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Add internal combustion engine status uavcan bridge and mavlink EFI_STATUS stream

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This commit is contained in:
Dima Ponomarev
2021-07-31 05:31:43 +03:00
committed by GitHub
parent 7764183f89
commit d08d0443bc
11 changed files with 339 additions and 1 deletions
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msg/CMakeLists.txt
+1
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@@ -84,6 +84,7 @@ set(msg_files
heater_status.msg
home_position.msg
hover_thrust_estimate.msg
internal_combustion_engine_status.msg
input_rc.msg
iridiumsbd_status.msg
irlock_report.msg
msg/internal_combustion_engine_status.msg
+64
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@@ -0,0 +1,64 @@
uint64 timestamp # time since system start (microseconds)
uint8 STATE_STOPPED = 0 # The engine is not running. This is the default state.
uint8 STATE_STARTING = 1 # The engine is starting. This is a transient state.
uint8 STATE_RUNNING = 2 # The engine is running normally.
uint8 STATE_FAULT = 3 # The engine can no longer function.
uint8 state
uint32 FLAG_GENERAL_ERROR = 1 # General error.
uint32 FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED = 2 # Error of the crankshaft sensor. This flag is optional.
uint32 FLAG_CRANKSHAFT_SENSOR_ERROR = 4
uint32 FLAG_TEMPERATURE_SUPPORTED = 8 # Temperature levels. These flags are optional
uint32 FLAG_TEMPERATURE_BELOW_NOMINAL = 16 # Under-temperature warning
uint32 FLAG_TEMPERATURE_ABOVE_NOMINAL = 32 # Over-temperature warning
uint32 FLAG_TEMPERATURE_OVERHEATING = 64 # Critical overheating
uint32 FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL = 128 # Exhaust gas over-temperature warning
uint32 FLAG_FUEL_PRESSURE_SUPPORTED = 256 # Fuel pressure. These flags are optional
uint32 FLAG_FUEL_PRESSURE_BELOW_NOMINAL = 512 # Under-pressure warning
uint32 FLAG_FUEL_PRESSURE_ABOVE_NOMINAL = 1024 # Over-pressure warning
uint32 FLAG_DETONATION_SUPPORTED = 2048 # Detonation warning. This flag is optional.
uint32 FLAG_DETONATION_OBSERVED = 4096 # Detonation condition observed warning
uint32 FLAG_MISFIRE_SUPPORTED = 8192 # Misfire warning. This flag is optional.
uint32 FLAG_MISFIRE_OBSERVED = 16384 # Misfire condition observed warning
uint32 FLAG_OIL_PRESSURE_SUPPORTED = 32768 # Oil pressure. These flags are optional
uint32 FLAG_OIL_PRESSURE_BELOW_NOMINAL = 65536 # Under-pressure warning
uint32 FLAG_OIL_PRESSURE_ABOVE_NOMINAL = 131072 # Over-pressure warning
uint32 FLAG_DEBRIS_SUPPORTED = 262144 # Debris warning. This flag is optional
uint32 FLAG_DEBRIS_DETECTED = 524288 # Detection of debris warning
uint32 flags
uint8 engine_load_percent # Engine load estimate, percent, [0, 127]
uint32 engine_speed_rpm # Engine speed, revolutions per minute
float32 spark_dwell_time_ms # Spark dwell time, millisecond
float32 atmospheric_pressure_kpa # Atmospheric (barometric) pressure, kilopascal
float32 intake_manifold_pressure_kpa # Engine intake manifold pressure, kilopascal
float32 intake_manifold_temperature # Engine intake manifold temperature, kelvin
float32 coolant_temperature # Engine coolant temperature, kelvin
float32 oil_pressure # Oil pressure, kilopascal
float32 oil_temperature # Oil temperature, kelvin
float32 fuel_pressure # Fuel pressure, kilopascal
float32 fuel_consumption_rate_cm3pm # Instant fuel consumption estimate, (centimeter^3)/minute
float32 estimated_consumed_fuel_volume_cm3 # Estimate of the consumed fuel since the start of the engine, centimeter^3
uint8 throttle_position_percent # Throttle position, percent
uint8 ecu_index # The index of the publishing ECU
uint8 SPARK_PLUG_SINGLE = 0
uint8 SPARK_PLUG_FIRST_ACTIVE = 1
uint8 SPARK_PLUG_SECOND_ACTIVE = 2
uint8 SPARK_PLUG_BOTH_ACTIVE = 3
uint8 spark_plug_usage # Spark plug activity report.
