WIP: Aggregate RCOutput with UAVCAN to one place in SRV_Channels #7882

EShamaev · 2018-03-09T13:22:44Z

As support for UAVCAN output is widening, there is a need to put it in one place instead of copy-paste same code all over libraries.
Maybe this is overkill, but solves the problem.
As a side effect adds UAVCAN support to Intel Aero as it came from #7729

anemostec · 2018-03-09T13:37:38Z

Thanks Shamaev for this support. For the intel aero we need the RCoutput tap to be removed when the UAVCAN support is added. The reason for this is that RCouputtap uses the /dev/ttyS1 which could be used by other portions of the code, for the telemetry for instance.

EShamaev · 2018-03-09T13:41:48Z

It should work without a tap now, can you give it a try?

anemostec · 2018-03-09T13:46:07Z

not yet, I'm in the middle of an other development and CAN is not connected

anemostec · 2018-03-09T13:46:36Z

RCoutputTap should be desactivated, I know it can work without it

EShamaev · 2018-03-09T13:48:35Z

What I mean is that in this PR output is updated not in tap module but in normal RCOutput for Intel Aero. Tap is not needed and it's a change from your old PR. Please make tests when you can to make sure all is working.

lucasdemarchi · 2018-03-09T14:13:07Z

@EShamaev I gave it a quick look and it's much better now. However I think the individual RCOutput implementations should not be changed to call uavcan. Instead leave it to be done by whom call them. This way it's copter/plane/etc (or AP_Motor if everybody is using it) responsibility to do it and you then don't have to change each driver.

Thanks.

EShamaev · 2018-03-09T14:16:23Z

Will it be enough to add it to SRV_Channels::push() then?

EShamaev · 2018-03-09T14:25:21Z

Actually UAVCAN can be totally separated from RCOutput and placed into SRV_Channels.

lucasdemarchi · 2018-03-09T14:29:27Z

Looks like a good option. I can't check right now as I'm on a phone. Just check if it cover all the callers.

khancyr · 2018-03-09T14:51:35Z

libraries/AP_HAL_Linux/RCOutput_PCA9685.h

@@ -10,6 +10,8 @@
 #define PCA9685_QUATENARY_ADDRESS           0x55
 #define PCA9685_QUINARY_ADDRESS             0x61

+#define PWM_CHAN_COUNT 16


this one should be put back into .cpp too

khancyr · 2018-03-09T14:53:30Z

Looks good, but I am still not sure where this must be called, on lib like SRV_Channels or on vehicle code directly ? I don't know ... I got the same problem with a serial protocol for rover motor ...

EShamaev · 2018-03-09T14:55:04Z

There is no such calls left in vehicles code. All is done through SRV_Channels.

khancyr · 2018-03-09T14:58:44Z

We can put that in the same place as SRV_Channels::output_ch_all() or do another lib that will handle the update of srv_chanell if enable, uavcan if enable, whatever_protocol if enable etc .
SRV_Channel is really for channel, I am not we want it to be polluted by can. But I don't have a better idea, so lets merge something and refactor atfer !

EShamaev · 2018-03-09T15:01:31Z

Is SRV_Channels a singleton?

khancyr · 2018-03-09T15:15:49Z

hummmm SRV_channel update sbus and voltz protocl so, let's put uavcan here too ^^

EShamaev · 2018-03-09T15:17:04Z

Yes, that's logical place for it to be.

magicrub · 2018-03-09T17:58:00Z

libraries/SRV_Channel/SRV_Channel.h

@@ -420,6 +420,7 @@ class SRV_Channels {
    static void cork();

    static void push();
+    static void push_UAVCAN(void);


push_UAVCAN() should be private

tridge

This looks like a nice improvement. What is left to do with this? Has it been tested?

lucasdemarchi · 2018-05-03T22:08:07Z

I do have boards with can, but I don't have any ESC right now with it. So, I think the only thing missing would be to test.

tridge · 2018-05-22T02:19:26Z

I have done a forced push to the PR to rebase it on master
I've also found it has a major memory leak - it drops to zero available memory as soon as it starts up on both HAL_PX4 and HAL_ChibiOS

