forked from Archive/PX4-Autopilot
Kconfig subs and controllers for uavcan
small changed to revert back to px4::main Make kconfig more readble Combine esc and servo controllers under one option
This commit is contained in:
henrykotze
Beat Küng
parent
a03af59c5c
commit
3cee941f64
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@ -4,6 +4,81 @@ menuconfig DRIVERS_UAVCAN
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---help---
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Enable support for uavcan
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if DRIVERS_UAVCAN
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config UAVCAN_ARMING_CONTROLLER
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bool "Include arming status controller"
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default y
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config UAVCAN_BEEP_CONTROLLER
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bool "Include beep controller"
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default y
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config UAVCAN_OUTPUTS_CONTROLLER
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bool "Include servo & ESC controller"
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default y
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config UAVCAN_HARDPOINT_CONTROLLER
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bool "Include hardpoint controller"
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default y
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config UAVCAN_SAFETY_STATE_CONTROLLER
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bool "Include safety state controller"
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default y
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config UAVCAN_RGB_CONTROLLER
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bool "Include rgb controller"
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default y
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config UAVCAN_SENSOR_ACCEL
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bool "Subscribe to IMU: uavcan::equipment::ahrs::RawIMU"
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default y
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config UAVCAN_SENSOR_AIRSPEED
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bool "Subscribe to Airspeed: uavcan::equipment::air_data::IndicatedAirspeed | uavcan::equipment::air_data::TrueAirspeed | uavcan::equipment::air_data::StaticTemperature"
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default y
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config UAVCAN_SENSOR_BARO
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bool "Subscribe to Barometer: uavcan::equipment::air_data::StaticPressure | uavcan::equipment::air_data::StaticTemperature"
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default y
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config UAVCAN_SENSOR_BATTERY
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bool "Subscribe to Battery: uavcan::equipment::power::BatteryInfo | ardupilot::equipment::power::BatteryInfoAux"
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default y
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config UAVCAN_SENSOR_DIFFERENTIAL_PRESSURE
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bool "Subscribe to Differential Pressure: uavcan::equipment::air_data::RawAirData"
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default y
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config UAVCAN_SENSOR_FLOW
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bool "Subscribe to Flow: com::hex::equipment::flow::Measurement"
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default y
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config UAVCAN_SENSOR_GNSS
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bool "Subscribe to GPS: uavcan::equipment::gnss::Auxiliary | uavcan::equipment::gnss::Fix | uavcan::equipment::gnss::Fix2"
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default y
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config UAVCAN_SENSOR_HYGROMETER
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bool "Subscribe to Hygrometer: dronecan::sensors::hygrometer::Hygrometer"
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default y
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config UAVCAN_SENSOR_ICE_STATUS
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bool "Subscribe to Internal Combustion Engine: uavcan::equipment::ice::reciprocating::Status"
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default y
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config UAVCAN_SENSOR_MAG
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bool "Subscribe to Magnetometer: uavcan::equipment::ahrs::MagneticFieldStrength | uavcan::equipment::ahrs::MagneticFieldStrength2"
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default y
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config UAVCAN_SENSOR_RANGEFINDER
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bool "Subscribe to Rangefinder: uavcan::equipment::range_sensor::Measurement"
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default y
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config UAVCAN_SENSOR_SAFETY_BUTTON
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bool "Subscribe to Safety Button: ardupilot::indication::Button"
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default y
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endif #DRIVERS_UAVCAN
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menuconfig BOARD_UAVCAN_INTERFACES
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depends on DRIVERS_UAVCAN || DRIVERS_UAVCANNODE
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@ -38,19 +38,43 @@
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#include "sensor_bridge.hpp"
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#include <cassert>
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#if defined(CONFIG_UAVCAN_SENSOR_ACCEL)
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#include "accel.hpp"
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#include "airspeed.hpp"
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#include "baro.hpp"
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#include "battery.hpp"
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#include "differential_pressure.hpp"
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#include "flow.hpp"
