mirror of https://github.com/ArduPilot/ardupilot
841 lines
30 KiB
C++
841 lines
30 KiB
C++
/*
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* AP_UAVCAN.cpp
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*
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* Author: Eugene Shamaev
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*/
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#if HAL_WITH_UAVCAN
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#include "AP_UAVCAN.h"
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#include <GCS_MAVLink/GCS.h>
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// Zubax GPS and other GPS, baro, magnetic sensors
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#include <uavcan/equipment/gnss/Fix.hpp>
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#include <uavcan/equipment/gnss/Auxiliary.hpp>
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#include <uavcan/equipment/ahrs/MagneticFieldStrength.hpp>
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#include <uavcan/equipment/air_data/StaticPressure.hpp>
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#include <uavcan/equipment/air_data/StaticTemperature.hpp>
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#include <uavcan/equipment/actuator/ArrayCommand.hpp>
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#include <uavcan/equipment/actuator/Command.hpp>
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#include <uavcan/equipment/actuator/Status.hpp>
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#include <uavcan/equipment/esc/RawCommand.hpp>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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extern const AP_HAL::HAL& hal;
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#define debug_uavcan(level, fmt, args...) do { if ((level) <= AP_BoardConfig::get_can_debug()) { hal.console->printf(fmt, ##args); }} while (0)
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// Translation of all messages from UAVCAN structures into AP structures is done
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// in AP_UAVCAN and not in corresponding drivers.
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// The overhead of including definitions of DSDL is very high and it is best to
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// concentrate in one place.
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// TODO: temperature can come not only from baro. There should be separation on node ID
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// to check where it belongs to. If it is not baro that is the source, separate layer
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// of listeners/nodes should be added.
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// table of user settable CAN bus parameters
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const AP_Param::GroupInfo AP_UAVCAN::var_info[] = {
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// @Param: NODE
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// @DisplayName: UAVCAN node that is used for Ardupilot
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// @Description: UAVCAN node should be set implicitly
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// @Range: 1 250
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// @User: Advanced
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AP_GROUPINFO("NODE", 1, AP_UAVCAN, _uavcan_node, 10),
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AP_GROUPEND
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};
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static uavcan::Subscriber<uavcan::equipment::gnss::Fix> *gnss_fix;
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static void gnss_fix_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix>& msg)
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{
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if (hal.can_mgr != nullptr) {
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AP_UAVCAN *ap_uavcan = hal.can_mgr->get_UAVCAN();
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if (ap_uavcan != nullptr) {
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AP_GPS::GPS_State *state = ap_uavcan->find_gps_node(msg.getSrcNodeID().get());
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if (state != nullptr) {
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bool process = false;
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if (msg.status == uavcan::equipment::gnss::Fix::STATUS_NO_FIX) {
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state->status = AP_GPS::GPS_Status::NO_FIX;
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} else {
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if (msg.status == uavcan::equipment::gnss::Fix::STATUS_TIME_ONLY) {
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state->status = AP_GPS::GPS_Status::NO_FIX;
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} else if (msg.status == uavcan::equipment::gnss::Fix::STATUS_2D_FIX) {
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state->status = AP_GPS::GPS_Status::GPS_OK_FIX_2D;
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process = true;
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} else if (msg.status == uavcan::equipment::gnss::Fix::STATUS_3D_FIX) {
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state->status = AP_GPS::GPS_Status::GPS_OK_FIX_3D;
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process = true;
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}
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if (msg.gnss_time_standard == uavcan::equipment::gnss::Fix::GNSS_TIME_STANDARD_UTC) {
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uint64_t epoch_ms = uavcan::UtcTime(msg.gnss_timestamp).toUSec();
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epoch_ms /= 1000;
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uint64_t gps_ms = epoch_ms - UNIX_OFFSET_MSEC;
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state->time_week = (uint16_t)(gps_ms / AP_MSEC_PER_WEEK);
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state->time_week_ms = (uint32_t)(gps_ms - (state->time_week) * AP_MSEC_PER_WEEK);
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}
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}
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if (process) {
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Location loc = { };
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loc.lat = msg.latitude_deg_1e8 / 10;
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loc.lng = msg.longitude_deg_1e8 / 10;
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loc.alt = msg.height_msl_mm / 10;
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state->location = loc;
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state->location.options = 0;
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if (!uavcan::isNaN(msg.ned_velocity[0])) {
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Vector3f vel(msg.ned_velocity[0], msg.ned_velocity[1], msg.ned_velocity[2]);
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state->velocity = vel;
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state->ground_speed = norm(vel.x, vel.y);
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state->ground_course = wrap_360(degrees(atan2f(vel.y, vel.x)));
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state->have_vertical_velocity = true;
