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changed to AnalogMeasurement in both uORB and uavcan

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This commit is contained in:
Jacob Dahl
2020-08-18 11:37:24 -08:00
parent 8fd1b42000
commit d409860ff1
10 changed files with 59 additions and 94 deletions
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msg/CMakeLists.txt
+1 -1
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@@ -41,7 +41,7 @@ set(msg_files
adc_report.msg
airspeed.msg
airspeed_validated.msg
analog_voltage_current.msg
analog_measurement.msg
battery_status.msg
camera_capture.msg
camera_trigger.msg
msg/analog_measurement.msg
+9
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@@ -0,0 +1,9 @@
uint64 timestamp # time since system start (microseconds)
uint8[4] unit_type # Units: mV, mA, Kelvin*10
uint16[4] values # mV, mA, Kelvin*10
uint8 UNITS_NONE = 0
uint8 UNITS_MV = 1
uint8 UNITS_MA = 2
uint8 UNITS_CK = 3
msg/analog_voltage_current.msg
-6
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@@ -1,6 +0,0 @@
uint64 timestamp # time since system start (microseconds)
uint16[4] voltage # mV
uint16[4] current # mA
uint16[4] temperature # Kelvin * 100
src/drivers/uavcan/CMakeLists.txt
+1 -1
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@@ -126,7 +126,7 @@ px4_add_module(
actuators/hardpoint.cpp
# Sensors
sensors/adc.cpp
sensors/analog_measurement.cpp
sensors/airspeed.cpp
sensors/baro.cpp
sensors/battery.cpp
src/drivers/uavcan/dsdl/com/volansi/equipment/adc/20201.Report.uavcan → src/drivers/uavcan/dsdl/com/volansi/equipment/adc/20201.AnalogMeasurement.uavcan
View File
src/drivers/uavcan/sensors/adc.cpp → src/drivers/uavcan/sensors/analog_measurement.cpp
+13 -25
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@@ -32,16 +32,16 @@
****************************************************************************/
#include <drivers/drv_hrt.h>
#include "adc.hpp"
#include "analog_measurement.hpp"
const char *const UavcanAdcBridge::NAME = "adc";
const char *const UavcanAnalogMeasurementBridge::NAME = "analog_measurement";
UavcanAdcBridge::UavcanAdcBridge(uavcan::INode &node) :
UavcanCDevSensorBridgeBase("uavcan_airspeed", "/dev/uavcan/adc", "/dev/adc", ORB_ID(analog_voltage_current)),
_sub_adc_data(node)
UavcanAnalogMeasurementBridge::UavcanAnalogMeasurementBridge(uavcan::INode &node) :
UavcanCDevSensorBridgeBase("uavcan_airspeed", "/dev/uavcan/analog_measurement", "/dev/analog_measurement", ORB_ID(analog_measurement)),
_sub_analog_data(node)
{ }
int UavcanAdcBridge::init()
int UavcanAnalogMeasurementBridge::init()
{
int res = device::CDev::init();
@@ -49,7 +49,7 @@ int UavcanAdcBridge::init()
return res;
}
res = _sub_adc_data.start(AdcCbBinder(this, &UavcanAdcBridge::adc_sub_cb));
res = _sub_analog_data.start(AnalogCbBinder(this, &UavcanAnalogMeasurementBridge::analog_measurement_sub_cb));
if (res < 0) {
DEVICE_LOG("failed to start uavcan sub: %d", res);
@@ -60,27 +60,15 @@ int UavcanAdcBridge::init()
}
void
UavcanAdcBridge::adc_sub_cb(const
uavcan::ReceivedDataStructure<com::volansi::equipment::adc::Report> &msg)
UavcanAnalogMeasurementBridge::analog_measurement_sub_cb(const
uavcan::ReceivedDataStructure<com::volansi::equipment::adc::AnalogMeasurement> &msg)
{
analog_voltage_current_s report{};
static constexpr int numIndices = 4;
static constexpr uint16_t mV = com::volansi::equipment::adc::Report::UNITS_MV;
static constexpr uint16_t mA = com::volansi::equipment::adc::Report::UNITS_MA;
static constexpr uint16_t cK = com::volansi::equipment::adc::Report::UNITS_CK;
analog_measurement_s report{};
int numIndices = msg.values.size();
for (int i = 0; i < numIndices; i++) {
if (msg.unit_type[i] == mV) {
report.voltage[i] = msg.values[i];
} else if (msg.unit_type[i] == mA) {
report.current[i] = msg.values[i];
} else if (msg.unit_type[i] == cK) {
report.temperature[i] = msg.values[i];
}
report.values[i] = msg.values[i];
report.unit_type[i] = msg.unit_type[i];
}
publish(msg.getSrcNodeID().get(), &report);
src/drivers/uavcan/sensors/adc.hpp → src/drivers/uavcan/sensors/analog_measurement.hpp
+10 -10
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@@ -38,16 +38,16 @@
#pragma once
#include "sensor_bridge.hpp"
#include <uORB/topics/analog_voltage_current.h>
#include <uORB/topics/analog_measurement.h>
#include <com/volansi/equipment/adc/Report.hpp>
#include <com/volansi/equipment/adc/AnalogMeasurement.hpp>
class UavcanAdcBridge : public UavcanCDevSensorBridgeBase
class UavcanAnalogMeasurementBridge : public UavcanCDevSensorBridgeBase
{
public:
static const char *const NAME;
