Merge pull request #1128 from PX4/uavcan

Basic UAVCAN support

.gitmodules

@@ -4,3 +4,6 @@
 [submodule "NuttX"]
 	path = NuttX
 	url = git://github.com/PX4/NuttX.git
+[submodule "uavcan"]
+	path = uavcan
+	url = git://github.com/pavel-kirienko/uavcan.git

Makefile

@@ -212,6 +212,9 @@ endif
 $(NUTTX_SRC):
 	$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)
 
+$(UAVCAN_DIR):
+	$(Q) (./Tools/check_submodules.sh)
+
 .PHONY: checksubmodules
 checksubmodules:
 	$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)

ROMFS/px4fmu_common/init.d/4012_quad_x_can

@@ -0,0 +1,27 @@
+#!nsh
+#
+# F450-sized quadrotor with CAN
+#
+# Lorenz Meier <lm@inf.ethz.ch>
+#
+
+sh /etc/init.d/4001_quad_x
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	# TODO REVIEW
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+fi
+
+set OUTPUT_MODE uavcan_esc

ROMFS/px4fmu_common/init.d/rc.autostart

@@ -136,6 +136,11 @@ then
 	sh /etc/init.d/4011_dji_f450
 fi
 
+if param compare SYS_AUTOSTART 4012
+then
+	sh /etc/init.d/4012_quad_x_can
+fi
+
 if param compare SYS_AUTOSTART 4020
 then
 	sh /etc/init.d/4020_hk_micro_pcb

ROMFS/px4fmu_common/init.d/rc.interface

@@ -24,6 +24,11 @@ then
 	else
 		set OUTPUT_DEV /dev/pwm_output
 	fi
+
+	if [ $OUTPUT_MODE == uavcan_esc ]
+	then
+		set OUTPUT_DEV /dev/uavcan/esc
+	fi
 	
 	if mixer load $OUTPUT_DEV $MIXER_FILE
 	then

ROMFS/px4fmu_common/init.d/rcS

@@ -297,7 +297,17 @@ then
 	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
 	if [ $OUTPUT_MODE != none ]
 	then
-		if [ $OUTPUT_MODE == io ]
+		if [ $OUTPUT_MODE == uavcan_esc ]
+		then
+			if uavcan start 1
+			then
+				echo "CAN UP"
+			else
+				echo "CAN ERR"
+			fi
+		fi
+
+		if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ]
 		then
 			echo "[init] Use PX4IO PWM as primary output"
 			if px4io start

Tools/check_submodules.sh

@@ -53,4 +53,28 @@ else
 	git submodule update;
 fi
 
+
+if [ -d uavcan ]
+then
+	STATUSRETVAL=$(git submodule summary | grep -A20 -i uavcan | grep "<")
+	if [ -z "$STATUSRETVAL" ]
+	then
+		echo "Checked uavcan submodule, correct version found"
+	else
+		echo ""
+		echo ""
+		echo "uavcan sub repo not at correct version. Try 'git submodule update'"
+		echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
+		echo ""
+		echo ""
+		echo "New commits required:"
+		echo "$(git submodule summary)"
+		echo ""
+		exit 1
+	fi
+else
+	git submodule init
+	git submodule update
+fi
+
 exit 0

makefiles/config_px4fmu-v2_default.mk

@@ -74,6 +74,7 @@ MODULES		+= modules/commander
 MODULES		+= modules/navigator
 MODULES		+= modules/mavlink
 MODULES		+= modules/gpio_led
+MODULES		+= modules/uavcan
 
 #
 # Estimation modules (EKF/ SO3 / other filters)

makefiles/nuttx.mk

@@ -64,6 +64,7 @@ LDSCRIPT		+= $(NUTTX_EXPORT_DIR)build/ld.script
 # Add directories from the NuttX export to the relevant search paths
 #
 INCLUDE_DIRS		+= $(NUTTX_EXPORT_DIR)include \
+			   $(NUTTX_EXPORT_DIR)include/cxx \
 			   $(NUTTX_EXPORT_DIR)arch/chip \
 			   $(NUTTX_EXPORT_DIR)arch/common
 

makefiles/setup.mk

@@ -49,6 +49,7 @@ export NUTTX_SRC	 = $(abspath $(PX4_BASE)/NuttX/nuttx)/
 export MAVLINK_SRC	 = $(abspath $(PX4_BASE)/mavlink/include/mavlink/v1.0)/
 export NUTTX_APP_SRC	 = $(abspath $(PX4_BASE)/NuttX/apps)/
 export MAVLINK_SRC	 = $(abspath $(PX4_BASE)/mavlink)/
+export UAVCAN_DIR	 = $(abspath $(PX4_BASE)/uavcan)/
 export ROMFS_SRC	 = $(abspath $(PX4_BASE)/ROMFS)/
 export IMAGE_DIR	 = $(abspath $(PX4_BASE)/Images)/
 export BUILD_DIR	 = $(abspath $(PX4_BASE)/Build)/

makefiles/toolchain_gnu-arm-eabi.mk

@@ -121,7 +121,7 @@ INSTRUMENTATIONDEFINES	 = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH))
 # Language-specific flags
 #
 ARCHCFLAGS		 = -std=gnu99
-ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
+ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics
 
