actuators_uavcan.c File Reference

UAVCan actuators using RAWCOMMAND message and ESC_STATUS telemetry. More...

#include "actuators_uavcan.h"
#include "modules/energy/electrical.h"
#include "math/pprz_random.h"
#include "modules/core/abi.h"
#include "modules/actuators/actuators.h"
#include "uavcan.equipment.esc.Status.h"
#include "uavcan.equipment.esc.RawCommand.h"
#include "uavcan.equipment.actuator.Status.h"
#include "uavcan.equipment.actuator.ArrayCommand.h"
#include "uavcan.equipment.device.Temperature.h"
#include "modules/datalink/telemetry.h"

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Data Structures
struct	actuators_uavcan_telem_t

Macros
#define	UAVCAN_ACTUATORS_USE_CURRENT   TRUE
#define	UAVCAN_CMD_UNUSED   (MIN_PPRZ-1)

Functions
static struct actuators_uavcan_telem_t *	actuators_uavcan_next_telem (void)
static void	actuators_uavcan_send_esc (struct transport_tx *trans, struct link_device *dev)
static struct actuators_uavcan_telem_t *	get_actuator_telem (struct uavcan_iface_t *iface, uint8_t idx)
static uint8_t	get_actuator_idx (struct uavcan_iface_t *iface, uint8_t idx)
static void	actuators_uavcan_esc_status_cb (struct uavcan_iface_t *iface, CanardRxTransfer *transfer)
	Whevener an ESC_STATUS message from the EQUIPMENT group is received.
static void	actuators_uavcan_actuator_status_cb (struct uavcan_iface_t *iface, CanardRxTransfer *transfer)
	Whevener an ACTUATOR_STATUS message from the EQUIPMENT group is received.
static void	actuators_uavcan_device_temperature_cb (struct uavcan_iface_t *iface, CanardRxTransfer *transfer)
	Whevener an DEVICE_TEMPERATURE message from the EQUIPMENT group is received.
void	actuators_uavcan_init (struct uavcan_iface_t *iface)
	Initialize an uavcan interface.
void	actuators_uavcan_commit (struct uavcan_iface_t *iface, int16_t *values, uint8_t nb)
	Commit actuator values to the uavcan interface (EQUIPMENT_ESC_RAWCOMMAND)
void	actuators_uavcan_cmd_commit (struct uavcan_iface_t *iface, int16_t *values, uint8_t nb)
	Commit actuator values to the uavcan interface (EQUIPMENT_ACTUATOR_ARRAYCOMMAND)

Variables
static bool	actuators_uavcan_initialized = false
static uavcan_event	esc_status_ev
static uavcan_event	actuator_status_ev
static uavcan_event	device_temperature_ev
static uint8_t	old_idx = 0
static uint8_t	esc_idx = 0

Detailed Description

UAVCan actuators using RAWCOMMAND message and ESC_STATUS telemetry.

Definition in file actuators_uavcan.c.

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Data Structure Documentation

actuators_uavcan_telem_t

struct actuators_uavcan_telem_t

Definition at line 46 of file actuators_uavcan.c.

Data Fields
float	current
uint32_t	energy
uint8_t	node_id
float	position
int32_t	rpm
bool	set
float	temperature
float	temperature_dev
float	timestamp
float	voltage

Macro Definition Documentation

UAVCAN_ACTUATORS_USE_CURRENT

#define UAVCAN_ACTUATORS_USE_CURRENT   TRUE

Definition at line 42 of file actuators_uavcan.c.

UAVCAN_CMD_UNUSED

#define UAVCAN_CMD_UNUSED   (MIN_PPRZ-1)

Definition at line 91 of file actuators_uavcan.c.

Function Documentation

actuators_uavcan_actuator_status_cb()

static void actuators_uavcan_actuator_status_cb ( struct uavcan_iface_t *  iface, CanardRxTransfer *  transfer  )

static

Whevener an ACTUATOR_STATUS message from the EQUIPMENT group is received.

Definition at line 276 of file actuators_uavcan.c.

References ACT_FEEDBACK_UAVCAN_ID, foo, get_actuator_idx(), get_actuator_telem(), act_feedback_t::idx, msg, act_feedback_t::act_feedback_set_t::position, act_feedback_t::position, act_feedback_t::set, and transfer().

Referenced by actuators_uavcan_init().

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actuators_uavcan_cmd_commit()

void actuators_uavcan_cmd_commit	(	struct uavcan_iface_t *	iface,
		int16_t *	values,
		uint8_t	nb
	)

Commit actuator values to the uavcan interface (EQUIPMENT_ACTUATOR_ARRAYCOMMAND)

Definition at line 389 of file actuators_uavcan.c.

References foo, MAX_PPRZ, MIN_PPRZ, msg, uavcan_broadcast(), and UAVCAN_CMD_UNUSED.

