forked from Archive/PX4-Autopilot
Move esc_status to generated topics
This commit is contained in:
Lorenz Meier
parent
f7c9e918b1
commit
e07731de7a
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@ -0,0 +1,11 @@
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uint8 esc_vendor # Vendor of current ESC
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uint32 esc_errorcount # Number of reported errors by ESC - if supported
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int32 esc_rpm # Motor RPM, negative for reverse rotation [RPM] - if supported
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float32 esc_voltage # Voltage measured from current ESC [V] - if supported
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float32 esc_current # Current measured from current ESC [A] - if supported
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float32 esc_temperature # Temperature measured from current ESC [degC] - if supported
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float32 esc_setpoint # setpoint of current ESC
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uint16 esc_setpoint_raw # setpoint of current ESC (Value sent to ESC)
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uint16 esc_address # Address of current ESC (in most cases 1-8 / must be set by driver)
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uint16 esc_version # Version of current ESC - if supported
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uint16 esc_state # State of ESC - depend on Vendor
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@ -0,0 +1,19 @@
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uint8 CONNECTED_ESC_MAX = 8 # The number of ESCs supported. Current (Q2/2013) we support 8 ESCs
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uint8 ESC_VENDOR_GENERIC = 0 # generic ESC
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uint8 ESC_VENDOR_MIKROKOPTER = 1 # Mikrokopter
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uint8 ESC_VENDOR_GRAUPNER_HOTT = 2 # Graupner HoTT ESC
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uint8 ESC_CONNECTION_TYPE_PPM = 0 # Traditional PPM ESC
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uint8 ESC_CONNECTION_TYPE_SERIAL = 1 # Serial Bus connected ESC
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uint8 ESC_CONNECTION_TYPE_ONESHOOT = 2 # One Shoot PPM
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uint8 ESC_CONNECTION_TYPE_I2C = 3 # I2C
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uint8 ESC_CONNECTION_TYPE_CAN = 4 # CAN-Bus
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uint16 counter # incremented by the writing thread everytime new data is stored
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uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
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uint8 esc_count # number of connected ESCs
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uint8 esc_connectiontype # how ESCs connected to the system
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esc_report[8] esc
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@ -111,9 +111,9 @@ publish_gam_message(const uint8_t *buffer)
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// Publish it.
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esc.timestamp = hrt_absolute_time();
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esc.esc_count = 1;
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esc.esc_connectiontype = ESC_CONNECTION_TYPE_PPM;
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esc.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_PPM;
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esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT;
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esc.esc[0].esc_vendor = esc_status_s::ESC_VENDOR_GRAUPNER_HOTT;
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esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
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esc.esc[0].esc_temperature = static_cast<float>(msg.temperature1) - 20.0F;
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esc.esc[0].esc_voltage = static_cast<float>((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)) * 0.1F;
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@ -601,11 +601,11 @@ MK::task_main()
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esc.counter++;
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esc.timestamp = hrt_absolute_time();
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esc.esc_count = (uint8_t) _num_outputs;
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esc.esc_connectiontype = ESC_CONNECTION_TYPE_I2C;
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esc.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_I2C;
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for (unsigned int i = 0; i < _num_outputs; i++) {
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esc.esc[i].esc_address = (uint8_t) BLCTRL_BASE_ADDR + i;
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esc.esc[i].esc_vendor = ESC_VENDOR_MIKROKOPTER;
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esc.esc[i].esc_vendor = esc_status_s::ESC_VENDOR_MIKROKOPTER;
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esc.esc[i].esc_version = (uint16_t) Motor[i].Version;
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esc.esc[i].esc_voltage = 0.0F;
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esc.esc[i].esc_current = static_cast<float>(Motor[i].Current) * 0.1F;
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@ -1,116 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Author: @author Marco Bauer <marco@wtns.de>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file esc_status.h
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* Definition of the esc_status uORB topic.
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*
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* Published the state machine and the system status bitfields
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* (see SYS_STATUS mavlink message), published only by commander app.