float32 ignition_timing_deg # Cylinder ignition timing, angular degrees of the crankshaft
float32 injection_time_ms # Fuel injection time, millisecond
float32 cylinder_head_temperature # Cylinder head temperature (CHT), kelvin
float32 exhaust_gas_temperature # Exhaust gas temperature (EGT), kelvin
float32 lambda_coefficient # Estimated lambda coefficient, dimensionless ratio
msg/tools/uorb_rtps_message_ids.yaml
+2
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@@ -345,6 +345,8 @@ rtps:
id: 160
- msg: baro_bias_estimate
id: 161
- msg: internal_combustion_engine_status
id: 162
########## multi topics: begin ##########
- msg: actuator_controls_0
id: 180
src/drivers/uavcan/CMakeLists.txt
+1
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@@ -158,6 +158,7 @@ px4_add_module(
sensors/accel.cpp
sensors/gyro.cpp
sensors/cbat.cpp
sensors/ice_status.cpp
DEPENDS
px4_uavcan_dsdlc
src/drivers/uavcan/sensors/ice_status.cpp
+97
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@@ -0,0 +1,97 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* @author Dmitry Ponomarev <ponomarevda96@gmail.com>
*/
#include "ice_status.hpp"
#include <uORB/topics/internal_combustion_engine_status.h>
const char *const UavcanIceStatusBridge::NAME = "ice_status";
UavcanIceStatusBridge::UavcanIceStatusBridge(uavcan::INode &node) :
UavcanSensorBridgeBase("uavcan_ice_status", ORB_ID(internal_combustion_engine_status)),
_sub_ice_status_data(node)
{ }
int UavcanIceStatusBridge::init()
{
int res = _sub_ice_status_data.start(IceStatusCbBinder(this, &UavcanIceStatusBridge::ice_status_sub_cb));
if (res < 0) {
DEVICE_LOG("failed to start uavcan sub: %d", res);
return res;
}
return 0;
}
void UavcanIceStatusBridge::ice_status_sub_cb(const
uavcan::ReceivedDataStructure<uavcan::equipment::ice::reciprocating::Status> &msg)
{
auto report = ::internal_combustion_engine_status_s();
report.timestamp = hrt_absolute_time();
report.state = msg.state;
report.flags = msg.flags;
report.engine_load_percent = msg.engine_load_percent;
report.engine_speed_rpm = msg.engine_speed_rpm;
report.spark_dwell_time_ms = msg.spark_dwell_time_ms;
report.atmospheric_pressure_kpa = msg.atmospheric_pressure_kpa;
report.intake_manifold_pressure_kpa = msg.intake_manifold_pressure_kpa;
report.intake_manifold_temperature = msg.intake_manifold_temperature;
report.coolant_temperature = msg.coolant_temperature;
report.oil_pressure = msg.oil_pressure;
report.oil_temperature = msg.oil_temperature;
report.fuel_pressure = msg.fuel_pressure;
report.fuel_consumption_rate_cm3pm = msg.fuel_consumption_rate_cm3pm;
report.estimated_consumed_fuel_volume_cm3 = msg.estimated_consumed_fuel_volume_cm3;
report.throttle_position_percent = msg.throttle_position_percent;
report.ecu_index = msg.ecu_index;
report.spark_plug_usage = msg.spark_plug_usage;
if (msg.cylinder_status.size() > 0) {
report.ignition_timing_deg = msg.cylinder_status[0].ignition_timing_deg;
report.injection_time_ms = msg.cylinder_status[0].injection_time_ms;
report.cylinder_head_temperature = msg.cylinder_status[0].cylinder_head_temperature;
report.exhaust_gas_temperature = msg.cylinder_status[0].exhaust_gas_temperature;
report.lambda_coefficient = msg.cylinder_status[0].lambda_coefficient;
}
publish(msg.getSrcNodeID().get(), &report);
}