 # Generic warnings
 #

src/modules/uavcan/.gitignore

@@ -0,0 +1 @@
+./dsdlc_generated/

src/modules/uavcan/esc_controller.cpp

@@ -0,0 +1,138 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 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_controller.cpp
+ *
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include "esc_controller.hpp"
+#include <systemlib/err.h>
+
+UavcanEscController::UavcanEscController(uavcan::INode &node) :
+	_node(node),
+	_uavcan_pub_raw_cmd(node),
+	_uavcan_sub_status(node),
+	_orb_timer(node)
+{
+}
+
+UavcanEscController::~UavcanEscController()
+{
+	perf_free(_perfcnt_invalid_input);
+	perf_free(_perfcnt_scaling_error);
+}
+
+int UavcanEscController::init()
+{
+	// ESC status subscription
+	int res = _uavcan_sub_status.start(StatusCbBinder(this, &UavcanEscController::esc_status_sub_cb));
+	if (res < 0)
+	{
+		warnx("ESC status sub failed %i", res);
+		return res;
+	}
+
+	// ESC status will be relayed from UAVCAN bus into ORB at this rate
+	_orb_timer.setCallback(TimerCbBinder(this, &UavcanEscController::orb_pub_timer_cb));
+	_orb_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / ESC_STATUS_UPDATE_RATE_HZ));
+
+	return res;
+}
+
+void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
+{
+	if ((outputs == nullptr) || (num_outputs > MAX_ESCS)) {
+		perf_count(_perfcnt_invalid_input);
+		return;
+	}
+
+	/*
+	 * Rate limiting - we don't want to congest the bus
+	 */
+	const auto timestamp = _node.getMonotonicTime();
+	if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
+		return;
+	}
+	_prev_cmd_pub = timestamp;
+
+	/*
+	 * Fill the command message
+	 * If unarmed, we publish an empty message anyway
+	 */
+	uavcan::equipment::esc::RawCommand msg;
+
+	if (_armed) {
+		for (unsigned i = 0; i < num_outputs; i++) {
+
+			float scaled = (outputs[i] + 1.0F) * 0.5F * uavcan::equipment::esc::RawCommand::CMD_MAX;
+			if (scaled < 1.0F) {
+				scaled = 1.0F;  // Since we're armed, we don't want to stop it completely
+			}
+
+			if (scaled < uavcan::equipment::esc::RawCommand::CMD_MIN) {
+				scaled = uavcan::equipment::esc::RawCommand::CMD_MIN;
+				perf_count(_perfcnt_scaling_error);
+			} else if (scaled > uavcan::equipment::esc::RawCommand::CMD_MAX) {
+				scaled = uavcan::equipment::esc::RawCommand::CMD_MAX;
+				perf_count(_perfcnt_scaling_error);
+			} else {
+				; // Correct value
+			}
+
+			msg.cmd.push_back(static_cast<unsigned>(scaled));
+		}
+	}
+
+	/*
+	 * Publish the command message to the bus
+	 * Note that for a quadrotor it takes one CAN frame
+	 */
+	(void)_uavcan_pub_raw_cmd.broadcast(msg);
+}
+
+void UavcanEscController::arm_esc(bool arm)
+{
+	_armed = arm;
+}
+
+void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
+{
+	// TODO save status into a local storage; publish to ORB later from orb_pub_timer_cb()
+}
+
+void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent&)
+{
+	// TODO publish to ORB
+}

