diff --git a/src/drivers/uavcan/CMakeLists.txt b/src/drivers/uavcan/CMakeLists.txt index b55a74229e..48d998715d 100644 --- a/src/drivers/uavcan/CMakeLists.txt +++ b/src/drivers/uavcan/CMakeLists.txt @@ -151,6 +151,8 @@ px4_add_module( sensors/gnss.cpp sensors/mag.cpp sensors/rangefinder.cpp + sensors/accel.cpp + sensors/gyro.cpp DEPENDS px4_uavcan_dsdlc diff --git a/src/drivers/uavcan/sensors/accel.cpp b/src/drivers/uavcan/sensors/accel.cpp new file mode 100644 index 0000000000..ad0327480e --- /dev/null +++ b/src/drivers/uavcan/sensors/accel.cpp @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * Copyright (c) 2020 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 + */ + +#include "accel.hpp" +#include + +const char *const UavcanAccelBridge::NAME = "accel"; + +UavcanAccelBridge::UavcanAccelBridge(uavcan::INode &node) : + UavcanSensorBridgeBase("uavcan_accel", ORB_ID(sensor_accel)), + _sub_imu_data(node) +{ } + +int UavcanAccelBridge::init() +{ + int res = _sub_imu_data.start(ImuCbBinder(this, &UavcanAccelBridge::imu_sub_cb)); + + if (res < 0) { + DEVICE_LOG("failed to start uavcan sub: %d", res); + return res; + } + + return 0; +} + +void UavcanAccelBridge::imu_sub_cb(const uavcan::ReceivedDataStructure &msg) +{ + uavcan_bridge::Channel *channel = get_channel_for_node(msg.getSrcNodeID().get()); + + const hrt_abstime timestamp_sample = hrt_absolute_time(); + + if (channel == nullptr) { + // Something went wrong - no channel to publish on; return + return; + } + + // Cast our generic CDev pointer to the sensor-specific driver class + PX4Accelerometer *accel = (PX4Accelerometer *)channel->h_driver; + + if (accel == nullptr) { + return; + } + + accel->set_error_count(0); + accel->update(timestamp_sample, msg.accelerometer_latest[0], msg.accelerometer_latest[1], msg.accelerometer_latest[2]); +} + +int UavcanAccelBridge::init_driver(uavcan_bridge::Channel *channel) +{ + // update device id as we now know our device node_id + DeviceId device_id{_device_id}; + + device_id.devid_s.devtype = DRV_ACC_DEVTYPE_UAVCAN; + device_id.devid_s.address = static_cast(channel->node_id); + + channel->h_driver = new PX4Accelerometer(device_id.devid); + + if (channel->h_driver == nullptr) { + return PX4_ERROR; + } + + PX4Accelerometer *accel = (PX4Accelerometer *)channel->h_driver; + + channel->instance = accel->get_instance(); + + if (channel->instance < 0) { + PX4_ERR("UavcanAccel: Unable to get a class instance"); + delete accel; + channel->h_driver = nullptr; + return PX4_ERROR; + } + + return PX4_OK; +} diff --git a/src/drivers/uavcan/sensors/accel.hpp b/src/drivers/uavcan/sensors/accel.hpp new file mode 100644 index 0000000000..e1010b7eea --- /dev/null +++ b/src/drivers/uavcan/sensors/accel.hpp @@ -0,0 +1,68 @@ +/**************************************************************************** + * + * Copyright (c) 2020 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 + */ + +#pragma once + +#include "sensor_bridge.hpp" + +#include + +class UavcanAccelBridge : public UavcanSensorBridgeBase +{ +public: + static const char *const NAME; + + UavcanAccelBridge(uavcan::INode &node); + + const char *get_name() const override { return NAME; } + + int init() override; + +private: + + void imu_sub_cb(const uavcan::ReceivedDataStructure &msg); + + int init_driver(uavcan_bridge::Channel *channel) override; + + typedef uavcan::MethodBinder < UavcanAccelBridge *, + void (UavcanAccelBridge::*) + (const uavcan::ReceivedDataStructure &) > + ImuCbBinder; + + uavcan::Subscriber _sub_imu_data; + +}; diff --git a/src/drivers/uavcan/sensors/gyro.cpp b/src/drivers/uavcan/sensors/gyro.cpp new file mode 100644 index 0000000000..4a34213a03 --- /dev/null +++ b/src/drivers/uavcan/sensors/gyro.cpp @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * Copyright (c) 2020 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 + */ + +#include "gyro.hpp" +#include + +const char *const UavcanGyroBridge::NAME = "gyro"; + +UavcanGyroBridge::UavcanGyroBridge(uavcan::INode &node) : + UavcanSensorBridgeBase("uavcan_gyro", ORB_ID(sensor_gyro)), + _sub_imu_data(node) +{ } + +int UavcanGyroBridge::init() +{ + int res = _sub_imu_data.start(ImuCbBinder(this, &UavcanGyroBridge::imu_sub_cb)); + + if (res < 0) { + DEVICE_LOG("failed to start uavcan sub: %d", res); + return res; + } + + return 0; +} + +void UavcanGyroBridge::imu_sub_cb(const uavcan::ReceivedDataStructure &msg) +{ + uavcan_bridge::Channel *channel = get_channel_for_node(msg.getSrcNodeID().get()); + + if (channel == nullptr) { + // Something went wrong - no channel to publish on; return + return; + } + + // Cast our generic CDev pointer to the sensor-specific driver class + PX4Gyroscope *gyro = (PX4Gyroscope *)channel->h_driver; + + if (gyro == nullptr) { + return; + } + + gyro->update(hrt_absolute_time(), + msg.rate_gyro_latest[0], + msg.rate_gyro_latest[1], + msg.rate_gyro_latest[2]); +} + +int UavcanGyroBridge::init_driver(uavcan_bridge::Channel *channel) +{ + // update device id as we now know our device node_id + DeviceId device_id{_device_id}; + + device_id.devid_s.devtype = DRV_GYR_DEVTYPE_UAVCAN; + device_id.devid_s.address = static_cast(channel->node_id); + + channel->h_driver = new PX4Gyroscope(device_id.devid); + + if (channel->h_driver == nullptr) { + return PX4_ERROR; + } + + PX4Gyroscope *gyro = (PX4Gyroscope *)channel->h_driver; + + channel->instance = gyro->get_instance(); + + if (channel->instance < 0) { + PX4_ERR("UavcanGyro: Unable to get a class instance"); + delete gyro; + channel->h_driver = nullptr; + return PX4_ERROR; + } + + return PX4_OK; +} diff --git a/src/drivers/uavcan/sensors/gyro.hpp b/src/drivers/uavcan/sensors/gyro.hpp new file mode 100644 index 0000000000..0ed5c8959f --- /dev/null +++ b/src/drivers/uavcan/sensors/gyro.hpp @@ -0,0 +1,68 @@ +/**************************************************************************** + * + * Copyright (c) 2020 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 + */ + +#pragma once + +#include "sensor_bridge.hpp" + +#include + +class UavcanGyroBridge : public UavcanSensorBridgeBase +{ +public: + static const char *const NAME; + + UavcanGyroBridge(uavcan::INode &node); + + const char *get_name() const override { return NAME; } + + int init() override; + +private: + + void imu_sub_cb(const uavcan::ReceivedDataStructure &msg); + + int init_driver(uavcan_bridge::Channel *channel) override; + + typedef uavcan::MethodBinder < UavcanGyroBridge *, + void (UavcanGyroBridge::*) + (const uavcan::ReceivedDataStructure &) > + ImuCbBinder; + + uavcan::Subscriber _sub_imu_data; + +}; diff --git a/src/drivers/uavcan/sensors/sensor_bridge.cpp b/src/drivers/uavcan/sensors/sensor_bridge.cpp index 9d65d49955..25170ae4a7 100644 --- a/src/drivers/uavcan/sensors/sensor_bridge.cpp +++ b/src/drivers/uavcan/sensors/sensor_bridge.cpp @@ -46,6 +46,8 @@ #include "flow.hpp" #include "mag.hpp" #include "rangefinder.hpp" +#include "accel.hpp" +#include "gyro.hpp" /* * IUavcanSensorBridge @@ -60,6 +62,8 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List