From 43e1cda8ac1db33b884da7ad2c1875bb8b8b6263 Mon Sep 17 00:00:00 2001 From: honglang Date: Thu, 26 Nov 2020 17:36:03 +0800 Subject: [PATCH] uavcan: add tune_control/beep --- ROMFS/px4fmu_common/init.d/rcS | 2 +- src/drivers/uavcan/CMakeLists.txt | 2 + src/drivers/uavcan/beep.cpp | 102 +++++++++++++++++++++++++++++ src/drivers/uavcan/beep.hpp | 93 ++++++++++++++++++++++++++ src/drivers/uavcan/uavcan_main.cpp | 7 ++ src/drivers/uavcan/uavcan_main.hpp | 2 + 6 files changed, 207 insertions(+), 1 deletion(-) create mode 100644 src/drivers/uavcan/beep.cpp create mode 100644 src/drivers/uavcan/beep.hpp diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 26f4501aba..ae5f6e5ab2 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -441,7 +441,7 @@ else then # Start UAVCAN firmware update server and dynamic node ID allocation server. uavcan start fw - + tune_control play -t 1 if param greater UAVCAN_ENABLE 2 then set OUTPUT_MODE uavcan_esc diff --git a/src/drivers/uavcan/CMakeLists.txt b/src/drivers/uavcan/CMakeLists.txt index fd0a7270ff..a15d32d303 100644 --- a/src/drivers/uavcan/CMakeLists.txt +++ b/src/drivers/uavcan/CMakeLists.txt @@ -121,6 +121,8 @@ px4_add_module( ${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include ${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver/include SRCS + beep.cpp + beep.hpp rgbled.cpp rgbled.hpp safety_state.cpp diff --git a/src/drivers/uavcan/beep.cpp b/src/drivers/uavcan/beep.cpp new file mode 100644 index 0000000000..a60920a86d --- /dev/null +++ b/src/drivers/uavcan/beep.cpp @@ -0,0 +1,102 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * 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. + * 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. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file beep.cpp + * + * @author CUAVcaijie + */ + +#include "beep.hpp" + +UavcanBeep::UavcanBeep(uavcan::INode &node) : + _beep_pub(node), + _timer(node) +{ +} + +int UavcanBeep::init() +{ + /* + * Setup timer and call back function for periodic updates + */ + if (!_timer.isRunning()) { + _timer.setCallback(TimerCbBinder(this, &UavcanBeep::periodic_update)); + _timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ)); + } + + return 0; +} + +void UavcanBeep::periodic_update(const uavcan::TimerEvent &) +{ + if (_tune_control_sub.updated()) { + _tune_control_sub.copy(&_tune); + + if (_tune.timestamp > 0) { + _play_tone = (_tunes.set_control(_tune) == Tunes::ControlResult::Success); + } + } + + const hrt_abstime timestamp_now = hrt_absolute_time(); + + if ((timestamp_now - _interval_timestamp <= _duration) || !_play_tone) { + return; + } + + _interval_timestamp = timestamp_now; + + if (_silence_length > 0) { + _duration = _silence_length; + _silence_length = 0; + + } else if (_play_tone) { + Tunes::Status parse_ret_val = _tunes.get_next_note(_frequency, _duration, _silence_length); + + if (parse_ret_val == Tunes::Status::Continue) { + // Continue playing. + _play_tone = true; + + if (_frequency > 0) { + // Start playing the note. + uavcan::equipment::indication::BeepCommand cmd{}; + cmd.frequency = _frequency; + cmd.duration = _duration / 1000000.f; + _beep_pub.broadcast(cmd); + } + + } else { + _play_tone = false; + } + } +} diff --git a/src/drivers/uavcan/beep.hpp b/src/drivers/uavcan/beep.hpp new file mode 100644 index 0000000000..f5c45b1079 --- /dev/null +++ b/src/drivers/uavcan/beep.hpp @@ -0,0 +1,93 @@ +/**************************************************************************** +* +* Copyright (c) 2021 PX4 Development Team. All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* 1. Redistributions of source code must retain the above copyright +* 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. +* 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. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* +****************************************************************************/ + +/** + * @file beep.hpp + * + * @author CUAVcaijie + * + * @brief Control CAN buzzer by subscribing to tune_control + * + */ + +#pragma once + +#include +#include +#include +#include +#include + +class UavcanBeep +{ +public: + UavcanBeep(uavcan::INode &node); + + /* + * setup periodic updater + */ + int init(); + +private: + /* + * Max update rate to avoid excessive bus traffic + */ + static constexpr unsigned MAX_RATE_HZ = 100; + + /* + * Setup timer and call back function for periodic updates + */ + void periodic_update(const uavcan::TimerEvent &); + + typedef uavcan::MethodBinder TimerCbBinder; + + /* + * Subscription tune_control + */ + uORB::Subscription _tune_control_sub{ORB_ID(tune_control)}; + + /* + * Publish CAN Beep + */ + uavcan::Publisher _beep_pub; + + uavcan::TimerEventForwarder _timer; + + hrt_abstime _interval_timestamp{0}; + tune_control_s _tune{}; + Tunes _tunes{}; + bool _play_tone{false}; + unsigned int _silence_length{0}; ///< If nonzero, silence before next note. + unsigned int _frequency{0}; + unsigned int _duration{0}; +}; diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp index 903e53d74f..7be973d907 100644 --- a/src/drivers/uavcan/uavcan_main.cpp +++ b/src/drivers/uavcan/uavcan_main.cpp @@ -82,6 +82,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys _node(can_driver, system_clock, _pool_allocator), _esc_controller(_node), _hardpoint_controller(_node), + _beep_controller(_node), _safety_state_controller(_node), _rgbled_controller(_node), _time_sync_master(_node), @@ -623,6 +624,12 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events) return ret; } + ret = _beep_controller.init(); + + if (ret < 0) { + return ret; + } + ret = _safety_state_controller.init(); if (ret < 0) { diff --git a/src/drivers/uavcan/uavcan_main.hpp b/src/drivers/uavcan/uavcan_main.hpp index 05df915679..cdfe5c888d 100644 --- a/src/drivers/uavcan/uavcan_main.hpp +++ b/src/drivers/uavcan/uavcan_main.hpp @@ -46,6 +46,7 @@ #include #include +#include "beep.hpp" #include "rgbled.hpp" #include "safety_state.hpp" #include "uavcan_driver.hpp" @@ -205,6 +206,7 @@ private: UavcanEscController _esc_controller; UavcanMixingInterface _mixing_interface{_node_mutex, _esc_controller}; UavcanHardpointController _hardpoint_controller; + UavcanBeep _beep_controller; UavcanSafetyState _safety_state_controller; UavcanRGBController _rgbled_controller; uavcan::GlobalTimeSyncMaster _time_sync_master;