diff --git a/src/drivers/uavcan/CMakeLists.txt b/src/drivers/uavcan/CMakeLists.txt index b176d8bf8ba5..e461726c8e04 100644 --- a/src/drivers/uavcan/CMakeLists.txt +++ b/src/drivers/uavcan/CMakeLists.txt @@ -130,6 +130,7 @@ px4_add_module( sensors/flow.cpp sensors/gnss.cpp sensors/mag.cpp + sensors/safety_state.cpp DEPENDS px4_uavcan_dsdlc diff --git a/src/drivers/uavcan/dsdl/com/hex/equipment/indication/20000.SafetyStateCommand.uavcan b/src/drivers/uavcan/dsdl/com/hex/equipment/indication/20000.SafetyStateCommand.uavcan new file mode 100644 index 000000000000..b0e21a0393c8 --- /dev/null +++ b/src/drivers/uavcan/dsdl/com/hex/equipment/indication/20000.SafetyStateCommand.uavcan @@ -0,0 +1 @@ +uint8 status diff --git a/src/drivers/uavcan/sensors/safety_state.cpp b/src/drivers/uavcan/sensors/safety_state.cpp new file mode 100644 index 000000000000..5e7a9a9212d1 --- /dev/null +++ b/src/drivers/uavcan/sensors/safety_state.cpp @@ -0,0 +1,77 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/** + * @file safety_state.cpp + * + * @author CUAVcaijie + */ + +#include "safety_state.hpp" + +UavcanSafetyState::UavcanSafetyState(uavcan::INode &node) : + _safety_state_pub(node), + _timer(node) +{ +} + +int UavcanSafetyState::init() +{ + /* + * Setup timer and call back function for periodic updates + */ + if (!_timer.isRunning()) { + _timer.setCallback(TimerCbBinder(this, &UavcanSafetyState::periodic_update)); + _timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ)); + } + + return 0; +} + +void UavcanSafetyState::periodic_update(const uavcan::TimerEvent &) +{ + if (_actuator_armed_sub.updated()) { + _actuator_armed_sub.copy(&_actuator_armed); + + com::hex::equipment::indication::SafetyStateCommand cmd; + + if (_actuator_armed.prearmed == true) { + cmd.status = 255; + + } else { + cmd.status = 0; + } + + (void)_safety_state_pub.broadcast(cmd); + } +} diff --git a/src/drivers/uavcan/sensors/safety_state.hpp b/src/drivers/uavcan/sensors/safety_state.hpp new file mode 100644 index 000000000000..6976437b228e --- /dev/null +++ b/src/drivers/uavcan/sensors/safety_state.hpp @@ -0,0 +1,84 @@ +/**************************************************************************** +* +* 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. +* +****************************************************************************/ + +/** + * @file safety_state.hpp + * + * @author CUAVcaijie + * + * @brief According to actuator_armed to control the CAN SafetyState led + */ + +#pragma once + +#include +#include +#include +#include + + +class UavcanSafetyState +{ +public: + UavcanSafetyState(uavcan::INode &node); + + /* + * setup periodic updater + */ + int init(); + +private: + /* + * Max update rate to avoid exessive bus traffic + */ + static constexpr unsigned MAX_RATE_HZ = 10; + + /* + * Setup timer and call back function for periodic updates + */ + void periodic_update(const uavcan::TimerEvent &); + + typedef uavcan::MethodBinder + TimerCbBinder; + + /* + * Publish CAN Safety state led + */ + uavcan::Publisher _safety_state_pub; + + uavcan::TimerEventForwarder _timer; + + uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)}; + actuator_armed_s _actuator_armed{}; + +}; diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp index 97fff6e87328..59fdb37d813d 100644 --- a/src/drivers/uavcan/uavcan_main.cpp +++ b/src/drivers/uavcan/uavcan_main.cpp @@ -82,6 +82,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys _node(can_driver, system_clock, _pool_allocator), _esc_controller(_node), _hardpoint_controller(_node), + _safety_state_controller(_node), _time_sync_master(_node), _time_sync_slave(_node), _node_status_monitor(_node), @@ -621,6 +622,12 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events) return ret; } + ret = _safety_state_controller.init(); + + if (ret < 0) { + return ret; + } + // Sensor bridges IUavcanSensorBridge::make_all(_node, _sensor_bridges); diff --git a/src/drivers/uavcan/uavcan_main.hpp b/src/drivers/uavcan/uavcan_main.hpp index 64db78a9d38c..5f5f5bdf92b2 100644 --- a/src/drivers/uavcan/uavcan_main.hpp +++ b/src/drivers/uavcan/uavcan_main.hpp @@ -52,6 +52,7 @@ #include "actuators/esc.hpp" #include "actuators/hardpoint.hpp" #include "sensors/sensor_bridge.hpp" +#include "sensors/safety_state.hpp" #include #include @@ -200,6 +201,7 @@ class UavcanNode : public cdev::CDev, public px4::ScheduledWorkItem, public Modu UavcanEscController _esc_controller; UavcanMixingInterface _mixing_interface{_node_mutex, _esc_controller}; UavcanHardpointController _hardpoint_controller; + UavcanSafetyState _safety_state_controller; uavcan::GlobalTimeSyncMaster _time_sync_master; uavcan::GlobalTimeSyncSlave _time_sync_slave; uavcan::NodeStatusMonitor _node_status_monitor;