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#include "gnss.hpp"
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#include "gyro.hpp"
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#endif
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#if defined(CONFIG_UAVCAN_SENSOR_AIRSPEED)
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#include "airspeed.hpp"
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#endif
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#if defined(CONFIG_UAVCAN_SENSOR_BARO)
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#include "baro.hpp"
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#endif
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#if defined(CONFIG_UAVCAN_SENSOR_BATTERY)
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#include "battery.hpp"
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#endif
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#if defined(CONFIG_UAVCAN_SENSOR_DIFFERENTIAL_PRESSURE)
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#include "differential_pressure.hpp"
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#endif
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#if defined(CONFIG_UAVCAN_SENSOR_FLOW)
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#include "flow.hpp"
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#endif
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#if defined(CONFIG_UAVCAN_SENSOR_GNSS)
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#include "gnss.hpp"
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#endif
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#if defined(CONFIG_UAVCAN_SENSOR_HYGROMETER)
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#include "hygrometer.hpp"
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#endif
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#if defined(CONFIG_UAVCAN_SENSOR_ICE_STATUS)
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#include "ice_status.hpp"
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#endif
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#if defined(CONFIG_UAVCAN_SENSOR_MAG)
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#include "mag.hpp"
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#endif
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#if defined(CONFIG_UAVCAN_SENSOR_RANGEFINDER)
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#include "rangefinder.hpp"
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#endif
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#if defined(CONFIG_UAVCAN_SENSOR_SAFETY_BUTTON)
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#include "safety_button.hpp"
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#endif
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/*
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* IUavcanSensorBridge
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@ -58,6 +82,7 @@
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void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge *> &list)
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{
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// airspeed
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#if defined(CONFIG_UAVCAN_SENSOR_AIRSPEED)
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int32_t uavcan_sub_aspd = 1;
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param_get(param_find("UAVCAN_SUB_ASPD"), &uavcan_sub_aspd);
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@ -65,6 +90,9 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
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list.add(new UavcanAirspeedBridge(node));
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}
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#endif
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#if defined(CONFIG_UAVCAN_SENSOR_BARO)
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// baro
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int32_t uavcan_sub_baro = 1;
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param_get(param_find("UAVCAN_SUB_BARO"), &uavcan_sub_baro);
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@ -73,7 +101,10 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
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list.add(new UavcanBarometerBridge(node));
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}
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#endif
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// battery
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#if defined(CONFIG_UAVCAN_SENSOR_BATTERY)
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int32_t uavcan_sub_bat = 1;
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param_get(param_find("UAVCAN_SUB_BAT"), &uavcan_sub_bat);
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@ -81,7 +112,10 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
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list.add(new UavcanBatteryBridge(node));
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}
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#endif
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// differential pressure
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#if defined(CONFIG_UAVCAN_SENSOR_DIFFERENTIAL_PRESSURE)
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int32_t uavcan_sub_dpres = 1;
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param_get(param_find("UAVCAN_SUB_DPRES"), &uavcan_sub_dpres);
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@ -89,7 +123,10 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
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list.add(new UavcanDifferentialPressureBridge(node));
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}
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#endif
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// flow
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#if defined(CONFIG_UAVCAN_SENSOR_FLOW)
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int32_t uavcan_sub_flow = 1;
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param_get(param_find("UAVCAN_SUB_FLOW"), &uavcan_sub_flow);
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@ -97,7 +134,10 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
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list.add(new UavcanFlowBridge(node));
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}
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#endif
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// GPS
