esc.hpp

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/**
 * @file esc.hpp
 *
 * UAVCAN <--> ORB bridge for ESC messages:
 *     uavcan.equipment.esc.RawCommand
 *     uavcan.equipment.esc.RPMCommand
 *     uavcan.equipment.esc.Status
 *
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#pragma once

#include <uavcan/uavcan.hpp>
#include <uavcan/equipment/esc/RawCommand.hpp>
#include <uavcan/equipment/esc/Status.hpp>
#include <lib/perf/perf_counter.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/esc_status.h>
#include <drivers/drv_hrt.h>
#include <lib/mixer_module/mixer_module.hpp>

class UavcanEscController
{
public:
    static constexpr int MAX_ACTUATORS = MixingOutput::MAX_ACTUATORS;
    static constexpr unsigned MAX_RATE_HZ = 200;            ///< XXX make this configurable
    static constexpr uint16_t DISARMED_OUTPUT_VALUE = UINT16_MAX;

    UavcanEscController(uavcan::INode &node);
    ~UavcanEscController();

    int init();

    void update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs);

    /**
     * Sets the number of rotors
     */
    void set_rotor_count(uint8_t count) { _rotor_count = count; }

    static int max_output_value() { return uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max(); }

private:
    /**
     * ESC status message reception will be reported via this callback.
     */
    void esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg);

    /**
     * ESC status will be published to ORB from this callback (fixed rate).
     */
    void orb_pub_timer_cb(const uavcan::TimerEvent &event);

    /**
     * Checks all the ESCs freshness based on timestamp, if an ESC exceeds the timeout then is flagged offline.
     */
    uint8_t check_escs_status();

    static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 10;
    static constexpr unsigned UAVCAN_COMMAND_TRANSFER_PRIORITY = 5; ///< 0..31, inclusive, 0 - highest, 31 - lowest

    typedef uavcan::MethodBinder<UavcanEscController *,
        void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)> StatusCbBinder;

    typedef uavcan::MethodBinder<UavcanEscController *,
        void (UavcanEscController::*)(const uavcan::TimerEvent &)> TimerCbBinder;

    esc_status_s    _esc_status{};

    uORB::PublicationMulti<esc_status_s> _esc_status_pub{ORB_ID(esc_status)};

    uint8_t     _rotor_count{0};

    /*
     * libuavcan related things
     */
    uavcan::MonotonicTime                           _prev_cmd_pub;   ///< rate limiting
    uavcan::INode                               &_node;
    uavcan::Publisher<uavcan::equipment::esc::RawCommand>           _uavcan_pub_raw_cmd;
    uavcan::Subscriber<uavcan::equipment::esc::Status, StatusCbBinder>  _uavcan_sub_status;
    uavcan::TimerEventForwarder<TimerCbBinder>              _orb_timer;

    /*
     * ESC states
     */
    uint8_t             _max_number_of_nonzero_outputs{0};
};