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AP_UAVCAN: support Himark servo protocol

This commit is contained in:
Andrew Tridgell 2023-08-21 17:17:11 +10:00 committed by Randy Mackay
parent fc5e8a6f31
commit d49eb9b5a1
2 changed files with 76 additions and 3 deletions
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75
libraries/AP_UAVCAN/AP_UAVCAN.cpp
View File

@ -50,6 +50,8 @@
#endif
#include <uavcan/equipment/gnss/RTCMStream.hpp>
#include <uavcan/protocol/debug/LogMessage.hpp>
#include <com/himark/servo/ServoCmd.hpp>
#include <com/himark/servo/ServoInfo.hpp>
#include <AP_Arming/AP_Arming.h>
#include <AP_Baro/AP_Baro_UAVCAN.h>
@ -139,7 +141,7 @@ const AP_Param::GroupInfo AP_UAVCAN::var_info[] = {
// @Param: OPTION
// @DisplayName: UAVCAN options
// @Description: Option flags
// @Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS
// @Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo
// @User: Advanced
AP_GROUPINFO("OPTION", 5, AP_UAVCAN, _options, 0),
@ -174,6 +176,7 @@ const AP_Param::GroupInfo AP_UAVCAN::var_info[] = {
// publisher interfaces
static uavcan::Publisher<uavcan::equipment::actuator::ArrayCommand>* act_out_array[HAL_MAX_CAN_PROTOCOL_DRIVERS];
static uavcan::Publisher<com::himark::servo::ServoCmd>* himark_out[HAL_MAX_CAN_PROTOCOL_DRIVERS];
static uavcan::Publisher<uavcan::equipment::esc::RawCommand>* esc_raw[HAL_MAX_CAN_PROTOCOL_DRIVERS];
static uavcan::Publisher<uavcan::equipment::indication::LightsCommand>* rgb_led[HAL_MAX_CAN_PROTOCOL_DRIVERS];
static uavcan::Publisher<uavcan::equipment::indication::BeepCommand>* buzzer[HAL_MAX_CAN_PROTOCOL_DRIVERS];
@ -221,6 +224,10 @@ static uavcan::Subscriber<com::volz::servo::ActuatorStatus, ActuatorStatusVolzCb
UC_REGISTRY_BINDER(ESCStatusCb, uavcan::equipment::esc::Status);
static uavcan::Subscriber<uavcan::equipment::esc::Status, ESCStatusCb> *esc_status_listener[HAL_MAX_CAN_PROTOCOL_DRIVERS];
// handler himark ServoInfo
UC_REGISTRY_BINDER(HimarkServoInfoCb, com::himark::servo::ServoInfo);
static uavcan::Subscriber<com::himark::servo::ServoInfo, HimarkServoInfoCb> *himark_servoinfo_listener[HAL_MAX_CAN_PROTOCOL_DRIVERS];
// handler DEBUG
UC_REGISTRY_BINDER(DebugCb, uavcan::protocol::debug::LogMessage);
static uavcan::Subscriber<uavcan::protocol::debug::LogMessage, DebugCb> *debug_listener[HAL_MAX_CAN_PROTOCOL_DRIVERS];
@ -393,6 +400,10 @@ void AP_UAVCAN::init(uint8_t driver_index, bool enable_filters)
act_out_array[driver_index]->setTxTimeout(uavcan::MonotonicDuration::fromMSec(2));
act_out_array[driver_index]->setPriority(uavcan::TransferPriority::OneLowerThanHighest);
himark_out[driver_index] = new uavcan::Publisher<com::himark::servo::ServoCmd>(*_node);
himark_out[driver_index]->setTxTimeout(uavcan::MonotonicDuration::fromMSec(2));
himark_out[driver_index]->setPriority(uavcan::TransferPriority::OneLowerThanHighest);
esc_raw[driver_index] = new uavcan::Publisher<uavcan::equipment::esc::RawCommand>(*_node);
esc_raw[driver_index]->setTxTimeout(uavcan::MonotonicDuration::fromMSec(2));
esc_raw[driver_index]->setPriority(uavcan::TransferPriority::OneLowerThanHighest);
@ -470,6 +481,11 @@ void AP_UAVCAN::init(uint8_t driver_index, bool enable_filters)
esc_status_listener[driver_index]->start(ESCStatusCb(this, &handle_ESC_status));
}
himark_servoinfo_listener[driver_index] = new uavcan::Subscriber<com::himark::servo::ServoInfo, HimarkServoInfoCb>(*_node);
if (himark_servoinfo_listener[driver_index]) {
himark_servoinfo_listener[driver_index]->start(HimarkServoInfoCb(this, &handle_himark_servoinfo));
}
debug_listener[driver_index] = new uavcan::Subscriber<uavcan::protocol::debug::LogMessage, DebugCb>(*_node);
if (debug_listener[driver_index]) {
debug_listener[driver_index]->start(DebugCb(this, &handle_debug));
@ -523,7 +539,11 @@ void AP_UAVCAN::loop(void)
const uint32_t servo_period_us = 1000000UL / unsigned(_servo_rate_hz.get());
if (now - _SRV_last_send_us >= servo_period_us) {
_SRV_last_send_us = now;
SRV_send_actuator();
if (option_is_set(Options::USE_HIMARK_SERVO)) {
SRV_send_himark();
} else {
SRV_send_actuator();
}
sent_servos = true;
for (uint8_t i = 0; i < UAVCAN_SRV_NUMBER; i++) {
_SRV_conf[i].servo_pending = false;
@ -624,6 +644,34 @@ void AP_UAVCAN::SRV_send_actuator(void)
} while (repeat_send);
}
/*
Himark servo output. This uses com.himark.servo.ServoCmd packets
*/
void AP_UAVCAN::SRV_send_himark(void)
{
WITH_SEMAPHORE(SRV_sem);
// ServoCmd can hold maximum of 17 commands. First find the highest pending servo < 17
int8_t highest_to_send = -1;
for (int8_t i = 16; i >= 0; i--) {
if (_SRV_conf[i].servo_pending && ((1U<<i) & _servo_bm) != 0) {
highest_to_send = i;
break;
}
}
if (highest_to_send == -1) {
// nothing to send
return;
}
com::himark::servo::ServoCmd msg {};
for (uint8_t i = 0; i <= highest_to_send; i++) {
const uint16_t pulse = constrain_int16(_SRV_conf[i].pulse - 1000, 0, 1000);
msg.cmd.push_back(pulse);
}
himark_out[_driver_index]->broadcast(msg);
}
void AP_UAVCAN::SRV_send_esc(void)
{
static const int cmd_max = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max();
@ -1201,7 +1249,28 @@ void AP_UAVCAN::handle_actuator_status(AP_UAVCAN* ap_uavcan, uint8_t node_id, co
cb.msg->position,
cb.msg->force,
cb.msg->speed,
cb.msg->power_rating_pct);
cb.msg->power_rating_pct,
0, 0, 0, 0, 0, 0);
}
/*
handle himark ServoInfo message
*/
void AP_UAVCAN::handle_himark_servoinfo(AP_UAVCAN* ap_uavcan, uint8_t node_id, const HimarkServoInfoCb &cb)
{
// log as CSRV message
AP::logger().Write_ServoStatus(AP_HAL::native_micros64(),
cb.msg->servo_id,
cb.msg->pos_sensor*0.01,
0,
0,
0,
cb.msg->pos_cmd*0.01,
cb.msg->voltage*0.01,
cb.msg->current*0.01,
cb.msg->motor_temp*0.2-40,
cb.msg->pcb_temp*0.2-40,
cb.msg->error_status);
}
#if AP_DRONECAN_VOLZ_FEEDBACK_ENABLED