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} else {
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state->have_vertical_velocity = false;
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}
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float pos_cov[9];
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msg.position_covariance.unpackSquareMatrix(pos_cov);
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if (!uavcan::isNaN(pos_cov[8])) {
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if (pos_cov[8] > 0) {
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state->vertical_accuracy = sqrtf(pos_cov[8]);
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state->have_vertical_accuracy = true;
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} else {
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state->have_vertical_accuracy = false;
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}
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} else {
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state->have_vertical_accuracy = false;
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}
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const float horizontal_pos_variance = MAX(pos_cov[0], pos_cov[4]);
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if (!uavcan::isNaN(horizontal_pos_variance)) {
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if (horizontal_pos_variance > 0) {
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state->horizontal_accuracy = sqrtf(horizontal_pos_variance);
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state->have_horizontal_accuracy = true;
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} else {
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state->have_horizontal_accuracy = false;
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}
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} else {
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state->have_horizontal_accuracy = false;
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}
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float vel_cov[9];
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msg.velocity_covariance.unpackSquareMatrix(vel_cov);
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if (!uavcan::isNaN(vel_cov[0])) {
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state->speed_accuracy = sqrtf((vel_cov[0] + vel_cov[4] + vel_cov[8]) / 3.0);
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state->have_speed_accuracy = true;
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} else {
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state->have_speed_accuracy = false;
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}
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state->num_sats = msg.sats_used;
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} else {
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state->have_vertical_velocity = false;
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state->have_vertical_accuracy = false;
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state->have_horizontal_accuracy = false;
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state->have_speed_accuracy = false;
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state->num_sats = 0;
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}
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state->last_gps_time_ms = AP_HAL::millis();
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// after all is filled, update all listeners with new data
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ap_uavcan->update_gps_state(msg.getSrcNodeID().get());
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}
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}
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}
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}
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static uavcan::Subscriber<uavcan::equipment::gnss::Auxiliary> *gnss_aux;
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static void gnss_aux_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Auxiliary>& msg)
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{
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if (hal.can_mgr != nullptr) {
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AP_UAVCAN *ap_uavcan = hal.can_mgr->get_UAVCAN();
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if (ap_uavcan != nullptr) {
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AP_GPS::GPS_State *state = ap_uavcan->find_gps_node(msg.getSrcNodeID().get());
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if (state != nullptr) {
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if (!uavcan::isNaN(msg.hdop)) {
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state->hdop = msg.hdop * 100.0;
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}
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if (!uavcan::isNaN(msg.vdop)) {
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state->vdop = msg.vdop * 100.0;
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}
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}
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}
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}
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}
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static uavcan::Subscriber<uavcan::equipment::ahrs::MagneticFieldStrength> *magnetic;
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static void magnetic_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength>& msg)
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{
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if (hal.can_mgr != nullptr) {
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AP_UAVCAN *ap_uavcan = hal.can_mgr->get_UAVCAN();
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if (ap_uavcan != nullptr) {
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AP_UAVCAN::Mag_Info *state = ap_uavcan->find_mag_node(msg.getSrcNodeID().get());
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if (state != nullptr) {
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state->mag_vector[0] = msg.magnetic_field_ga[0];
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state->mag_vector[1] = msg.magnetic_field_ga[1];
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state->mag_vector[2] = msg.magnetic_field_ga[2];
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// after all is filled, update all listeners with new data
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ap_uavcan->update_mag_state(msg.getSrcNodeID().get());
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}
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}
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}
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}
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static uavcan::Subscriber<uavcan::equipment::air_data::StaticPressure> *air_data_sp;
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static void air_data_sp_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticPressure>& msg)
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{
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if (hal.can_mgr != nullptr) {
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AP_UAVCAN *ap_uavcan = hal.can_mgr->get_UAVCAN();
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if (ap_uavcan != nullptr) {
