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Update ORB topic 'esc_status'

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This commit is contained in:
Pavel Kirienko
2014-10-13 17:01:34 +04:00
parent e5a77a638a
commit 1bf4270e3e
5 changed files with 33 additions and 34 deletions
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src/drivers/hott/messages.cpp
+7 -7
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@@ -115,9 +115,9 @@ publish_gam_message(const uint8_t *buffer)
esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT; esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT;
esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10; esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
esc.esc[0].esc_temperature = msg.temperature1 - 20; esc.esc[0].esc_temperature = static_cast<float>(msg.temperature1) - 20.0F;
esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)); esc.esc[0].esc_voltage = static_cast<float>((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)) * 0.1F;
esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff)); esc.esc[0].esc_current = static_cast<float>((msg.current_H << 8) | (msg.current_L & 0xff)) * 0.1F;
/* announce the esc if needed, just publish else */ /* announce the esc if needed, just publish else */
if (_esc_pub > 0) { if (_esc_pub > 0) {
@@ -186,18 +186,18 @@ build_gam_response(uint8_t *buffer, size_t *size)
msg.gam_sensor_id = GAM_SENSOR_ID; msg.gam_sensor_id = GAM_SENSOR_ID;
msg.sensor_text_id = GAM_SENSOR_TEXT_ID; msg.sensor_text_id = GAM_SENSOR_TEXT_ID;
msg.temperature1 = (uint8_t)(esc.esc[0].esc_temperature + 20); msg.temperature1 = (uint8_t)(esc.esc[0].esc_temperature + 20.0F);
msg.temperature2 = 20; // 0 deg. C. msg.temperature2 = 20; // 0 deg. C.
uint16_t voltage = (uint16_t)(esc.esc[0].esc_voltage); const uint16_t voltage = (uint16_t)(esc.esc[0].esc_voltage * 10.0F);
msg.main_voltage_L = (uint8_t)voltage & 0xff; msg.main_voltage_L = (uint8_t)voltage & 0xff;
msg.main_voltage_H = (uint8_t)(voltage >> 8) & 0xff; msg.main_voltage_H = (uint8_t)(voltage >> 8) & 0xff;
uint16_t current = (uint16_t)(esc.esc[0].esc_current); const uint16_t current = (uint16_t)(esc.esc[0].esc_current * 10.0F);
msg.current_L = (uint8_t)current & 0xff; msg.current_L = (uint8_t)current & 0xff;
msg.current_H = (uint8_t)(current >> 8) & 0xff; msg.current_H = (uint8_t)(current >> 8) & 0xff;
uint16_t rpm = (uint16_t)(esc.esc[0].esc_rpm * 0.1f); const uint16_t rpm = (uint16_t)(esc.esc[0].esc_rpm * 0.1f);
msg.rpm_L = (uint8_t)rpm & 0xff; msg.rpm_L = (uint8_t)rpm & 0xff;
msg.rpm_H = (uint8_t)(rpm >> 8) & 0xff; msg.rpm_H = (uint8_t)(rpm >> 8) & 0xff;
src/drivers/mkblctrl/mkblctrl.cpp
+3 -3
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@@ -600,8 +600,8 @@ MK::task_main()
esc.esc[i].esc_address = (uint8_t) BLCTRL_BASE_ADDR + i; esc.esc[i].esc_address = (uint8_t) BLCTRL_BASE_ADDR + i;
esc.esc[i].esc_vendor = ESC_VENDOR_MIKROKOPTER; esc.esc[i].esc_vendor = ESC_VENDOR_MIKROKOPTER;
esc.esc[i].esc_version = (uint16_t) Motor[i].Version; esc.esc[i].esc_version = (uint16_t) Motor[i].Version;
esc.esc[i].esc_voltage = (uint16_t) 0; esc.esc[i].esc_voltage = 0.0F;
esc.esc[i].esc_current = (uint16_t) Motor[i].Current; esc.esc[i].esc_current = static_cast<float>(Motor[i].Current) * 0.1F;
esc.esc[i].esc_rpm = (uint16_t) 0; esc.esc[i].esc_rpm = (uint16_t) 0;
esc.esc[i].esc_setpoint = (float) Motor[i].SetPoint_PX4; esc.esc[i].esc_setpoint = (float) Motor[i].SetPoint_PX4;
@@ -614,7 +614,7 @@ MK::task_main()
esc.esc[i].esc_setpoint_raw = (uint16_t) Motor[i].SetPoint; esc.esc[i].esc_setpoint_raw = (uint16_t) Motor[i].SetPoint;
} }
esc.esc[i].esc_temperature = (uint16_t) Motor[i].Temperature; esc.esc[i].esc_temperature = static_cast<float>(Motor[i].Temperature);
esc.esc[i].esc_state = (uint16_t) Motor[i].State; esc.esc[i].esc_state = (uint16_t) Motor[i].State;
esc.esc[i].esc_errorcount = (uint16_t) 0; esc.esc[i].esc_errorcount = (uint16_t) 0;
src/modules/sdlog2/sdlog2_messages.h
+7 -7
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@@ -241,15 +241,15 @@ struct log_GPSP_s {
#define LOG_ESC_MSG 18 #define LOG_ESC_MSG 18
struct log_ESC_s { struct log_ESC_s {
uint16_t counter; uint16_t counter;
uint8_t esc_count; uint8_t esc_count;
uint8_t esc_connectiontype; uint8_t esc_connectiontype;
