task = -1; ///< handle to the OS task
bool _task_should_exit = false; ///< flag to indicate to tear down the CAN driver
volatile eServerAction _fw_server_action;
int _fw_server_status;
volatile eServerAction _fw_server_action;
int _fw_server_status;
int _armed_sub = -1; ///< uORB subscription of the arming status
actuator_armed_s _armed = {}; ///< the arming request of the system
bool _is_armed = false; ///< the arming status of the actuators on the bus
@@ -182,40 +182,40 @@ private:
static UavcanNode *_instance; ///< singleton pointer
uavcan_node::Allocator _pool_allocator;
uavcan_node::Allocator _pool_allocator;
uavcan::Node<> _node; ///< library instance
pthread_mutex_t _node_mutex;
px4_sem_t _server_command_sem;
UavcanEscController _esc_controller;
UavcanHardpointController _hardpoint_controller;
uavcan::GlobalTimeSyncMaster _time_sync_master;
uavcan::GlobalTimeSyncSlave _time_sync_slave;
uavcan::Node<> _node; ///< library instance
pthread_mutex_t _node_mutex;
px4_sem_t _server_command_sem;
UavcanEscController _esc_controller;
UavcanHardpointController _hardpoint_controller;
uavcan::GlobalTimeSyncMaster _time_sync_master;
uavcan::GlobalTimeSyncSlave _time_sync_slave;
List<IUavcanSensorBridge *> _sensor_bridges; ///< List of active sensor bridges
List<IUavcanSensorBridge *> _sensor_bridges; ///< List of active sensor bridges
MixerGroup *_mixers = nullptr;
ITxQueueInjector *_tx_injector;
uint32_t _groups_required = 0;
uint32_t _groups_subscribed = 0;
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[UAVCAN_NUM_POLL_FDS] = {};
unsigned _poll_fds_num = 0;
MixerGroup *_mixers = nullptr;
ITxQueueInjector *_tx_injector;
uint32_t _groups_required = 0;
uint32_t _groups_subscribed = 0;
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[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 = 0;
actuator_direct_s _actuator_direct = {};
int _actuator_direct_sub = -1; ///< uORB subscription of the actuator_direct topic
uint8_t _actuator_direct_poll_fd_num = 0;
actuator_direct_s _actuator_direct = {};
actuator_outputs_s _outputs = {};
actuator_outputs_s _outputs = {};
// index into _poll_fds for each _control_subs handle
uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
perf_counter_t _perfcnt_node_spin_elapsed = perf_alloc(PC_ELAPSED, "uavcan_node_spin_elapsed");
perf_counter_t _perfcnt_esc_mixer_output_elapsed = perf_alloc(PC_ELAPSED, "uavcan_esc_mixer_output_elapsed");
perf_counter_t _perfcnt_esc_mixer_total_elapsed = perf_alloc(PC_ELAPSED, "uavcan_esc_mixer_total_elapsed");
perf_counter_t _perfcnt_node_spin_elapsed = perf_alloc(PC_ELAPSED, "uavcan_node_spin_elapsed");
perf_counter_t _perfcnt_esc_mixer_output_elapsed = perf_alloc(PC_ELAPSED, "uavcan_esc_mixer_output_elapsed");
perf_counter_t _perfcnt_esc_mixer_total_elapsed = perf_alloc(PC_ELAPSED, "uavcan_esc_mixer_total_elapsed");
void handle_time_sync(const uavcan::TimerEvent &);