[rpm_actuators] actuators on a bus require indices

paparazzi · Sep 20, 2023 · 4ee7cda · 4ee7cda
1 parent a98fd3a
commit 4ee7cda
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Showing 4 changed files with 18 additions and 1 deletion.
diff --git a/conf/abi.xml b/conf/abi.xml
@@ -84,7 +84,7 @@
     </message>
 
     <message name="RPM" id="15">
-      <field name="rpm" type="uint16_t *" unit="rpm"/>
+      <field name="rpm" type="struct rpm_act_t *" unit="rpm"/>
       <field name="num_act" type="uint8_t"/>
     </message>
 

diff --git a/sw/airborne/modules/actuators/actuators.h b/sw/airborne/modules/actuators/actuators.h
@@ -40,6 +40,12 @@
 extern void actuators_init(void);
 extern void actuators_periodic(void);
 
+// Actuator RPM structure for ABI Message
+struct rpm_act_t {
+  uint8_t actuator_idx;
+  int32_t rpm;
+};
+
 #if ACTUATORS_NB
 
 extern uint32_t actuators_delay_time;

diff --git a/sw/airborne/modules/actuators/actuators_uavcan.c b/sw/airborne/modules/actuators/actuators_uavcan.c
@@ -208,6 +208,16 @@ static void actuators_uavcan_esc_status_cb(struct uavcan_iface_t *iface, CanardR
   }
 #endif
 #endif
+
+// Create struct for ABI
+#ifdef SERVOS_UAVCAN1_NB
+  struct rpm_act_t rpm_message;
+  rpm_message.actuator_idx =  esc_idx;
+  rpm_message.rpm = telem[esc_idx].rpm;
+
+  // Send ABI message
+  AbiSendMsgRPM(RPM_SENSOR_ID, &rpm_message, SERVOS_UAVCAN1_NB);
+#endif
 }
 
 /**

diff --git a/sw/airborne/modules/core/abi_common.h b/sw/airborne/modules/core/abi_common.h
@@ -34,6 +34,7 @@
 #include "math/pprz_algebra_float.h"
 #include "modules/gps/gps.h"
 #include "modules/radio_control/radio_control.h"
+#include "modules/actuators/actuators.h"
 /* Include here headers with structure definition you may want to use with ABI
  * Ex: '#include "modules/gps/gps.h"' in order to use the GpsState structure
  */