src/modules/uavcan/esc_controller.hpp

@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 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_controller.hpp
+ *
+ * UAVCAN <--> ORB bridge for ESC messages:
+ *     uavcan.equipment.esc.RawCommand
+ *     uavcan.equipment.esc.RPMCommand
+ *     uavcan.equipment.esc.Status
+ *
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/uavcan.hpp>
+#include <uavcan/equipment/esc/RawCommand.hpp>
+#include <uavcan/equipment/esc/Status.hpp>
+#include <systemlib/perf_counter.h>
+
+class UavcanEscController
+{
+public:
+	UavcanEscController(uavcan::INode& node);
+	~UavcanEscController();
+
+	int init();
+
+	void update_outputs(float *outputs, unsigned num_outputs);
+
+	void arm_esc(bool arm);
+
+private:
+	/**
+	 * ESC status message reception will be reported via this callback.
+	 */
+	void esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg);
+
+	/**
+	 * ESC status will be published to ORB from this callback (fixed rate).
+	 */
+	void orb_pub_timer_cb(const uavcan::TimerEvent &event);
+
+
+	static constexpr unsigned MAX_RATE_HZ = 100;			///< XXX make this configurable
+	static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 5;
+	static constexpr unsigned MAX_ESCS = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize;
+
+	typedef uavcan::MethodBinder<UavcanEscController*,
+		void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)>
+		StatusCbBinder;
+
+	typedef uavcan::MethodBinder<UavcanEscController*, void (UavcanEscController::*)(const uavcan::TimerEvent&)>
+		TimerCbBinder;
+
+	/*
+	 * libuavcan related things
+	 */
+	uavcan::MonotonicTime							_prev_cmd_pub;   ///< rate limiting
+	uavcan::INode								&_node;
+	uavcan::Publisher<uavcan::equipment::esc::RawCommand>			_uavcan_pub_raw_cmd;
+	uavcan::Subscriber<uavcan::equipment::esc::Status, StatusCbBinder>	_uavcan_sub_status;
+	uavcan::TimerEventForwarder<TimerCbBinder>				_orb_timer;
+
+	/*
+	 * ESC states
+	 */
+	bool 				_armed = false;
+	uavcan::equipment::esc::Status	_states[MAX_ESCS];
+
+	/*
+	 * Perf counters
+	 */
+	perf_counter_t _perfcnt_invalid_input = perf_alloc(PC_COUNT, "uavcan_esc_invalid_input");
+	perf_counter_t _perfcnt_scaling_error = perf_alloc(PC_COUNT, "uavcan_esc_scaling_error");
+};

src/modules/uavcan/gnss_receiver.cpp

@@ -0,0 +1,153 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 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 gnss_receiver.cpp
+ *
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ * @author Andrew Chambers <achamber@gmail.com>
+ *
+ */
+
+#include "gnss_receiver.hpp"
+#include <systemlib/err.h>
+#include <mathlib/mathlib.h>
+
+#define MM_PER_CM 			10	// Millimeters per centimeter
+
+UavcanGnssReceiver::UavcanGnssReceiver(uavcan::INode &node) :
+_node(node),
+_uavcan_sub_status(node),
+_report_pub(-1)
+{
+}
+
+int UavcanGnssReceiver::init()
+{
+	int res = -1;
+
+	// GNSS fix subscription
+	res = _uavcan_sub_status.start(FixCbBinder(this, &UavcanGnssReceiver::gnss_fix_sub_cb));
+	if (res < 0)
+	{
+		warnx("GNSS fix sub failed %i", res);
+		return res;
+	}
+
+	// Clear the uORB GPS report
+	memset(&_report, 0, sizeof(_report));
+
+	return res;
+}
+
+void UavcanGnssReceiver::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg)
+{
+	_report.timestamp_position = hrt_absolute_time();
+	_report.lat = msg.lat_1e7;
+	_report.lon = msg.lon_1e7;
+	_report.alt = msg.alt_1e2 * MM_PER_CM;	// Convert from centimeter (1e2) to millimeters (1e3)
+
+	_report.timestamp_variance = _report.timestamp_position;
+
+
+	// Check if the msg contains valid covariance information
+	const bool valid_position_covariance = !msg.position_covariance.empty();
+	const bool valid_velocity_covariance = !msg.velocity_covariance.empty();
+
+	if (valid_position_covariance) {
+		float pos_cov[9];
+		msg.position_covariance.unpackSquareMatrix(pos_cov);
+
+		// Horizontal position uncertainty
+		const float horizontal_pos_variance = math::max(pos_cov[0], pos_cov[4]);
+		_report.eph = (horizontal_pos_variance > 0) ? sqrtf(horizontal_pos_variance) : -1.0F;
+
+		// Vertical position uncertainty
+		_report.epv = (pos_cov[8] > 0) ? sqrtf(pos_cov[8]) : -1.0F;
+	} else {
+		_report.eph = -1.0F;
+		_report.epv = -1.0F;
+	}
+
+	if (valid_velocity_covariance) {
+	    float vel_cov[9];
+	    msg.velocity_covariance.unpackSquareMatrix(vel_cov);
+		_report.s_variance_m_s = math::max(math::max(vel_cov[0], vel_cov[4]), vel_cov[8]);
+
+		/* There is a nonlinear relationship between the velocity vector and the heading.
+		 * Use Jacobian to transform velocity covariance to heading covariance
+		 *
+		 * Nonlinear equation:
+		 * heading = atan2(vel_e_m_s, vel_n_m_s)
+		 * For math, see http://en.wikipedia.org/wiki/Atan2#Derivative
+		 *
+		 * To calculate the variance of heading from the variance of velocity,
+		 * cov(heading) = J(velocity)*cov(velocity)*J(velocity)^T
+		 */
+		float vel_n = msg.ned_velocity[0];
+		float vel_e = msg.ned_velocity[1];
+		float vel_n_sq = vel_n * vel_n;
+		float vel_e_sq = vel_e * vel_e;
+		_report.c_variance_rad =
+				(vel_e_sq * vel_cov[0] +
+						-2 * vel_n * vel_e * vel_cov[1] +	// Covariance matrix is symmetric
+						vel_n_sq* vel_cov[4]) / ((vel_n_sq + vel_e_sq) * (vel_n_sq + vel_e_sq));
+
+	} else {
+		_report.s_variance_m_s = -1.0F;
+		_report.c_variance_rad = -1.0F;
+	}
+
+	_report.fix_type = msg.status;
+
+	_report.timestamp_velocity = _report.timestamp_position;
+	_report.vel_n_m_s = msg.ned_velocity[0];
+	_report.vel_e_m_s = msg.ned_velocity[1];
+	_report.vel_d_m_s = msg.ned_velocity[2];
+	_report.vel_m_s = sqrtf(_report.vel_n_m_s * _report.vel_n_m_s + _report.vel_e_m_s * _report.vel_e_m_s + _report.vel_d_m_s * _report.vel_d_m_s);
+	_report.cog_rad = atan2f(_report.vel_e_m_s, _report.vel_n_m_s);
+	_report.vel_ned_valid = true;
+
+	_report.timestamp_time = _report.timestamp_position;
+	_report.time_gps_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec();	// Convert to microseconds
+
+	_report.satellites_used = msg.sats_used;
+
+	if (_report_pub > 0) {
+		orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
+
+	} else {
+		_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
+	}
+
+}