UavcanAdcBridge(uavcan::INode &node);
UavcanAnalogMeasurementBridge(uavcan::INode &node);
const char *get_name() const override { return NAME; }
@@ -55,12 +55,12 @@ public:
private:
void adc_sub_cb(const uavcan::ReceivedDataStructure<com::volansi::equipment::adc::Report> &msg);
void analog_measurement_sub_cb(const uavcan::ReceivedDataStructure<com::volansi::equipment::adc::AnalogMeasurement> &msg);
typedef uavcan::MethodBinder < UavcanAdcBridge *,
void (UavcanAdcBridge::*)
(const uavcan::ReceivedDataStructure<com::volansi::equipment::adc::Report> &) >
AdcCbBinder;
typedef uavcan::MethodBinder < UavcanAnalogMeasurementBridge *,
void (UavcanAnalogMeasurementBridge::*)
(const uavcan::ReceivedDataStructure<com::volansi::equipment::adc::AnalogMeasurement> &) >
AnalogCbBinder;
uavcan::Subscriber<com::volansi::equipment::adc::Report, AdcCbBinder> _sub_adc_data;
uavcan::Subscriber<com::volansi::equipment::adc::AnalogMeasurement, AnalogCbBinder> _sub_analog_data;
};
src/drivers/uavcan/sensors/sensor_bridge.cpp
+2 -2
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@@ -38,7 +38,7 @@
#include "sensor_bridge.hpp"
#include <cassert>
#include "adc.hpp"
#include "analog_measurement.hpp"
#include "differential_pressure.hpp"
#include "baro.hpp"
#include "battery.hpp"
@@ -59,7 +59,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
list.add(new UavcanBatteryBridge(node));
list.add(new UavcanAirspeedBridge(node));
list.add(new UavcanDifferentialPressureBridge(node));
list.add(new UavcanAdcBridge(node));
list.add(new UavcanAnalogMeasurementBridge(node));
}
/*
src/drivers/uavcannode/UavcanNode.cpp
+19 -45
View File
@@ -81,7 +81,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
_air_data_static_temperature_publisher(_node),
_raw_air_data_publisher(_node),
_range_sensor_measurement(_node),
_adc_report_publisher(_node),
_analog_measurement_publisher(_node),
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")),
_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")),
_reset_timer(_node)
@@ -331,7 +331,7 @@ void UavcanNode::Run()
PX4_ERR("node spin error %i", spin_res);
}
send_adc_measurements();
send_analog_measurements();
send_battery_info();
send_raw_air_data();
send_static_pressure();
@@ -352,7 +352,7 @@ void UavcanNode::send_battery_info()
{
// battery_status -> uavcan::equipment::power::BatteryInfo
if (_battery_status_sub.updated()) {
battery_status_s battery;
battery_status_s battery{};
if (_battery_status_sub.copy(&battery)) {
uavcan::equipment::power::BatteryInfo battery_info{};
@@ -385,7 +385,7 @@ void UavcanNode::send_raw_air_data()
{
// differential_pressure -> uavcan::equipment::air_data::RawAirData
if (_diff_pressure_sub.updated()) {
differential_pressure_s diff_press;
differential_pressure_s diff_press{};
if (_diff_pressure_sub.copy(&diff_press)) {
@@ -407,7 +407,7 @@ void UavcanNode::send_range_sensor_measurement()
{
// distance_sensor[] -> uavcan::equipment::range_sensor::Measurement
for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
distance_sensor_s dist;
distance_sensor_s dist{};
if (_distance_sensor_sub[i].update(&dist)) {
uavcan::equipment::range_sensor::Measurement range_sensor{};
@@ -459,7 +459,7 @@ void UavcanNode::send_static_pressure()
{
// sensor_baro -> uavcan::equipment::air_data::StaticTemperature
if (_sensor_baro_sub.updated()) {
sensor_baro_s baro;
sensor_baro_s baro{};
if (_sensor_baro_sub.copy(&baro)) {
uavcan::equipment::air_data::StaticPressure static_pressure{};
@@ -480,7 +480,7 @@ void UavcanNode::send_magnetic_field_strength2()
{
// sensor_mag -> uavcan::equipment::ahrs::MagneticFieldStrength2
if (_sensor_mag_sub.updated()) {
sensor_mag_s mag;
sensor_mag_s mag{};
if (_sensor_mag_sub.copy(&mag)) {
uavcan::equipment::ahrs::MagneticFieldStrength2 magnetic_field{};
@@ -497,7 +497,7 @@ void UavcanNode::send_gnss_fix2()
{
// vehicle_gps_position -> uavcan::equipment::gnss::Fix2
if (_vehicle_gps_position_sub.updated()) {
vehicle_gps_position_s gps;
vehicle_gps_position_s gps{};
if (_vehicle_gps_position_sub.copy(&gps)) {
uavcan::equipment::gnss::Fix2 fix2{};
@@ -531,50 +531,24 @@ void UavcanNode::send_gnss_fix2()
}
}
void UavcanNode::send_adc_measurements()
void UavcanNode::send_analog_measurements()
{
// vehicle_gps_position -> uavcan::equipment::gnss::Fix2
if (_adc_report_sub.updated()) {
adc_report_s adc_report;
if (_analog_report_sub.updated()) {
analog_measurement_s measurement{};
if (_adc_report_sub.copy(&adc_report)) {
if (_analog_report_sub.copy(&measurement)) {
// We could probably convince people an ADC uavcan data type
// would be useful to have in tree...