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AP_UAVCAN::Baro_Info *state = ap_uavcan->find_baro_node(msg.getSrcNodeID().get());
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if (state != nullptr) {
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state->pressure = msg.static_pressure;
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state->pressure_variance = msg.static_pressure_variance;
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// after all is filled, update all listeners with new data
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ap_uavcan->update_baro_state(msg.getSrcNodeID().get());
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}
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}
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}
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}
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// Temperature is not main parameter so do not update listeners when it is received
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static uavcan::Subscriber<uavcan::equipment::air_data::StaticTemperature> *air_data_st;
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static void air_data_st_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticTemperature>& msg)
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{
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if (hal.can_mgr != nullptr) {
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AP_UAVCAN *ap_uavcan = hal.can_mgr->get_UAVCAN();
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if (ap_uavcan != nullptr) {
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AP_UAVCAN::Baro_Info *state = ap_uavcan->find_baro_node(msg.getSrcNodeID().get());
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if (state != nullptr) {
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state->temperature = msg.static_temperature;
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state->temperature_variance = msg.static_temperature_variance;
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}
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}
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}
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}
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// publisher interfaces
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static uavcan::Publisher<uavcan::equipment::actuator::ArrayCommand> *act_out_array;
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static uavcan::Publisher<uavcan::equipment::esc::RawCommand> *esc_raw;
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AP_UAVCAN::AP_UAVCAN() :
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_initialized(false), _rco_armed(false), _rco_safety(false), _rc_out_sem(nullptr), _node_allocator(
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UAVCAN_NODE_POOL_SIZE, UAVCAN_NODE_POOL_SIZE)
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{
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AP_Param::setup_object_defaults(this, var_info);
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for (uint8_t i = 0; i < UAVCAN_RCO_NUMBER; i++) {
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_rco_conf[i].active = false;
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}
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for (uint8_t i = 0; i < AP_UAVCAN_MAX_GPS_NODES; i++) {
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_gps_nodes[i] = 255;
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_gps_node_taken[i] = 0;
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}
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for (uint8_t i = 0; i < AP_UAVCAN_MAX_BARO_NODES; i++) {
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_baro_nodes[i] = 255;
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_baro_node_taken[i] = 0;
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}
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for (uint8_t i = 0; i < AP_UAVCAN_MAX_MAG_NODES; i++) {
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_mag_nodes[i] = 255;
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_mag_node_taken[i] = 0;
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}
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for (uint8_t i = 0; i < AP_UAVCAN_MAX_LISTENERS; i++) {
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_gps_listener_to_node[i] = 255;
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_gps_listeners[i] = nullptr;
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_baro_listener_to_node[i] = 255;
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_baro_listeners[i] = nullptr;
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_mag_listener_to_node[i] = 255;
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_mag_listeners[i] = nullptr;
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}
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_rc_out_sem = hal.util->new_semaphore();
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debug_uavcan(2, "AP_UAVCAN constructed\n\r");
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}
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AP_UAVCAN::~AP_UAVCAN()
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{
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}
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bool AP_UAVCAN::try_init(void)
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{
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if (hal.can_mgr != nullptr) {
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if (hal.can_mgr->is_initialized() && !_initialized) {
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auto *node = get_node();
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if (node != nullptr) {
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if (!node->isStarted()) {
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uavcan::NodeID self_node_id(_uavcan_node);
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node->setNodeID(self_node_id);
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uavcan::NodeStatusProvider::NodeName name("org.ardupilot");
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node->setName(name);
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uavcan::protocol::SoftwareVersion sw_version; // Standard type uavcan.protocol.SoftwareVersion
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sw_version.major = AP_UAVCAN_SW_VERS_MAJOR;
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sw_version.minor = AP_UAVCAN_SW_VERS_MINOR;
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node->setSoftwareVersion(sw_version);
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uavcan::protocol::HardwareVersion hw_version; // Standard type uavcan.protocol.HardwareVersion
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hw_version.major = AP_UAVCAN_HW_VERS_MAJOR;
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hw_version.minor = AP_UAVCAN_HW_VERS_MINOR;
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node->setHardwareVersion(hw_version);
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const int node_start_res = node->start();
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if (node_start_res < 0) {
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debug_uavcan(1, "UAVCAN: node start problem\n\r");
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}
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gnss_fix = new uavcan::Subscriber<uavcan::equipment::gnss::Fix>(*node);
