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AP_UAVCAN: multiple messages when more than 15 servos are sent

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This commit is contained in:
Eugene Shamaev 2017-04-17 10:28:38 +03:00 committed by Francisco Ferreira
parent 994790be0b
commit 20f7d75b5a
1 changed files with 43 additions and 29 deletions
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72
libraries/AP_UAVCAN/AP_UAVCAN.cpp
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@ -400,40 +400,53 @@ void AP_UAVCAN::do_cyclic(void)
} else { } else {
if (rc_out_sem_take()) { if (rc_out_sem_take()) {
if (_rco_armed) { if (_rco_armed) {
// TODO: several transmittions if did not fit in 15 servos bool repeat_send;
uavcan::equipment::actuator::ArrayCommand msg;
uint8_t k = 0; // if we have any Servos in bitmask
for (uint8_t i = 0; i < UAVCAN_RCO_NUMBER && k < 15; i++) { if (_servo_bm > 0) {
uavcan::equipment::actuator::Command cmd; uint8_t starting_servo = 0;
/* do {
* Servo output uses a range of 1000-2000 PWM for scaling. repeat_send = false;
* This converts output PWM from [1000:2000] range to [-1:1] range that uavcan::equipment::actuator::ArrayCommand msg;
* is passed to servo as unitless type via UAVCAN.
* This approach allows for MIN/TRIM/MAX values to be used fully on
* autopilot side and for servo it should have the setup to provide maximum
* physically possible throws at [-1:1] limits.
*/
if (_rco_conf[i].active && ((((uint32_t) 1) << i) & _servo_bm)) {
cmd.actuator_id = i + 1;
// TODO: other types
cmd.command_type = uavcan::equipment::actuator::Command::COMMAND_TYPE_UNITLESS;
// TODO: failsafe, safety
cmd.command_value = constrain_value(((float) _rco_conf[i].pulse - 1000.0) / 500.0 - 1.0, -1.0, 1.0);
msg.commands.push_back(cmd);
uint8_t i;
// UAVCAN can hold maximum of 15 commands in one frame // UAVCAN can hold maximum of 15 commands in one frame
k++; for (i = 0; starting_servo < UAVCAN_RCO_NUMBER && i < 15; starting_servo++) {
} uavcan::equipment::actuator::Command cmd;
}
if (msg.commands.size() > 0) { /*
act_out_array->broadcast(msg); * Servo output uses a range of 1000-2000 PWM for scaling.
* This converts output PWM from [1000:2000] range to [-1:1] range that
* is passed to servo as unitless type via UAVCAN.
* This approach allows for MIN/TRIM/MAX values to be used fully on
* autopilot side and for servo it should have the setup to provide maximum
* physically possible throws at [-1:1] limits.
*/
if (_rco_conf[starting_servo].active && ((((uint32_t) 1) << starting_servo) & _servo_bm)) {
cmd.actuator_id = starting_servo + 1;
// TODO: other types
cmd.command_type = uavcan::equipment::actuator::Command::COMMAND_TYPE_UNITLESS;
// TODO: failsafe, safety
cmd.command_value = constrain_float(((float) _rco_conf[starting_servo].pulse - 1000.0) / 500.0 - 1.0, -1.0, 1.0);
msg.commands.push_back(cmd);
i++;
}
}
if (i > 0) {
act_out_array->broadcast(msg);
if (i == 15) {
repeat_send = true;
}
}
} while (repeat_send);
} }
// if we have any ESC's in bitmask // if we have any ESC's in bitmask
@ -442,6 +455,7 @@ void AP_UAVCAN::do_cyclic(void)
uavcan::equipment::esc::RawCommand esc_msg; uavcan::equipment::esc::RawCommand esc_msg;
uint8_t active_esc_num = 0, max_esc_num = 0; uint8_t active_esc_num = 0, max_esc_num = 0;
uint8_t k = 0;
// find out how many esc we have enabled and if they are active at all // find out how many esc we have enabled and if they are active at all
for (uint8_t i = 0; i < UAVCAN_RCO_NUMBER; i++) { for (uint8_t i = 0; i < UAVCAN_RCO_NUMBER; i++) {