int UavcanIceStatusBridge::init_driver(uavcan_bridge::Channel *channel)
{
return PX4_OK;
}
src/drivers/uavcan/sensors/ice_status.hpp
+67
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@@ -0,0 +1,67 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* @author Dmitry Ponomarev <ponomarevda96@gmail.com>
*/
#pragma once
#include "sensor_bridge.hpp"
#include <uavcan/equipment/ice/reciprocating/Status.hpp>
class UavcanIceStatusBridge : public UavcanSensorBridgeBase
{
public:
static const char *const NAME;
UavcanIceStatusBridge(uavcan::INode &node);
const char *get_name() const override { return NAME; }
int init() override;
private:
void ice_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ice::reciprocating::Status> &msg);
int init_driver(uavcan_bridge::Channel *channel) override;
typedef uavcan::MethodBinder < UavcanIceStatusBridge *,
void (UavcanIceStatusBridge::*)
(const uavcan::ReceivedDataStructure<uavcan::equipment::ice::reciprocating::Status> &) >
IceStatusCbBinder;
uavcan::Subscriber<uavcan::equipment::ice::reciprocating::Status, IceStatusCbBinder> _sub_ice_status_data;
};
src/drivers/uavcan/sensors/sensor_bridge.cpp
+2
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@@ -49,6 +49,7 @@
#include "accel.hpp"
#include "gyro.hpp"
#include "cbat.hpp"
#include "ice_status.hpp"
/*
* IUavcanSensorBridge
@@ -76,6 +77,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
list.add(new UavcanRangefinderBridge(node));
list.add(new UavcanAccelBridge(node));
list.add(new UavcanGyroBridge(node));
list.add(new UavcanIceStatusBridge(node));
}
/*
src/modules/logger/logged_topics.cpp
+1
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@@ -67,6 +67,7 @@ void LoggedTopics::add_default_topics()
add_topic("home_position");
add_topic("hover_thrust_estimate", 100);
add_topic("input_rc", 500);
add_topic("internal_combustion_engine_status", 10);
add_topic("mag_worker_data");
add_topic("manual_control_setpoint", 200);
add_topic("manual_control_switches");
src/modules/mavlink/mavlink_main.cpp
+3
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@@ -1537,6 +1537,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
configure_stream_local("COLLISION", unlimited_rate);
configure_stream_local("DISTANCE_SENSOR", 0.5f);
configure_stream_local("EFI_STATUS", 2.0f);
configure_stream_local("ESC_INFO", 1.0f);
configure_stream_local("ESC_STATUS", 1.0f);
configure_stream_local("ESTIMATOR_STATUS", 0.5f);
@@ -1598,6 +1599,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("BATTERY_STATUS", 0.5f);
configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
configure_stream_local("COLLISION", unlimited_rate);
configure_stream_local("EFI_STATUS", 2.0f);
configure_stream_local("ESTIMATOR_STATUS", 1.0f);
configure_stream_local("EXTENDED_SYS_STATE", 5.0f);
configure_stream_local("GIMBAL_DEVICE_ATTITUDE_STATUS", 1.0f);
@@ -1739,6 +1741,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("BATTERY_STATUS", 0.5f);
configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
configure_stream_local("COLLISION", unlimited_rate);
configure_stream_local("EFI_STATUS", 10.0f);
configure_stream_local("ESC_INFO", 10.0f);
configure_stream_local("ESC_STATUS", 10.0f);
configure_stream_local("ESTIMATOR_STATUS", 5.0f);
src/modules/mavlink/mavlink_messages.cpp
+5 -1
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@@ -70,6 +70,7 @@