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const int gnss_fix_start_res = gnss_fix->start(gnss_fix_cb);
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if (gnss_fix_start_res < 0) {
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debug_uavcan(1, "UAVCAN GNSS subscriber start problem\n\r");
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return false;
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}
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gnss_aux = new uavcan::Subscriber<uavcan::equipment::gnss::Auxiliary>(*node);
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const int gnss_aux_start_res = gnss_aux->start(gnss_aux_cb);
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if (gnss_aux_start_res < 0) {
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debug_uavcan(1, "UAVCAN GNSS Aux subscriber start problem\n\r");
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return false;
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}
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magnetic = new uavcan::Subscriber<uavcan::equipment::ahrs::MagneticFieldStrength>(*node);
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const int magnetic_start_res = magnetic->start(magnetic_cb);
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if (magnetic_start_res < 0) {
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debug_uavcan(1, "UAVCAN Compass subscriber start problem\n\r");
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return false;
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}
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air_data_sp = new uavcan::Subscriber<uavcan::equipment::air_data::StaticPressure>(*node);
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const int air_data_sp_start_res = air_data_sp->start(air_data_sp_cb);
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if (air_data_sp_start_res < 0) {
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debug_uavcan(1, "UAVCAN Baro subscriber start problem\n\r");
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return false;
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}
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air_data_st = new uavcan::Subscriber<uavcan::equipment::air_data::StaticTemperature>(*node);
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const int air_data_st_start_res = air_data_st->start(air_data_st_cb);
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if (air_data_st_start_res < 0) {
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debug_uavcan(1, "UAVCAN Temperature subscriber start problem\n\r");
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return false;
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}
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act_out_array = new uavcan::Publisher<uavcan::equipment::actuator::ArrayCommand>(*node);
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act_out_array->setTxTimeout(uavcan::MonotonicDuration::fromMSec(20));
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act_out_array->setPriority(uavcan::TransferPriority::OneLowerThanHighest);
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esc_raw = new uavcan::Publisher<uavcan::equipment::esc::RawCommand>(*node);
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esc_raw->setTxTimeout(uavcan::MonotonicDuration::fromMSec(20));
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esc_raw->setPriority(uavcan::TransferPriority::OneLowerThanHighest);
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/*
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* Informing other nodes that we're ready to work.
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* Default mode is INITIALIZING.
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*/
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node->setModeOperational();
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_initialized = true;
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debug_uavcan(1, "UAVCAN: init done\n\r");
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return true;
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}
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}
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}
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if (_initialized) {
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return true;
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}
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}
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return false;
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}
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bool AP_UAVCAN::rc_out_sem_take()
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{
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bool sem_ret = _rc_out_sem->take(10);
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if (!sem_ret) {
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debug_uavcan(1, "AP_UAVCAN RCOut semaphore fail\n\r");
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}
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return sem_ret;
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}
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void AP_UAVCAN::rc_out_sem_give()
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{
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_rc_out_sem->give();
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}
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void AP_UAVCAN::do_cyclic(void)
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{
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uint32_t _servo_bm = SRV_Channels::get_can_servo_bm();
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uint32_t _esc_bm = SRV_Channels::get_can_esc_bm();
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if (_initialized) {
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auto *node = get_node();
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const int error = node->spin(uavcan::MonotonicDuration::fromMSec(1));
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if (error < 0) {
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hal.scheduler->delay_microseconds(1000);
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} else {
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if (rc_out_sem_take()) {
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if (_rco_armed) {
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bool repeat_send;
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// if we have any Servos in bitmask
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if (_servo_bm > 0) {
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uint8_t starting_servo = 0;
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do {
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repeat_send = false;
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uavcan::equipment::actuator::ArrayCommand msg;
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uint8_t i;
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// UAVCAN can hold maximum of 15 commands in one frame
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for (i = 0; starting_servo < UAVCAN_RCO_NUMBER && i < 15; starting_servo++) {
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uavcan::equipment::actuator::Command cmd;
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/*
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* Servo output uses a range of 1000-2000 PWM for scaling.