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*
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* All apps should write to subsystem_info:
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*
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* (any app) --> subsystem_info (published) --> (commander app state machine) --> esc_status --> (mavlink app)
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*/
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#ifndef ESC_STATUS_H_
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#define ESC_STATUS_H_
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#include <stdint.h>
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#include <stdbool.h>
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#include "../uORB.h"
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/**
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* The number of ESCs supported.
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* Current (Q2/2013) we support 8 ESCs,
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*/
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#define CONNECTED_ESC_MAX 8
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enum ESC_VENDOR {
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ESC_VENDOR_GENERIC = 0, /**< generic ESC */
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ESC_VENDOR_MIKROKOPTER, /**< Mikrokopter */
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ESC_VENDOR_GRAUPNER_HOTT /**< Graupner HoTT ESC */
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};
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enum ESC_CONNECTION_TYPE {
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ESC_CONNECTION_TYPE_PPM = 0, /**< Traditional PPM ESC */
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ESC_CONNECTION_TYPE_SERIAL, /**< Serial Bus connected ESC */
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ESC_CONNECTION_TYPE_ONESHOOT, /**< One Shoot PPM */
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ESC_CONNECTION_TYPE_I2C, /**< I2C */
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ESC_CONNECTION_TYPE_CAN /**< CAN-Bus */
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};
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/**
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* @addtogroup topics
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* @{
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*/
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/**
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* Electronic speed controller status.
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* Unsupported float fields should be assigned NaN.
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*/
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struct esc_status_s {
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/* use of a counter and timestamp recommended (but not necessary) */
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uint16_t counter; /**< incremented by the writing thread everytime new data is stored */
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uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
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uint8_t esc_count; /**< number of connected ESCs */
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enum ESC_CONNECTION_TYPE esc_connectiontype; /**< how ESCs connected to the system */
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struct {
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enum ESC_VENDOR esc_vendor; /**< Vendor of current ESC */
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uint32_t esc_errorcount; /**< Number of reported errors by ESC - if supported */
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int32_t esc_rpm; /**< Motor RPM, negative for reverse rotation [RPM] - if supported */
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float esc_voltage; /**< Voltage measured from current ESC [V] - if supported */
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float esc_current; /**< Current measured from current ESC [A] - if supported */
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float esc_temperature; /**< Temperature measured from current ESC [degC] - if supported */
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float esc_setpoint; /**< setpoint of current ESC */
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uint16_t esc_setpoint_raw; /**< setpoint of current ESC (Value sent to ESC) */
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uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */
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uint16_t esc_version; /**< Version of current ESC - if supported */
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uint16_t esc_state; /**< State of ESC - depend on Vendor */
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} esc[CONNECTED_ESC_MAX];
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};
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/**
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* @}
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*/
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/* register this as object request broker structure */
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//ORB_DECLARE(esc_status);
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ORB_DECLARE_OPTIONAL(esc_status);
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#endif
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@ -85,7 +85,7 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
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{
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if ((outputs == nullptr) ||
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(num_outputs > uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize) ||
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(num_outputs > CONNECTED_ESC_MAX)) {
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(num_outputs > esc_status_s::CONNECTED_ESC_MAX)) {
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perf_count(_perfcnt_invalid_input);
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return;
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}
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@ -159,7 +159,7 @@ void UavcanEscController::arm_single_esc(int num, bool arm)
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void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
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{
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if (msg.esc_index < CONNECTED_ESC_MAX) {
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if (msg.esc_index < esc_status_s::CONNECTED_ESC_MAX) {
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_esc_status.esc_count = uavcan::max<int>(_esc_status.esc_count, msg.esc_index + 1);
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_esc_status.timestamp = msg.getMonotonicTimestamp().toUSec();
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@ -179,7 +179,7 @@ void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<
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void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent&)
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{
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_esc_status.counter += 1;
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_esc_status.esc_connectiontype = ESC_CONNECTION_TYPE_CAN;
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_esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_CAN;
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if (_esc_status_pub > 0) {
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(void)orb_publish(ORB_ID(esc_status), _esc_status_pub, &_esc_status);
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