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#if defined(CONFIG_UAVCAN_SENSOR_GNSS)
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int32_t uavcan_sub_gps = 1;
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param_get(param_find("UAVCAN_SUB_GPS"), &uavcan_sub_gps);
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@ -105,7 +145,10 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
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list.add(new UavcanGnssBridge(node));
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}
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#endif
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// hygrometer
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#if defined(CONFIG_UAVCAN_SENSOR_HYGROMETER)
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int32_t uavcan_sub_hygro = 1;
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param_get(param_find("UAVCAN_SUB_HYGRO"), &uavcan_sub_hygro);
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@ -113,7 +156,10 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
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list.add(new UavcanHygrometerBridge(node));
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}
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#endif
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// ice (internal combustion engine)
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#if defined(CONFIG_UAVCAN_SENSOR_ICE_STATUS)
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int32_t uavcan_sub_ice = 1;
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param_get(param_find("UAVCAN_SUB_ICE"), &uavcan_sub_ice);
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@ -121,7 +167,10 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
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list.add(new UavcanIceStatusBridge(node));
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}
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#endif
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// IMU
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#if defined(CONFIG_UAVCAN_SENSOR_ACCEL)
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int32_t uavcan_sub_imu = 1;
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param_get(param_find("UAVCAN_SUB_IMU"), &uavcan_sub_imu);
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@ -130,7 +179,10 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
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list.add(new UavcanGyroBridge(node));
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}
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#endif
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// magnetometer
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#if defined(CONFIG_UAVCAN_SENSOR_MAG)
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int32_t uavcan_sub_mag = 1;
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param_get(param_find("UAVCAN_SUB_MAG"), &uavcan_sub_mag);
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@ -138,7 +190,10 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
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list.add(new UavcanMagnetometerBridge(node));
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}
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#endif
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// range finder
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#if defined(CONFIG_UAVCAN_SENSOR_RANGEFINDER)
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int32_t uavcan_sub_rng = 1;
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param_get(param_find("UAVCAN_SUB_RNG"), &uavcan_sub_rng);
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@ -146,13 +201,19 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
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list.add(new UavcanRangefinderBridge(node));
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}
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#endif
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// safety button
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#if defined(CONFIG_UAVCAN_SENSOR_SAFETY_BUTTON)
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int32_t uavcan_sub_button = 1;
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param_get(param_find("UAVCAN_SUB_BTN"), &uavcan_sub_button);
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if (uavcan_sub_button != 0) {
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list.add(new UavcanSafetyButtonBridge(node));
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}
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#endif
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}
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/*
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@ -80,14 +80,26 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
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ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::uavcan),
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ModuleParams(nullptr),
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_node(can_driver, system_clock, _pool_allocator),
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#if defined(CONFIG_UAVCAN_ARMING_CONTROLLER)
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_arming_status_controller(_node),
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#endif
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#if defined(CONFIG_UAVCAN_BEEP_CONTROLLER)
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_beep_controller(_node),
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#endif
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#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
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_esc_controller(_node),
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_servo_controller(_node),
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#endif
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#if defined(CONFIG_UAVCAN_HARDPOINT_CONTROLLER)
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_hardpoint_controller(_node),
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#endif
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#if defined(CONFIG_UAVCAN_SAFETY_STATE_CONTROLLER)
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_safety_state_controller(_node),
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_log_message_controller(_node),