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* This converts output PWM from [1000:2000] range to [-1:1] range that
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* is passed to servo as unitless type via UAVCAN.
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* This approach allows for MIN/TRIM/MAX values to be used fully on
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* autopilot side and for servo it should have the setup to provide maximum
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* physically possible throws at [-1:1] limits.
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*/
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if (_rco_conf[starting_servo].active && ((((uint32_t) 1) << starting_servo) & _servo_bm)) {
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cmd.actuator_id = starting_servo + 1;
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// TODO: other types
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cmd.command_type = uavcan::equipment::actuator::Command::COMMAND_TYPE_UNITLESS;
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// TODO: failsafe, safety
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cmd.command_value = constrain_float(((float) _rco_conf[starting_servo].pulse - 1000.0) / 500.0 - 1.0, -1.0, 1.0);
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msg.commands.push_back(cmd);
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i++;
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}
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}
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if (i > 0) {
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act_out_array->broadcast(msg);
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if (i == 15) {
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repeat_send = true;
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}
|
|
}
|
|
} while (repeat_send);
|
|
}
|
|
|
|
// if we have any ESC's in bitmask
|
|
if (_esc_bm > 0) {
|
|
static const int cmd_max = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max();
|
|
uavcan::equipment::esc::RawCommand esc_msg;
|
|
|
|
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
|
|
for (uint8_t i = 0; i < UAVCAN_RCO_NUMBER; i++) {
|
|
if ((((uint32_t) 1) << i) & _esc_bm) {
|
|
max_esc_num = i + 1;
|
|
if (_rco_conf[i].active) {
|
|
active_esc_num++;
|
|
}
|
|
}
|
|
}
|
|
|
|
// if at least one is active (update) we need to send to all
|
|
if (active_esc_num > 0) {
|
|
k = 0;
|
|
|
|
for (uint8_t i = 0; i < max_esc_num && k < 20; i++) {
|
|
uavcan::equipment::actuator::Command cmd;
|
|
|
|
if ((((uint32_t) 1) << i) & _esc_bm) {
|
|
// TODO: ESC negative scaling for reverse thrust and reverse rotation
|
|
float scaled = cmd_max * (hal.rcout->scale_esc_to_unity(_rco_conf[i].pulse) + 1.0) / 2.0;
|
|
|
|
scaled = constrain_float(scaled, 0, cmd_max);
|
|
|
|
esc_msg.cmd.push_back(static_cast<int>(scaled));
|
|
} else {
|
|
esc_msg.cmd.push_back(static_cast<unsigned>(0));
|
|
}
|
|
|
|
k++;
|
|
}
|
|
|
|
esc_raw->broadcast(esc_msg);
|
|
}
|
|
}
|
|
}
|
|
|
|
for (uint8_t i = 0; i < UAVCAN_RCO_NUMBER; i++) {
