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 "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)
#define	UAVCAN_EQUIPMENT_ESC_STATUS_ID   1034
#define	UAVCAN_EQUIPMENT_ESC_STATUS_SIGNATURE   (0xA9AF28AEA2FBB254ULL)
#define	UAVCAN_EQUIPMENT_ESC_STATUS_MAX_SIZE   ((110 + 7)/8)
#define	UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_ID   1030
#define	UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_SIGNATURE   (0x217F5C87D7EC951DULL)
#define	UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_MAX_SIZE   ((285 + 7)/8)
#define	UAVCAN_EQUIPMENT_ACTUATOR_STATUS_ID   1011
#define	UAVCAN_EQUIPMENT_ACTUATOR_STATUS_SIGNATURE   (0x5E9BBA44FAF1EA04ULL)
#define	UAVCAN_EQUIPMENT_ACTUATOR_STATUS_MAX_SIZE   ((64 + 7)/8)
#define	UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_ID   1010
#define	UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_SIGNATURE   (0xD8A7486238EC3AF3ULL)
#define	UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_MAX_SIZE   ((484 + 7)/8)
#define	UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_ID   1110
#define	UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_SIGNATURE   (0x70261C28A94144C6ULL)
#define	UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_MAX_SIZE   ((40 + 7)/8)

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 void	actuators_uavcan_esc_status_cb (struct uavcan_iface_t *iface, CanardRxTransfer *transfer)
	Whevener an ESC_STATUS message from the EQUIPMENT group is received. More...
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. More...
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. More...
void	actuators_uavcan_init (struct uavcan_iface_t *iface)
	Initialize an uavcan interface. More...
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) More...
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) More...

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 39 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 35 of file actuators_uavcan.c.

UAVCAN_CMD_UNUSED

#define UAVCAN_CMD_UNUSED   (MIN_PPRZ-1)

Definition at line 84 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_ID

#define UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_ID   1010

Definition at line 102 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_MAX_SIZE

#define UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_MAX_SIZE   ((484 + 7)/8)

Definition at line 104 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_SIGNATURE

#define UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_SIGNATURE   (0xD8A7486238EC3AF3ULL)

Definition at line 103 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_ACTUATOR_STATUS_ID

#define UAVCAN_EQUIPMENT_ACTUATOR_STATUS_ID   1011

Definition at line 97 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_ACTUATOR_STATUS_MAX_SIZE

#define UAVCAN_EQUIPMENT_ACTUATOR_STATUS_MAX_SIZE   ((64 + 7)/8)

Definition at line 99 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_ACTUATOR_STATUS_SIGNATURE

#define UAVCAN_EQUIPMENT_ACTUATOR_STATUS_SIGNATURE   (0x5E9BBA44FAF1EA04ULL)

Definition at line 98 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_ID

#define UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_ID   1110

Definition at line 107 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_MAX_SIZE

#define UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_MAX_SIZE   ((40 + 7)/8)

Definition at line 109 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_SIGNATURE

#define UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_SIGNATURE   (0x70261C28A94144C6ULL)

Definition at line 108 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_ID

#define UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_ID   1030

Definition at line 92 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_MAX_SIZE

#define UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_MAX_SIZE   ((285 + 7)/8)

Definition at line 94 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_SIGNATURE

#define UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_SIGNATURE   (0x217F5C87D7EC951DULL)

Definition at line 93 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_ESC_STATUS_ID

#define UAVCAN_EQUIPMENT_ESC_STATUS_ID   1034

Definition at line 87 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_ESC_STATUS_MAX_SIZE

#define UAVCAN_EQUIPMENT_ESC_STATUS_MAX_SIZE   ((110 + 7)/8)

Definition at line 89 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_ESC_STATUS_SIGNATURE

#define UAVCAN_EQUIPMENT_ESC_STATUS_SIGNATURE   (0xA9AF28AEA2FBB254ULL)

Definition at line 88 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 281 of file actuators_uavcan.c.