src/modules/uavcan/gnss_receiver.hpp

@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 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 gnss_receiver.hpp
+ *
+ * UAVCAN --> ORB bridge for GNSS messages:
+ *     uavcan.equipment.gnss.Fix
+ *
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ * @author Andrew Chambers <achamber@gmail.com>
+ */
+
+#pragma once
+
+#include <drivers/drv_hrt.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_gps_position.h>
+
+#include <uavcan/uavcan.hpp>
+#include <uavcan/equipment/gnss/Fix.hpp>
+
+class UavcanGnssReceiver
+{
+public:
+	UavcanGnssReceiver(uavcan::INode& node);
+
+	int init();
+
+private:
+	/**
+	 * GNSS fix message will be reported via this callback.
+	 */
+	void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg);
+
+
+	typedef uavcan::MethodBinder<UavcanGnssReceiver*,
+		void (UavcanGnssReceiver::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix>&)>
+		FixCbBinder;
+
+	/*
+	 * libuavcan related things
+	 */
+	uavcan::INode													&_node;
+	uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder>	_uavcan_sub_status;
+
+	/*
+	 * uORB
+	 */
+	struct vehicle_gps_position_s 	_report;					///< uORB topic for gnss position
+	orb_advert_t			_report_pub;					///< uORB pub for gnss position
+
+};

src/modules/uavcan/module.mk

@@ -0,0 +1,74 @@
+############################################################################
+#
+#   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+#   Author: Pavel Kirienko <pavel.kirienko@gmail.com>
+#
+# 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.
+#
+############################################################################
+
+#
+# UAVCAN <--> uORB bridge
+#
+
+MODULE_COMMAND = uavcan
+
+MAXOPTIMIZATION = -Os
+
+SRCS += uavcan_main.cpp         \
+        uavcan_clock.cpp        \
+        esc_controller.cpp      \
+        gnss_receiver.cpp
+
+#
+# libuavcan
+#
+include $(UAVCAN_DIR)/libuavcan/include.mk
+SRCS += $(LIBUAVCAN_SRC)
+INCLUDE_DIRS += $(LIBUAVCAN_INC)
+# Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
+# because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
+override EXTRADEFINES := $(EXTRADEFINES) -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS
+
+#
+# libuavcan drivers for STM32
+#
+include $(UAVCAN_DIR)/libuavcan_drivers/stm32/driver/include.mk
+SRCS += $(LIBUAVCAN_STM32_SRC)
+INCLUDE_DIRS += $(LIBUAVCAN_STM32_INC)
+override EXTRADEFINES := $(EXTRADEFINES) -DUAVCAN_STM32_NUTTX -DUAVCAN_STM32_NUM_IFACES=2
+
+#
+# Invoke DSDL compiler
+# TODO: Add make target for this, or invoke dsdlc manually.
+#       The second option assumes that the generated headers shall be saved
+#       under the version control, which may be undesirable.
+#       The first option requires any Python and the Python Mako library for the sources to be built.
+#
+$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
+INCLUDE_DIRS += dsdlc_generated