com::volansi::equipment::adc::Report report{};
com::volansi::equipment::adc::AnalogMeasurement report{};
int32_t adc1_units = 0;
int32_t adc2_units = 0;
int32_t adc3_units = 0;
int32_t adc4_units = 0;
(void)param_get(param_find("ADC1_UNIT_TYPE"), &adc1_units);
(void)param_get(param_find("ADC2_UNIT_TYPE"), &adc2_units);
(void)param_get(param_find("ADC3_UNIT_TYPE"), &adc3_units);
(void)param_get(param_find("ADC4_UNIT_TYPE"), &adc4_units);
report.unit_type[0] = (unsigned)adc1_units;
report.unit_type[1] = (unsigned)adc2_units;
report.unit_type[2] = (unsigned)adc3_units;
report.unit_type[3] = (unsigned)adc4_units;
if (adc1_units != 0) {
report.values[0] = adc_report.raw_data[0];
for (size_t i = 0; i < sizeof(measurement.values)/sizeof(values[0])) {
if (measurement.unit_type[i]) {
report.unit_type[i] = measurement.unit_type[i];
report.values[i] = measurement.values[i];
}
}
if (adc2_units != 0) {
report.values[1] = adc_report.raw_data[1];
}
if (adc3_units != 0) {
report.values[2] = adc_report.raw_data[2];
}
if (adc4_units != 0) {
report.values[3] = adc_report.raw_data[3];
}
_adc_report_publisher.broadcast(report);
_analog_measurement_publisher.broadcast(report);
}
}
}
src/drivers/uavcannode/UavcanNode.hpp
+4 -4
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@@ -72,7 +72,7 @@
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/adc_report.h>
#include <uORB/topics/analog_measurement.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/distance_sensor.h>
@@ -154,7 +154,7 @@ private:
void send_magnetic_field_strength2();
void send_gnss_fix2();
void send_range_sensor_measurement();
void send_adc_measurements();
void send_analog_measurements();
px4::atomic_bool _task_should_exit{false}; ///< flag to indicate to tear down the CAN driver
@@ -186,7 +186,7 @@ private:
uavcan::Publisher<uavcan::equipment::air_data::StaticTemperature> _air_data_static_temperature_publisher;
uavcan::Publisher<uavcan::equipment::air_data::RawAirData> _raw_air_data_publisher;
uavcan::Publisher<uavcan::equipment::range_sensor::Measurement> _range_sensor_measurement;
uavcan::Publisher<com::volansi::equipment::adc::Report> _adc_report_publisher;
uavcan::Publisher<com::volansi::equipment::adc::AnalogMeasurement> _analog_measurement_publisher;
hrt_abstime _last_static_temperature_publish{0};
@@ -204,7 +204,7 @@ private:
uORB::SubscriptionCallbackWorkItem _sensor_baro_sub{this, ORB_ID(sensor_baro)};
uORB::SubscriptionCallbackWorkItem _sensor_mag_sub{this, ORB_ID(sensor_mag)};
uORB::SubscriptionCallbackWorkItem _vehicle_gps_position_sub{this, ORB_ID(vehicle_gps_position)};
uORB::SubscriptionCallbackWorkItem _adc_report_sub{this, ORB_ID(adc_report)};
uORB::SubscriptionCallbackWorkItem _analog_report_sub{this, ORB_ID(analog_measurement)};
perf_counter_t _cycle_perf;