References ACT_FEEDBACK_UAVCAN_ID, actuators_uavcan1cmd_values, actuators_uavcan2cmd_values, act_feedback_t::idx, act_feedback_t::act_feedback_set_t::position, act_feedback_t::position, actuators_uavcan_telem_t::position, act_feedback_t::set, transfer(), and UAVCAN_CMD_UNUSED.

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 450 of file actuators_uavcan.c.

References MAX_PPRZ, MIN_PPRZ, offset, uavcan_broadcast(), UAVCAN_CMD_UNUSED, UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_ID, UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_MAX_SIZE, and UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_SIGNATURE.

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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 431 of file actuators_uavcan.c.

References offset, uavcan_broadcast(), UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_ID, UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_MAX_SIZE, and UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_SIGNATURE.

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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 355 of file actuators_uavcan.c.

References actuators_uavcan_telem_t::set, actuators_uavcan_telem_t::temperature_dev, 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 185 of file actuators_uavcan.c.

References ACT_FEEDBACK_UAVCAN_ID, actuators_uavcan1cmd_values, actuators_uavcan2cmd_values, actuators_uavcan_telem_t::current, Electrical::current, electrical, actuators_uavcan_telem_t::energy, esc_idx, get_sys_time_float(), act_feedback_t::idx, actuators_uavcan_telem_t::node_id, act_feedback_t::act_feedback_set_t::rpm, act_feedback_t::rpm, actuators_uavcan_telem_t::rpm, rpm, act_feedback_t::set, actuators_uavcan_telem_t::set, actuators_uavcan_telem_t::temperature, actuators_uavcan_telem_t::timestamp, transfer(), UAVCAN_CMD_UNUSED, and actuators_uavcan_telem_t::voltage.

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 391 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, init_random(), register_periodic_telemetry(), uavcan_bind(), UAVCAN_CMD_UNUSED, UAVCAN_EQUIPMENT_ACTUATOR_STATUS_ID, UAVCAN_EQUIPMENT_ACTUATOR_STATUS_SIGNATURE, UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_ID, UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_SIGNATURE, UAVCAN_EQUIPMENT_ESC_STATUS_ID, and UAVCAN_EQUIPMENT_ESC_STATUS_SIGNATURE.

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actuators_uavcan_next_telem()

static struct actuators_uavcan_telem_t* actuators_uavcan_next_telem ( void  )

static

Definition at line 122 of file actuators_uavcan.c.

References esc_idx, 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 161 of file actuators_uavcan.c.

References actuators_uavcan_next_telem(), actuators_uavcan_telem_t::current, dev, electrical, actuators_uavcan_telem_t::energy, actuators_uavcan_telem_t::node_id, old_idx, actuators_uavcan_telem_t::rpm, rpm, actuators_uavcan_telem_t::temperature, actuators_uavcan_telem_t::temperature_dev, actuators_uavcan_telem_t::voltage, and Electrical::vsupply.

Referenced by actuators_uavcan_init().

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Variable Documentation

actuator_status_ev

uavcan_event actuator_status_ev

static

Definition at line 114 of file actuators_uavcan.c.

Referenced by actuators_uavcan_init().

actuators_uavcan_initialized

bool actuators_uavcan_initialized = false

static

Definition at line 112 of file actuators_uavcan.c.

Referenced by actuators_uavcan_init().

device_temperature_ev

uavcan_event device_temperature_ev

static

Definition at line 115 of file actuators_uavcan.c.

Referenced by actuators_uavcan_init().

esc_idx

uint8_t esc_idx = 0

static

Definition at line 121 of file actuators_uavcan.c.

Referenced by actuators_uavcan_esc_status_cb(), and actuators_uavcan_next_telem().

esc_status_ev

uavcan_event esc_status_ev

static

Definition at line 113 of file actuators_uavcan.c.

Referenced by actuators_uavcan_init().

old_idx

uint8_t old_idx = 0

static

Definition at line 120 of file actuators_uavcan.c.

Referenced by actuators_uavcan_next_telem(), and actuators_uavcan_send_esc().