uavcan: add IMU sensor support

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

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 <ponomarevda96@gmail.com>
+ */
+
+#include "accel.hpp"
+#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
+
+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<uavcan::equipment::ahrs::RawIMU> &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<uint8_t>(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;
+}

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 <ponomarevda96@gmail.com>
+ */
+
+#pragma once
+
+#include "sensor_bridge.hpp"
+
+#include <uavcan/equipment/ahrs/RawIMU.hpp>
+
+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<uavcan::equipment::ahrs::RawIMU> &msg);
+
+	int init_driver(uavcan_bridge::Channel *channel) override;
+
+	typedef uavcan::MethodBinder < UavcanAccelBridge *,
+		void (UavcanAccelBridge::*)
+		(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::RawIMU> &) >
+		ImuCbBinder;
+
+	uavcan::Subscriber<uavcan::equipment::ahrs::RawIMU, ImuCbBinder> _sub_imu_data;
+
+};

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 <ponomarevda96@gmail.com>
+ */
+
+#include "gyro.hpp"
+#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
+
+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<uavcan::equipment::ahrs::RawIMU> &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<uint8_t>(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;
+}

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 <ponomarevda96@gmail.com>
+ */
+
+#pragma once
+
+#include "sensor_bridge.hpp"
+
+#include <uavcan/equipment/ahrs/RawIMU.hpp>
+
+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<uavcan::equipment::ahrs::RawIMU> &msg);
+
+	int init_driver(uavcan_bridge::Channel *channel) override;
+
+	typedef uavcan::MethodBinder < UavcanGyroBridge *,
+		void (UavcanGyroBridge::*)
+		(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::RawIMU> &) >
+		ImuCbBinder;
+
+	uavcan::Subscriber<uavcan::equipment::ahrs::RawIMU, ImuCbBinder> _sub_imu_data;
+
+};

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<IUavcanSensorBridge
 	list.add(new UavcanAirspeedBridge(node));
 	list.add(new UavcanDifferentialPressureBridge(node));
 	list.add(new UavcanRangefinderBridge(node));
+	list.add(new UavcanAccelBridge(node));
+	list.add(new UavcanGyroBridge(node));
 }
 
 /*

src/lib/drivers/accelerometer/PX4Accelerometer.hpp

@@ -62,6 +62,8 @@ public:
 
 	void updateFIFO(sensor_accel_fifo_s &sample);
 
+	int get_instance() { return _sensor_pub.get_instance(); };
+
 private:
 	void Publish(const hrt_abstime &timestamp_sample, float x, float y, float z, uint8_t clip_count[3],
 		     uint8_t samples = 1);

src/lib/drivers/gyroscope/PX4Gyroscope.hpp

@@ -1,3 +1,4 @@
+
 /****************************************************************************
  *
  *   Copyright (c) 2018-2020 PX4 Development Team. All rights reserved.
@@ -61,6 +62,8 @@ public:
 
 	void updateFIFO(sensor_gyro_fifo_s &sample);
 
+	int get_instance() { return _sensor_pub.get_instance(); };
+
 private:
 	void Publish(const hrt_abstime &timestamp_sample, float x, float y, float z, uint8_t samples = 1);