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[modules] UAVCAN range sensor and cleanup (#3198)
* [modules] Cleanup airspeed uavcan * [modules] Add UAVCAN range sensor
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| Original file line number | Diff line number | Diff line change |
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| <!DOCTYPE module SYSTEM "module.dtd"> | ||
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| <module name="range_sensor_uavcan" dir="sensors" task="sensors"> | ||
| <doc> | ||
| <description> | ||
| Range sensor over the uavcan protocol which publishes over ABI as AGL | ||
| </description> | ||
| </doc> | ||
| <dep> | ||
| <depends>uavcan</depends> | ||
| <provides>sonar</provides> | ||
| </dep> | ||
| <header> | ||
| <file name="range_sensor_uavcan.h"/> | ||
| </header> | ||
| <init fun="range_sensor_uavcan_init()"/> | ||
| <makefile target="ap"> | ||
| <file name="range_sensor_uavcan.c"/> | ||
| </makefile> | ||
| </module> |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,92 @@ | ||
| /* | ||
| * Copyright (C) 2023 Freek van Tienen <freek.v.tienen@gmail.com> | ||
| * | ||
| * This file is part of paparazzi | ||
| * | ||
| * paparazzi is free software; you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation; either version 2, or (at your option) | ||
| * any later version. | ||
| * | ||
| * paparazzi is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with paparazzi; see the file COPYING. If not, write to | ||
| * the Free Software Foundation, 59 Temple Place - Suite 330, | ||
| * Boston, MA 02111-1307, USA. | ||
| */ | ||
|
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| /** @file modules/sensors/range_sensor_uavcan.c | ||
| * Range sensor on the uavcan bus | ||
| */ | ||
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| #include "range_sensor_uavcan.h" | ||
| #include "uavcan/uavcan.h" | ||
| #include "core/abi.h" | ||
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| /* uavcan EQUIPMENT_RANGE_SENSOR_MEASUREMENT message definition */ | ||
| #define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_ID 1050 | ||
| #define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_SIGNATURE (0x68FFFE70FC771952ULL) | ||
| #define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_MAX_SIZE ((120 + 7)/8) | ||
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| /* Local structure */ | ||
| struct range_sensor_uavcan_t { | ||
| float range; | ||
| uint8_t reading_type; | ||
| }; | ||
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| /* Local variables */ | ||
| static struct range_sensor_uavcan_t range_sensor_uavcan = {0}; | ||
| static uavcan_event range_sensor_uavcan_ev; | ||
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| #if PERIODIC_TELEMETRY | ||
| #include "modules/datalink/telemetry.h" | ||
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| static void range_sensor_uavcan_send_lidar(struct transport_tx *trans, struct link_device *dev) | ||
| { | ||
| uint8_t nul = 0; | ||
| pprz_msg_send_LIDAR(trans, dev, AC_ID, | ||
| &range_sensor_uavcan.range, | ||
| &range_sensor_uavcan.reading_type, | ||
| &nul); | ||
| } | ||
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| #endif | ||
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| static void range_sensor_uavcan_cb(struct uavcan_iface_t *iface __attribute__((unused)), CanardRxTransfer *transfer) { | ||
| uint16_t tmp_float = 0; | ||
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| /* Decode the message */ | ||
| //canardDecodeScalar(transfer, (uint32_t)0, 56, false, (void*)&dest->usec); | ||
| //canardDecodeScalar(transfer, (uint32_t)56, 8, false, (void*)&dest->sensor_id); | ||
| //canardDecodeScalar(transfer, (uint32_t)64, 5, true, (void*)(dest->fixed_axis_roll_pitch_yaw + 0)); | ||
| //canardDecodeScalar(transfer, (uint32_t)69, 5, true, (void*)(dest->fixed_axis_roll_pitch_yaw + 1)); | ||
| //canardDecodeScalar(transfer, (uint32_t)74, 5, true, (void*)(dest->fixed_axis_roll_pitch_yaw + 2)); | ||
| //canardDecodeScalar(transfer, (uint32_t)79, 1, false, (void*)&dest->orientation_defined); | ||
| //canardDecodeScalar(transfer, (uint32_t)80, 16, false, (void*)&tmp_float); | ||
| //float fov = canardConvertFloat16ToNativeFloat(tmp_float); | ||
| //canardDecodeScalar(transfer, (uint32_t)96, 5, false, (void*)&dest->sensor_type); | ||
| canardDecodeScalar(transfer, (uint32_t)101, 3, false, (void*)&range_sensor_uavcan.reading_type); | ||
| canardDecodeScalar(transfer, (uint32_t)104, 16, false, (void*)&tmp_float); | ||
| range_sensor_uavcan.range = canardConvertFloat16ToNativeFloat(tmp_float); | ||
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| // Send the range over ABI | ||
| if(!isnan(range_sensor_uavcan.range)) { | ||
| uint32_t now_ts = get_sys_time_usec(); | ||
| AbiSendMsgAGL(AGL_UAVCAN_ID, now_ts, range_sensor_uavcan.range); | ||
| } | ||
| } | ||
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| void range_sensor_uavcan_init(void) | ||
| { | ||
| // Bind uavcan MEASUREMENT message from EQUIPMENT.RANGE_SENSOR | ||
| uavcan_bind(UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_ID, UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_SIGNATURE, &range_sensor_uavcan_ev, &range_sensor_uavcan_cb); | ||
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| #if PERIODIC_TELEMETRY | ||
| register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_LIDAR, range_sensor_uavcan_send_lidar); | ||
| #endif | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,32 @@ | ||
| /* | ||
| * Copyright (C) 2023 Freek van Tienen <freek.v.tienen@gmail.com> | ||
| * | ||
| * This file is part of Paparazzi. | ||
| * | ||
| * Paparazzi is free software; you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation; either version 2, or (at your option) | ||
| * any later version. | ||
| * | ||
| * Paparazzi is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with Paparazzi; see the file COPYING. If not, write to | ||
| * the Free Software Foundation, 59 Temple Place - Suite 330, | ||
| * Boston, MA 02111-1307, USA. | ||
| */ | ||
|
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| /** @file modules/sensors/range_sensor_uavcan.h | ||
| * Range sensor sensor on the uavcan bus | ||
| */ | ||
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| #ifndef RANGE_SENSOR_UAVCAN_H | ||
| #define RANGE_SENSOR_UAVCAN_H | ||
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| /* External functions */ | ||
| extern void range_sensor_uavcan_init(void); | ||
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| #endif /* RANGE_SENSOR_UAVCAN_H */ |