Esc.hpp
4.44 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
/****************************************************************************
*
* 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 Esc.hpp
*
* Defines basic functionality of UAVCAN v1 ESC setpoint subscription
* (For use on a CAN-->PWM node)
*
* @author Jacob Crabill <jacob@flyvoly.com>
*/
#pragma once
/// For use with PR-16808 once merged
// #include <uORB/topics/output_control.h>
// DS-15 Specification Messages
#include <reg/drone/service/actuator/common/sp/Vector8_0_1.h>
#include <reg/drone/service/common/Readiness_0_1.h>
#include "DynamicPortSubscriber.hpp"
class UavcanEscSubscriber : public UavcanDynamicPortSubscriber
{
public:
UavcanEscSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
UavcanDynamicPortSubscriber(ins, pmgr, "esc", instance) { };
void subscribe() override
{
// Subscribe to messages reg.drone.service.actuator.common.sp.Vector8.0.1
canardRxSubscribe(&_canard_instance,
CanardTransferKindMessage,
_subj_sub._canard_sub._port_id,
reg_drone_service_actuator_common_sp_Vector8_0_1_EXTENT_BYTES_,
CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
&_subj_sub._canard_sub);
// Subscribe to messages reg.drone.service.common.Readiness.0.1
canardRxSubscribe(&_canard_instance,
CanardTransferKindMessage,
static_cast<CanardPortID>(static_cast<uint32_t>(_subj_sub._canard_sub._port_id) + 1),
reg_drone_service_common_Readiness_0_1_EXTENT_BYTES_,
CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
&_canard_sub_readiness);
};
void callback(const CanardTransfer &receive) override
{
// Test with Yakut:
// export YAKUT_TRANSPORT="pyuavcan.transport.can.CANTransport(pyuavcan.transport.can.media.slcan.SLCANMedia('/dev/serial/by-id/usb-Zubax_Robotics_Zubax_Babel_23002B000E514E413431302000000000-if00', 8, 115200), 42)"
// yakut pub 22.reg.drone.service.actuator.common.sp.Vector8.0.1 '{value: [1000, 2000, 3000, 4000, 0, 0, 0, 0]}'
PX4_INFO("EscCallback");
reg_drone_service_actuator_common_sp_Vector8_0_1 esc {};
size_t esc_size_in_bits = receive.payload_size;
reg_drone_service_actuator_common_sp_Vector8_0_1_deserialize_(&esc, (const uint8_t *)receive.payload,
&esc_size_in_bits);
double val1 = static_cast<double>(esc.value[0]);
double val2 = static_cast<double>(esc.value[1]);
double val3 = static_cast<double>(esc.value[2]);
double val4 = static_cast<double>(esc.value[3]);
PX4_INFO("values[0-3] = {%f, %f, %f, %f}", val1, val2, val3, val4);
/// do something with the data
/// For use with PR-16808 once merged
// output_control_s outputs;
// for (uint8_t i = 0; i < 8; i++) {
// outputs.value[i] = 2.f * (esc.value[i] / 8191.f) - 1.f;
// }
// _output_pub.publish(outputs);
};
private:
/// For use with PR-16808 once merged
// uORB::Publication<output_control_s> _output_pub{ORB_ID(output_control_mc)};
CanardRxSubscription _canard_sub_readiness;
};