|
|
// mark as transmitted
|
|
_rco_conf[i].active = false;
|
|
}
|
|
|
|
rc_out_sem_give();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
uavcan::ISystemClock & AP_UAVCAN::get_system_clock()
|
|
{
|
|
return SystemClock::instance();
|
|
}
|
|
|
|
uavcan::ICanDriver * AP_UAVCAN::get_can_driver()
|
|
{
|
|
if (hal.can_mgr != nullptr) {
|
|
if (hal.can_mgr->is_initialized() == false) {
|
|
return nullptr;
|
|
} else {
|
|
return hal.can_mgr;
|
|
}
|
|
}
|
|
return nullptr;
|
|
}
|
|
|
|
uavcan::Node<0> *AP_UAVCAN::get_node()
|
|
{
|
|
if (_node == nullptr && get_can_driver() != nullptr) {
|
|
_node = new uavcan::Node<0>(*get_can_driver(), get_system_clock(), _node_allocator);
|
|
}
|
|
|
|
return _node;
|
|
}
|
|
|
|
void AP_UAVCAN::rco_set_safety_pwm(uint32_t chmask, uint16_t pulse_len)
|
|
{
|
|
for (uint8_t i = 0; i < UAVCAN_RCO_NUMBER; i++) {
|
|
if (chmask & (((uint32_t) 1) << i)) {
|
|
_rco_conf[i].safety_pulse = pulse_len;
|
|
}
|
|
}
|
|
}
|
|
|
|
void AP_UAVCAN::rco_set_failsafe_pwm(uint32_t chmask, uint16_t pulse_len)
|
|
{
|
|
for (uint8_t i = 0; i < UAVCAN_RCO_NUMBER; i++) {
|
|
if (chmask & (((uint32_t) 1) << i)) {
|
|
_rco_conf[i].failsafe_pulse = pulse_len;
|
|
}
|
|
}
|
|
}
|
|
|
|
void AP_UAVCAN::rco_force_safety_on(void)
|
|
{
|
|
_rco_safety = true;
|
|
}
|
|
|
|
void AP_UAVCAN::rco_force_safety_off(void)
|
|
{
|
|
_rco_safety = false;
|
|
}
|
|
|
|
void AP_UAVCAN::rco_arm_actuators(bool arm)
|
|
{
|
|
_rco_armed = arm;
|
|
}
|
|
|
|
void AP_UAVCAN::rco_write(uint16_t pulse_len, uint8_t ch)
|
|
{
|
|
_rco_conf[ch].pulse = pulse_len;
|
|
_rco_conf[ch].active = true;
|
|
}
|
|
|
|
uint8_t AP_UAVCAN::register_gps_listener(AP_GPS_Backend* new_listener, uint8_t preferred_channel)
|
|
{
|
|
uint8_t sel_place = 255, ret = 0;
|
|
for (uint8_t i = 0; i < AP_UAVCAN_MAX_LISTENERS; i++) {
|
|
if (_gps_listeners[i] == nullptr) {
|
|
sel_place = i;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (sel_place != 255) {
|
|
if (preferred_channel != 0) {
|
|
if (preferred_channel <= AP_UAVCAN_MAX_GPS_NODES) {
|
|
_gps_listeners[sel_place] = new_listener;
|
|
_gps_listener_to_node[sel_place] = preferred_channel - 1;
|
|
_gps_node_taken[_gps_listener_to_node[sel_place]]++;
|
|
ret = preferred_channel;
|
|
|
|
debug_uavcan(2, "reg_GPS place:%d, chan: %d\n\r", sel_place, preferred_channel);
|
|
}
|
|
} else {
|
|
for (uint8_t i = 0; i < AP_UAVCAN_MAX_GPS_NODES; i++) {
|
|
if (_gps_node_taken[i] == 0) {
|
|
_gps_listeners[sel_place] = new_listener;
|
|
_gps_listener_to_node[sel_place] = i;
|
|
_gps_node_taken[i]++;
|
|
ret = i + 1;
|
|
|
|
debug_uavcan(2, "reg_GPS place:%d, chan: %d\n\r", sel_place, i);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
void AP_UAVCAN::remove_gps_listener(AP_GPS_Backend* rem_listener)
|
|
{
|
|
// Check for all listeners and compare pointers
|
|
for (uint8_t i = 0; i < AP_UAVCAN_MAX_LISTENERS; i++) {
|
|
if (_gps_listeners[i] == rem_listener) {
|
|
_gps_listeners[i] = nullptr;
|
|
|
|
// Also decrement usage counter and reset listening node
|
|
if (_gps_node_taken[_gps_listener_to_node[i]] > 0) {
|
|
_gps_node_taken[_gps_listener_to_node[i]]--;