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#endif
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#if defined(CONFIG_UAVCAN_RGB_CONTROLLER)
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_rgbled_controller(_node),
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#endif
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_log_message_controller(_node),
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_time_sync_master(_node),
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_time_sync_slave(_node),
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_node_status_monitor(_node),
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@ -103,8 +115,10 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
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std::abort();
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}
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#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
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_mixing_interface_esc.mixingOutput().setMaxTopicUpdateRate(1000000 / UavcanEscController::MAX_RATE_HZ);
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_mixing_interface_servo.mixingOutput().setMaxTopicUpdateRate(1000000 / UavcanServoController::MAX_RATE_HZ);
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#endif
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}
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UavcanNode::~UavcanNode()
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@ -395,8 +409,10 @@ UavcanNode::get_param(int remote_node_id, const char *name)
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void
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UavcanNode::update_params()
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{
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#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
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_mixing_interface_esc.updateParams();
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_mixing_interface_servo.updateParams();
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#endif
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}
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int
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@ -429,8 +445,11 @@ UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
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}
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_instance->ScheduleOnInterval(ScheduleIntervalMs * 1000);
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#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
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_instance->_mixing_interface_esc.ScheduleNow();
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_instance->_mixing_interface_servo.ScheduleNow();
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#endif
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return OK;
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}
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@ -482,6 +501,7 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
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int ret;
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// UAVCAN_PUB_ARM
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#if defined(CONFIG_UAVCAN_ARMING_CONTROLLER)
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int32_t uavcan_pub_arm = 0;
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param_get(param_find("UAVCAN_PUB_ARM"), &uavcan_pub_arm);
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@ -493,43 +513,60 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
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}
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}
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#endif
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#if defined(CONFIG_UAVCAN_BEEP_CONTROLLER)
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ret = _beep_controller.init();
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if (ret < 0) {
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return ret;
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}
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#endif
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// Actuators
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#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
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ret = _esc_controller.init();
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if (ret < 0) {
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return ret;
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}
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#endif
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#if defined(CONFIG_UAVCAN_HARDPOINT_CONTROLLER)
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ret = _hardpoint_controller.init();
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if (ret < 0) {
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return ret;
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}
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#endif
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#if defined(CONFIG_UAVCAN_SAFETY_CONTROLLER)
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ret = _safety_state_controller.init();
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if (ret < 0) {
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return ret;
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}
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#endif
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ret = _log_message_controller.init();
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if (ret < 0) {
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return ret;
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}
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#if defined(CONFIG_UAVCAN_RGB_CONTROLLER)
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ret = _rgbled_controller.init();
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if (ret < 0) {
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return ret;
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}
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#endif
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/* Start node info retriever to fetch node info from new nodes */
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ret = _node_info_retriever.start();