…annels

this stops us keeping messages for resend for too long, which fixes a major memory leak

this allows for much higher ESC and servo rates, as it gives more changes for frames to get out

this allows for servos at 50Hz while keeping ESCs at higher rates

this reduces the number of msg timeouts

this allows us to support 800Hz main loop rate with UAVCAN ESCs on copter

this avoids the need to check return result

EShamaev added Enhancement Library AllVehicles WIP Driver CAN labels Mar 9, 2018

EShamaev requested review from lucasdemarchi, khancyr, tridge and magicrub March 9, 2018 13:22

EShamaev mentioned this pull request Mar 9, 2018

Intel Aero uavcan support #7729

Closed

khancyr reviewed Mar 9, 2018

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EShamaev changed the title ~~WIP: Aggregate RCOutput with UAVCAN to one place in top HAL~~ WIP: Aggregate RCOutput with UAVCAN to one place in SRV_Channels Mar 9, 2018

EShamaev force-pushed the UAVCAN_RCOutput_aggregate branch from 353e454 to d9ed473 Compare March 9, 2018 15:37

magicrub reviewed Mar 9, 2018

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tridge approved these changes May 3, 2018

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tridge mentioned this pull request May 3, 2018

UAVCAN message corruption on ArduPlane #8166

Closed

tridge force-pushed the UAVCAN_RCOutput_aggregate branch from 6ca3a04 to 5bcd5ca Compare May 22, 2018 02:18

tridge force-pushed the UAVCAN_RCOutput_aggregate branch 3 times, most recently from 59fc9cf to 51697bf Compare May 24, 2018 23:14

EShamaev and others added 20 commits May 25, 2018 12:26

Tools: add CAN bus declaration for the intel aero board

ef4064f

AP_HAL: add CAN bus declaration for the intel aero board

08acaf9

SRV_Channels: integration of UAVCAN Servos and ESCs

1dcdf50

AP_UAVCAN: Change for servo and ESC interface from RCOutput to SRV_Ch…

5adb2f9

…annels

AP_HAL_PX4: UAVCAN servo removal

579bcf7

AP_HAL_VRBRAIN: UAVCAN servo removal

aeacf8f

SRV_Channel: move push_UAVCAN to private

f095fb3

SRV_Channels: helper func

152ba32

SRV_Channel: move UAVCAN code from SRV to UAVCAN files

2874657

AP_UAVCAN: move UAVCAN code from SRV to UAVCAN files

c5c0e02

AP_UAVCAN: set timeout for periodic msgs to 1

b7fb850

this stops us keeping messages for resend for too long, which fixes a major memory leak

AP_UAVCAN: a simple UAVCAN sniffer based on AP_HAL

afd1ecd

HAL_ChibiOS: run can loop much more often

e4b3c34

this allows for much higher ESC and servo rates, as it gives more changes for frames to get out

AP_UAVCAN: added a servo rate limit parameter

0664686

this allows for servos at 50Hz while keeping ESCs at higher rates

AP_UAVCAN: increase message timeout to 2ms

62aaa86

this reduces the number of msg timeouts

AP_UAVCAN: efficiency improvements

e666fbb

this allows us to support 800Hz main loop rate with UAVCAN ESCs on copter

AP_UAVCAN: fixed build of example on px4

47a923b

AP_HAL: added take_blocking() method

e048eea

this avoids the need to check return result

AP_UAVCAN: use take_blocking() method

65aaa1d

AP_UAVCAN: fixed build on revo

6f82029

tridge force-pushed the UAVCAN_RCOutput_aggregate branch from da91985 to 6f82029 Compare May 25, 2018 02:26

tridge merged commit fbd80ef into ArduPilot:master May 25, 2018

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WIP: Aggregate RCOutput with UAVCAN to one place in SRV_Channels #7882

WIP: Aggregate RCOutput with UAVCAN to one place in SRV_Channels #7882

EShamaev commented Mar 9, 2018 •

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WIP: Aggregate RCOutput with UAVCAN to one place in SRV_Channels #7882

WIP: Aggregate RCOutput with UAVCAN to one place in SRV_Channels #7882

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