#include "streams/COMMAND_LONG.hpp"
#include "streams/COMPONENT_INFORMATION.hpp"
#include "streams/DISTANCE_SENSOR.hpp"
#include "streams/EFI_STATUS.hpp"
#include "streams/ESC_INFO.hpp"
#include "streams/ESC_STATUS.hpp"
#include "streams/ESTIMATOR_STATUS.hpp"
@@ -535,8 +536,11 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamComponentInformation>(),
#endif // COMPONENT_INFORMATION_HPP
#if defined(RAW_RPM_HPP)
create_stream_list_item<MavlinkStreamRawRpm>()
create_stream_list_item<MavlinkStreamRawRpm>(),
#endif // RAW_RPM_HPP
#if defined(EFI_STATUS_HPP)
create_stream_list_item<MavlinkStreamEfiStatus>()
#endif // EFI_STATUS_HPP
};
const char *get_stream_name(const uint16_t msg_id)
src/modules/mavlink/streams/EFI_STATUS.hpp
+96
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@@ -0,0 +1,96 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#ifndef EFI_STATUS_HPP
#define EFI_STATUS_HPP
#include <uORB/topics/internal_combustion_engine_status.h>
class MavlinkStreamEfiStatus : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamEfiStatus(mavlink); }
static constexpr const char *get_name_static() { return "EFI_STATUS"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_EFI_STATUS; }
const char *get_name() const override { return MavlinkStreamEfiStatus::get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _internal_combustion_engine_status_sub.advertised() ? MAVLINK_MSG_ID_EFI_STATUS + MAVLINK_NUM_NON_PAYLOAD_BYTES :
0;
}
private:
explicit MavlinkStreamEfiStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _internal_combustion_engine_status_sub{ORB_ID(internal_combustion_engine_status)};
bool send() override
{
internal_combustion_engine_status_s internal_combustion_engine_status;
if (_internal_combustion_engine_status_sub.update(&internal_combustion_engine_status)) {
mavlink_efi_status_t msg{};
msg.health = internal_combustion_engine_status.state;
msg.ecu_index = internal_combustion_engine_status.ecu_index;
msg.rpm = internal_combustion_engine_status.engine_speed_rpm;
msg.fuel_consumed = internal_combustion_engine_status.estimated_consumed_fuel_volume_cm3;
msg.fuel_flow = internal_combustion_engine_status.fuel_consumption_rate_cm3pm;
msg.engine_load = internal_combustion_engine_status.engine_load_percent;
msg.throttle_position = internal_combustion_engine_status.throttle_position_percent;
msg.spark_dwell_time = internal_combustion_engine_status.spark_dwell_time_ms;
msg.barometric_pressure = internal_combustion_engine_status.atmospheric_pressure_kpa;
msg.intake_manifold_pressure = internal_combustion_engine_status.intake_manifold_pressure_kpa;
msg.intake_manifold_temperature = internal_combustion_engine_status.intake_manifold_temperature;
msg.cylinder_head_temperature = internal_combustion_engine_status.cylinder_head_temperature;
msg.ignition_timing = internal_combustion_engine_status.ignition_timing_deg;
msg.injection_time = internal_combustion_engine_status.injection_time_ms;
msg.exhaust_gas_temperature = internal_combustion_engine_status.exhaust_gas_temperature;
msg.throttle_out = internal_combustion_engine_status.throttle_position_percent;
msg.pt_compensation = internal_combustion_engine_status.lambda_coefficient;
mavlink_msg_efi_status_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // EFI_STATUS_HPP