uint8_t esc_num; uint8_t esc_num;
uint16_t esc_address; uint16_t esc_address;
uint16_t esc_version; uint16_t esc_version;
uint16_t esc_voltage; float esc_voltage;
uint16_t esc_current; float esc_current;
uint16_t esc_rpm; uint16_t esc_rpm;
uint16_t esc_temperature; float esc_temperature;
float esc_setpoint; float esc_setpoint;
uint16_t esc_setpoint_raw; uint16_t esc_setpoint_raw;
}; };
@@ -452,7 +452,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
LOG_FORMAT(GPOS, "LLfffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"), LOG_FORMAT(GPOS, "LLfffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"),
LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"), LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
LOG_FORMAT(ESC, "HBBBHHHHHHfH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), LOG_FORMAT(ESC, "HBBBHHffHffH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"), LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"), LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),
LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"), LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"),
src/modules/uORB/topics/esc_status.h
+10 -9
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@@ -78,6 +78,7 @@ enum ESC_CONNECTION_TYPE {
/** /**
* Electronic speed controller status. * Electronic speed controller status.
* Unsupported float fields should be assigned NaN.
*/ */
struct esc_status_s { struct esc_status_s {
/* use of a counter and timestamp recommended (but not necessary) */ /* use of a counter and timestamp recommended (but not necessary) */
@@ -89,17 +90,17 @@ struct esc_status_s {
enum ESC_CONNECTION_TYPE esc_connectiontype; /**< how ESCs connected to the system */ enum ESC_CONNECTION_TYPE esc_connectiontype; /**< how ESCs connected to the system */
struct { struct {
uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */
enum ESC_VENDOR esc_vendor; /**< Vendor of current ESC */ enum ESC_VENDOR esc_vendor; /**< Vendor of current ESC */
uint16_t esc_version; /**< Version of current ESC - if supported */ uint32_t esc_errorcount; /**< Number of reported errors by ESC - if supported */
uint16_t esc_voltage; /**< Voltage measured from current ESC - if supported */ float esc_voltage; /**< Voltage measured from current ESC [V] - if supported */
uint16_t esc_current; /**< Current measured from current ESC (100mA steps) - if supported */ float esc_current; /**< Current measured from current ESC [A] - if supported */
uint16_t esc_rpm; /**< RPM measured from current ESC - if supported */ float esc_temperature; /**< Temperature measured from current ESC [degC] - if supported */
uint16_t esc_temperature; /**< Temperature measured from current ESC - if supported */ float esc_setpoint; /**< setpoint of current ESC */
float esc_setpoint; /**< setpoint of current ESC */
uint16_t esc_setpoint_raw; /**< setpoint of current ESC (Value sent to ESC) */ uint16_t esc_setpoint_raw; /**< setpoint of current ESC (Value sent to ESC) */
uint16_t esc_state; /**< State of ESC - depend on Vendor */ uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */
uint16_t esc_errorcount; /**< Number of reported errors by ESC - if supported */ uint16_t esc_version; /**< Version of current ESC - if supported */
uint16_t esc_rpm; /**< RPM measured from current ESC [RPM] - if supported */
uint16_t esc_state; /**< State of ESC - depend on Vendor */
} esc[CONNECTED_ESC_MAX]; } esc[CONNECTED_ESC_MAX];
}; };
src/modules/uavcan/actuators/esc.cpp
+6 -8
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@@ -134,14 +134,12 @@ void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<
ref.esc_address = msg.getSrcNodeID().get(); ref.esc_address = msg.getSrcNodeID().get();
// >0 checks allow to weed out NaNs and negative values that aren't supported. ref.esc_voltage = msg.voltage;
ref.esc_voltage = (msg.voltage > 0) ? msg.voltage * 10.0F : 0; ref.esc_current = msg.current;
ref.esc_current = (msg.current > 0) ? msg.current * 10.0F : 0; ref.esc_temperature = msg.temperature;
ref.esc_temperature = (msg.temperature > 0) ? msg.temperature * 10.0F : 0; ref.esc_setpoint = msg.power_rating_pct;
ref.esc_rpm = abs(msg.rpm);
ref.esc_setpoint = msg.power_rating_pct; ref.esc_errorcount = msg.error_count;
ref.esc_rpm = abs(msg.rpm);
ref.esc_errorcount = msg.error_count;
} }
} }