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actuators_uavcan_commit()

void actuators_uavcan_commit	(	struct uavcan_iface_t *	iface,
		int16_t *	values,
		uint8_t	nb
	)

Commit actuator values to the uavcan interface (EQUIPMENT_ESC_RAWCOMMAND)

Definition at line 368 of file actuators_uavcan.c.

References foo, msg, and uavcan_broadcast().

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actuators_uavcan_device_temperature_cb()

static void actuators_uavcan_device_temperature_cb ( struct uavcan_iface_t *  iface, CanardRxTransfer *  transfer  )

static

Whevener an DEVICE_TEMPERATURE message from the EQUIPMENT group is received.

Definition at line 306 of file actuators_uavcan.c.

References foo, get_actuator_telem(), msg, and transfer().

Referenced by actuators_uavcan_init().

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actuators_uavcan_esc_status_cb()

static void actuators_uavcan_esc_status_cb ( struct uavcan_iface_t *  iface, CanardRxTransfer *  transfer  )

static

Whevener an ESC_STATUS message from the EQUIPMENT group is received.

Definition at line 219 of file actuators_uavcan.c.

References ACT_FEEDBACK_UAVCAN_ID, Electrical::current, electrical, foo, get_actuator_idx(), get_actuator_telem(), get_sys_time_float(), act_feedback_t::idx, msg, act_feedback_t::act_feedback_set_t::rpm, act_feedback_t::rpm, act_feedback_t::set, and transfer().

Referenced by actuators_uavcan_init().

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actuators_uavcan_init()

void actuators_uavcan_init

(

struct uavcan_iface_t *

iface

)

Initialize an uavcan interface.

Definition at line 328 of file actuators_uavcan.c.

References actuator_status_ev, actuators_uavcan1cmd_values, actuators_uavcan2cmd_values, actuators_uavcan_actuator_status_cb(), actuators_uavcan_device_temperature_cb(), actuators_uavcan_esc_status_cb(), actuators_uavcan_initialized, actuators_uavcan_send_esc(), DefaultPeriodic, device_temperature_ev, esc_status_ev, foo, init_random(), register_periodic_telemetry(), uavcan_bind(), and UAVCAN_CMD_UNUSED.

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actuators_uavcan_next_telem()

static struct actuators_uavcan_telem_t * actuators_uavcan_next_telem ( void  )

static

Definition at line 104 of file actuators_uavcan.c.

References esc_idx, foo, offset, old_idx, rand_uniform(), and actuators_uavcan_telem_t::set.

Referenced by actuators_uavcan_send_esc().

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actuators_uavcan_send_esc()

static void actuators_uavcan_send_esc ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 143 of file actuators_uavcan.c.

References actuators_uavcan_next_telem(), dev, electrical, actuators_uavcan_telem_t::energy, foo, old_idx, rpm, and Electrical::vsupply.

Referenced by actuators_uavcan_init().

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get_actuator_idx()

static uint8_t get_actuator_idx ( struct uavcan_iface_t *  iface, uint8_t  idx  )

static

Definition at line 181 of file actuators_uavcan.c.

References actuators_uavcan1cmd_values, actuators_uavcan2cmd_values, foo, idx, and UAVCAN_CMD_UNUSED.

Referenced by actuators_uavcan_actuator_status_cb(), and actuators_uavcan_esc_status_cb().

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get_actuator_telem()

static struct actuators_uavcan_telem_t * get_actuator_telem ( struct uavcan_iface_t *  iface, uint8_t  idx  )

static

Definition at line 164 of file actuators_uavcan.c.

References foo, and idx.

Referenced by actuators_uavcan_actuator_status_cb(), actuators_uavcan_device_temperature_cb(), and actuators_uavcan_esc_status_cb().

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Variable Documentation

actuator_status_ev

uavcan_event actuator_status_ev

static

Definition at line 96 of file actuators_uavcan.c.

Referenced by actuators_uavcan_init().

actuators_uavcan_initialized

bool actuators_uavcan_initialized = false

static

Definition at line 94 of file actuators_uavcan.c.

Referenced by actuators_uavcan_init().

device_temperature_ev

uavcan_event device_temperature_ev

static

Definition at line 97 of file actuators_uavcan.c.

Referenced by actuators_uavcan_init().

esc_idx

uint8_t esc_idx = 0

static

Definition at line 103 of file actuators_uavcan.c.

Referenced by actuators_uavcan_next_telem().

esc_status_ev

uavcan_event esc_status_ev

static

Definition at line 95 of file actuators_uavcan.c.

Referenced by actuators_uavcan_init().

old_idx

uint8_t old_idx = 0

static

Definition at line 102 of file actuators_uavcan.c.

Referenced by actuators_uavcan_next_telem(), and actuators_uavcan_send_esc().