|
|
}
|
|
_gps_listener_to_node[i] = 255;
|
|
}
|
|
}
|
|
}
|
|
|
|
AP_GPS::GPS_State *AP_UAVCAN::find_gps_node(uint8_t node)
|
|
{
|
|
// Check if such node is already defined
|
|
for (uint8_t i = 0; i < AP_UAVCAN_MAX_GPS_NODES; i++) {
|
|
if (_gps_nodes[i] == node) {
|
|
return &_gps_node_state[i];
|
|
}
|
|
}
|
|
|
|
// If not - try to find free space for it
|
|
for (uint8_t i = 0; i < AP_UAVCAN_MAX_GPS_NODES; i++) {
|
|
if (_gps_nodes[i] == 255) {
|
|
_gps_nodes[i] = node;
|
|
return &_gps_node_state[i];
|
|
}
|
|
}
|
|
|
|
// If no space is left - return nullptr
|
|
return nullptr;
|
|
}
|
|
|
|
void AP_UAVCAN::update_gps_state(uint8_t node)
|
|
{
|
|
// Go through all listeners of specified node and call their's update methods
|
|
for (uint8_t i = 0; i < AP_UAVCAN_MAX_GPS_NODES; i++) {
|
|
if (_gps_nodes[i] == node) {
|
|
for (uint8_t j = 0; j < AP_UAVCAN_MAX_LISTENERS; j++) {
|
|
if (_gps_listener_to_node[j] == i) {
|
|
_gps_listeners[j]->handle_gnss_msg(_gps_node_state[i]);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
uint8_t AP_UAVCAN::register_baro_listener(AP_Baro_Backend* new_listener, uint8_t preferred_channel)
|
|
{
|
|
uint8_t sel_place = 255, ret = 0;
|
|
|
|
for (uint8_t i = 0; i < AP_UAVCAN_MAX_LISTENERS; i++) {
|
|
if (_baro_listeners[i] == nullptr) {
|
|
sel_place = i;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (sel_place != 255) {
|
|
if (preferred_channel != 0) {
|
|
if (preferred_channel < AP_UAVCAN_MAX_BARO_NODES) {
|
|
_baro_listeners[sel_place] = new_listener;
|
|
_baro_listener_to_node[sel_place] = preferred_channel - 1;
|
|
_baro_node_taken[_baro_listener_to_node[sel_place]]++;
|
|
ret = preferred_channel;
|
|
|
|
debug_uavcan(2, "reg_Baro place:%d, chan: %d\n\r", sel_place, preferred_channel);
|
|
}
|
|
} else {
|
|
for (uint8_t i = 0; i < AP_UAVCAN_MAX_BARO_NODES; i++) {
|
|
if (_baro_node_taken[i] == 0) {
|
|
_baro_listeners[sel_place] = new_listener;
|
|
_baro_listener_to_node[sel_place] = i;
|
|
_baro_node_taken[i]++;
|
|
ret = i + 1;
|
|
|
|
debug_uavcan(2, "reg_BARO place:%d, chan: %d\n\r", sel_place, i);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
void AP_UAVCAN::remove_baro_listener(AP_Baro_Backend* rem_listener)
|
|
{
|
|
// Check for all listeners and compare pointers
|
|
for (uint8_t i = 0; i < AP_UAVCAN_MAX_LISTENERS; i++) {
|
|
if (_baro_listeners[i] == rem_listener) {
|
|
_baro_listeners[i] = nullptr;
|
|
|
|
// Also decrement usage counter and reset listening node
|
|
if (_baro_node_taken[_baro_listener_to_node[i]] > 0) {
|
|
_baro_node_taken[_baro_listener_to_node[i]]--;
|
|
}
|
|
_baro_listener_to_node[i] = 255;
|
|
}
|
|
}
|
|
}
|
|
|
|
AP_UAVCAN::Baro_Info *AP_UAVCAN::find_baro_node(uint8_t node)
|
|
{
|
|
// Check if such node is already defined
|
|
for (uint8_t i = 0; i < AP_UAVCAN_MAX_BARO_NODES; i++) {
|
|
if (_baro_nodes[i] == node) {
|
|
return &_baro_node_state[i];
|
|
}
|
|
}
|
|
|
|
// If not - try to find free space for it
|
|
for (uint8_t i = 0; i < AP_UAVCAN_MAX_BARO_NODES; i++) {
|
|
if (_baro_nodes[i] == 255) {
|
|
_baro_nodes[i] = node;
|
|
return &_baro_node_state[i];
|
|
}
|
|
}
|
|
|
|