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@ -552,6 +589,8 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
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PX4_DEBUG("sensor bridge '%s' init ok", br->get_name());
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}
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#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
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// Ensure we don't exceed maximum limits and assumptions. FIXME: these should be static assertions
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if (UavcanEscController::max_output_value() >= UavcanEscController::DISARMED_OUTPUT_VALUE
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|| UavcanEscController::max_output_value() > (int)UINT16_MAX) {
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@ -560,6 +599,7 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
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}
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_mixing_interface_esc.mixingOutput().setAllDisarmedValues(UavcanEscController::DISARMED_OUTPUT_VALUE);
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#endif
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/* Set up shared service clients */
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_param_getset_client.setCallback(GetSetCallback(this, &UavcanNode::cb_getset));
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@ -921,15 +961,20 @@ UavcanNode::Run()
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pthread_mutex_unlock(&_node_mutex);
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if (_task_should_exit.load()) {
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#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
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_mixing_interface_esc.mixingOutput().unregister();
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_mixing_interface_esc.ScheduleClear();
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_mixing_interface_servo.mixingOutput().unregister();
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_mixing_interface_servo.ScheduleClear();
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#endif
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ScheduleClear();
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_instance = nullptr;
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}
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}
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#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
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bool UavcanMixingInterfaceESC::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
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unsigned num_control_groups_updated)
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{
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@ -974,6 +1019,7 @@ void UavcanMixingInterfaceServo::Run()
|
|||
_mixing_output.updateSubscriptions(false);
|
||||
pthread_mutex_unlock(&_node_mutex);
|
||||
}
|
||||
#endif
|
||||
|
||||
void
|
||||
UavcanNode::print_info()
|
||||
|
|
@ -1016,10 +1062,13 @@ UavcanNode::print_info()
|
|||
|
||||
printf("\n");
|
||||
|
||||
#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
|
||||
printf("ESC outputs:\n");
|
||||
_mixing_interface_esc.mixingOutput().printStatus();
|
||||
|
||||
printf("Servo outputs:\n");
|
||||
_mixing_interface_servo.mixingOutput().printStatus();
|
||||
#endif
|
||||
|
||||
printf("\n");
|
||||
|
||||
|
|
|
|||
|
|
@ -46,15 +46,36 @@
|
|||
#include <px4_platform_common/atomic.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
|
||||
#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
|
||||
#include "actuators/esc.hpp"
|
||||
#include "actuators/hardpoint.hpp"
|
||||
#include "actuators/servo.hpp"
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_UAVCAN_HARDPOINT_CONTROLLER)
|
||||
#include "actuators/hardpoint.hpp"
|
||||
#endif
|
||||
|
||||
|
||||
#include "allocator.hpp"
|
||||
|
||||
#if defined(CONFIG_UAVCAN_ARMING_CONTROLLER)
|
||||
#include "arming_status.hpp"
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_UAVCAN_BEEP_CONTROLLER)
|
||||
#include "beep.hpp"
|
||||
#endif
|
||||
|
||||
#include "logmessage.hpp"
|
||||
|
||||
#if defined(CONFIG_UAVCAN_RGB_CONTROLLER)
|
||||
#include "rgbled.hpp"
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_UAVCAN_SAFETY_STATE_CONTROLLER)
|
||||
#include "safety_state.hpp"
|
||||
#endif
|
||||
|
||||
#include "sensors/sensor_bridge.hpp"
|
||||
#include "uavcan_driver.hpp"
|
||||
#include "uavcan_servers.hpp"
|
||||
|
|
@ -91,6 +112,8 @@ class UavcanNode;
|
|||
* a fixed rate or upon bus updates).
|
||||
* All work items are expected to run on the same work queue.
|
||||
*/
|
||||
|
||||
#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
|
||||
class UavcanMixingInterfaceESC : public OutputModuleInterface
|
||||
{
|
||||
public:
|
||||
|
|
@ -143,6 +166,7 @@ private:
|
|||
UavcanServoController &_servo_controller;
|
||||
MixingOutput _mixing_output{"UAVCAN_SV", UavcanServoController::MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
|
||||
};
|
||||
#endif
|
||||
|
||||
/**
|
||||
* A UAVCAN node.
|
||||
|
|
@ -225,16 +249,30 @@ private:
|
|||
uavcan::Node<> _node; ///< library instance
|
||||
pthread_mutex_t _node_mutex;
|
||||
|
||||
#if defined(CONFIG_UAVCAN_ARMING_CONTROLLER)
|
||||
UavcanArmingStatus _arming_status_controller;
|
||||
#endif
|
||||
#if defined(CONFIG_UAVCAN_BEEP_CONTROLLER)
|
||||
UavcanBeepController _beep_controller;
|
||||
#endif
|
||||
#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
|
||||
UavcanEscController _esc_controller;
|
||||
UavcanServoController _servo_controller;
|
||||
UavcanMixingInterfaceESC _mixing_interface_esc{_node_mutex, _esc_controller};
|
||||
|
||||
UavcanServoController _servo_controller;
|
||||
UavcanMixingInterfaceServo _mixing_interface_servo{_node_mutex, _servo_controller};
|
||||
#endif
|
||||
#if defined(CONFIG_UAVCAN_HARDPOINT_CONTROLLER)
|
||||
UavcanHardpointController _hardpoint_controller;
|
||||
#endif
|
||||
#if defined(CONFIG_UAVCAN_SAFETY_STATE_CONTROLLER)
|
||||
UavcanSafetyState _safety_state_controller;
|
||||
UavcanLogMessage _log_message_controller;
|
||||
#endif
|
||||
#if defined(CONFIG_UAVCAN_RGB_CONTROLLER)
|
||||
UavcanRGBController _rgbled_controller;
|
||||
#endif
|
||||
|
||||
UavcanLogMessage _log_message_controller;
|
||||
|
||||
uavcan::GlobalTimeSyncMaster _time_sync_master;
|
||||
uavcan::GlobalTimeSyncSlave _time_sync_slave;
|
||||
|
|
|
|||
Loading…
Reference in New Issue