4
libraries/AP_UAVCAN/AP_UAVCAN.h
View File

@ -53,6 +53,7 @@ class ButtonCb;
class TrafficReportCb;
class ActuatorStatusCb;
class ActuatorStatusVolzCb;
class HimarkServoInfoCb;
class ESCStatusCb;
class DebugCb;
class ParamGetSetCb;
@ -210,6 +211,7 @@ public:
DNA_IGNORE_UNHEALTHY_NODE = (1U<<3),
USE_ACTUATOR_PWM = (1U<<4),
SEND_GNSS = (1U<<5),
USE_HIMARK_SERVO = (1U<<6),
};
// check if a option is set
@ -231,6 +233,7 @@ private:
///// SRV output /////
void SRV_send_actuator();
void SRV_send_esc();
void SRV_send_himark();
///// LED /////
void led_out_send();
@ -366,6 +369,7 @@ private:
static void handle_traffic_report(AP_UAVCAN* ap_uavcan, uint8_t node_id, const TrafficReportCb &cb);
static void handle_actuator_status(AP_UAVCAN* ap_uavcan, uint8_t node_id, const ActuatorStatusCb &cb);
static void handle_actuator_status_Volz(AP_UAVCAN* ap_uavcan, uint8_t node_id, const ActuatorStatusVolzCb &cb);
static void handle_himark_servoinfo(AP_UAVCAN* ap_uavcan, uint8_t node_id, const HimarkServoInfoCb &cb);
static void handle_ESC_status(AP_UAVCAN* ap_uavcan, uint8_t node_id, const ESCStatusCb &cb);
static bool is_esc_data_index_valid(const uint8_t index);
static void handle_debug(AP_UAVCAN* ap_uavcan, uint8_t node_id, const DebugCb &cb);