src/modules/uavcan/uavcan_clock.cpp

@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 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.
+ *
+ ****************************************************************************/
+
+#include <uavcan_stm32/uavcan_stm32.hpp>
+#include <drivers/drv_hrt.h>
+
+/**
+ * @file uavcan_clock.cpp
+ *
+ * Implements a clock for the CAN node.
+ *
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+namespace uavcan_stm32
+{
+namespace clock
+{
+
+uavcan::MonotonicTime getMonotonic()
+{
+	return uavcan::MonotonicTime::fromUSec(hrt_absolute_time());
+}
+
+uavcan::UtcTime getUtc()
+{
+	return uavcan::UtcTime();
+}
+
+void adjustUtc(uavcan::UtcDuration adjustment)
+{
+	(void)adjustment;
+}
+
+uavcan::uint64_t getUtcUSecFromCanInterrupt()
+{
+	return 0;
+}
+
+} // namespace clock
+
+SystemClock &SystemClock::instance()
+{
+	static SystemClock inst;
+	return inst;
+}
+
+}
+

src/modules/uavcan/uavcan_main.hpp

@@ -0,0 +1,123 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <nuttx/config.h>
+
+#include <uavcan_stm32/uavcan_stm32.hpp>
+#include <drivers/device/device.h>
+
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_outputs.h>
+#include <uORB/topics/actuator_armed.h>
+
+#include "esc_controller.hpp"
+#include "gnss_receiver.hpp"
+
+/**
+ * @file uavcan_main.hpp
+ *
+ * Defines basic functinality of UAVCAN node.
+ *
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN	4
+#define UAVCAN_DEVICE_PATH	"/dev/uavcan/esc"
+
+/**
+ * A UAVCAN node.
+ */
+class UavcanNode : public device::CDev
+{
+	static constexpr unsigned MemPoolSize        = 10752;
+	static constexpr unsigned RxQueueLenPerIface = 64;
+	static constexpr unsigned StackSize          = 3000;
+
+public:
+	typedef uavcan::Node<MemPoolSize> Node;
+	typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
+
+	UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock);
+
+	virtual		~UavcanNode();
+
+	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
+
+	static int	start(uavcan::NodeID node_id, uint32_t bitrate);
+
+	Node&		getNode() { return _node; }
+
+	static int	control_callback(uintptr_t handle,
+					 uint8_t control_group,
+					 uint8_t control_index,
+					 float &input);
+
+	void		subscribe();
+
+	int		teardown();
+	int		arm_actuators(bool arm);
+
+	void		print_info();
+
+	static UavcanNode* instance() { return _instance; }
+
+private:
+	int		init(uavcan::NodeID node_id);
+	void		node_spin_once();
+	int		run();
+
+	int			_task = -1;			///< handle to the OS task
+	bool			_task_should_exit = false;	///< flag to indicate to tear down the CAN driver
+	int			_armed_sub = -1;		///< uORB subscription of the arming status
+	actuator_armed_s	_armed;				///< the arming request of the system
+	bool			_is_armed = false;		///< the arming status of the actuators on the bus
+
+	unsigned		_output_count = 0;		///< number of actuators currently available
+
+	static UavcanNode	*_instance;			///< singleton pointer
+	Node			_node;				///< library instance
+	UavcanEscController	_esc_controller;
+	UavcanGnssReceiver 	_gnss_receiver;
+
+	MixerGroup		*_mixers = nullptr;
+
+	uint32_t		_groups_required = 0;
+	uint32_t		_groups_subscribed = 0;
+	int			_control_subs[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
+	actuator_controls_s 	_controls[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
+	orb_id_t		_control_topics[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
+	pollfd			_poll_fds[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN + 1] = {};	///< +1 for /dev/uavcan/busevent
+	unsigned		_poll_fds_num = 0;
+};