// If no space is left - return nullptr
|
|
return nullptr;
|
|
}
|
|
|
|
void AP_UAVCAN::update_baro_state(uint8_t node)
|
|
{
|
|
// Go through all listeners of specified node and call their's update methods
|
|
for (uint8_t i = 0; i < AP_UAVCAN_MAX_BARO_NODES; i++) {
|
|
if (_baro_nodes[i] == node) {
|
|
for (uint8_t j = 0; j < AP_UAVCAN_MAX_LISTENERS; j++) {
|
|
if (_baro_listener_to_node[j] == i) {
|
|
_baro_listeners[j]->handle_baro_msg(_baro_node_state[i].pressure, _baro_node_state[i].temperature);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
uint8_t AP_UAVCAN::register_mag_listener(AP_Compass_Backend* new_listener, uint8_t preferred_channel)
|
|
{
|
|
uint8_t sel_place = 255, ret = 0;
|
|
for (uint8_t i = 0; i < AP_UAVCAN_MAX_LISTENERS; i++) {
|
|
if (_mag_listeners[i] == nullptr) {
|
|
sel_place = i;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (sel_place != 255) {
|
|
if (preferred_channel != 0) {
|
|
if (preferred_channel < AP_UAVCAN_MAX_MAG_NODES) {
|
|
_mag_listeners[sel_place] = new_listener;
|
|
_mag_listener_to_node[sel_place] = preferred_channel - 1;
|
|
_mag_node_taken[_mag_listener_to_node[sel_place]]++;
|
|
ret = preferred_channel;
|
|
|
|
debug_uavcan(2, "reg_Compass place:%d, chan: %d\n\r", sel_place, preferred_channel);
|
|
}
|
|
} else {
|
|
for (uint8_t i = 0; i < AP_UAVCAN_MAX_MAG_NODES; i++) {
|
|
if (_mag_node_taken[i] == 0) {
|
|
_mag_listeners[sel_place] = new_listener;
|
|
_mag_listener_to_node[sel_place] = i;
|
|
_mag_node_taken[i]++;
|
|
ret = i + 1;
|
|
|
|
debug_uavcan(2, "reg_MAG place:%d, chan: %d\n\r", sel_place, i);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
void AP_UAVCAN::remove_mag_listener(AP_Compass_Backend* rem_listener)
|
|
{
|
|
// Check for all listeners and compare pointers
|
|
for (uint8_t i = 0; i < AP_UAVCAN_MAX_LISTENERS; i++) {
|
|
if (_mag_listeners[i] == rem_listener) {
|
|
_mag_listeners[i] = nullptr;
|
|
|
|
// Also decrement usage counter and reset listening node
|
|
if (_mag_node_taken[_mag_listener_to_node[i]] > 0) {
|
|
_mag_node_taken[_mag_listener_to_node[i]]--;
|
|
}
|
|
_mag_listener_to_node[i] = 255;
|
|
}
|
|
}
|
|
}
|
|
|
|
AP_UAVCAN::Mag_Info *AP_UAVCAN::find_mag_node(uint8_t node)
|
|
{
|
|
// Check if such node is already defined
|
|
for (uint8_t i = 0; i < AP_UAVCAN_MAX_MAG_NODES; i++) {
|
|
if (_mag_nodes[i] == node) {
|
|
return &_mag_node_state[i];
|
|
}
|
|
}
|
|
|
|
// If not - try to find free space for it
|
|
for (uint8_t i = 0; i < AP_UAVCAN_MAX_MAG_NODES; i++) {
|
|
if (_mag_nodes[i] == 255) {
|
|
_mag_nodes[i] = node;
|
|
return &_mag_node_state[i];
|
|
}
|
|
}
|
|
|
|
// If no space is left - return nullptr
|
|
return nullptr;
|
|
}
|
|
|
|
void AP_UAVCAN::update_mag_state(uint8_t node)
|
|
{
|
|
// Go through all listeners of specified node and call their's update methods
|
|
for (uint8_t i = 0; i < AP_UAVCAN_MAX_MAG_NODES; i++) {
|
|
if (_mag_nodes[i] == node) {
|
|
for (uint8_t j = 0; j < AP_UAVCAN_MAX_LISTENERS; j++) {
|
|
if (_mag_listener_to_node[j] == i) {
|
|
_mag_listeners[j]->handle_mag_msg(_mag_node_state[i].mag_vector);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif // HAL_WITH_UAVCAN
|