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fix rawcommand bug #28

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merged 3 commits into from
May 6, 2024
Merged

fix rawcommand bug #28

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147bd4a
update dronecan_application from v0.3.20 to v0.3.23
PonomarevDA May 6, 2024
e35b3fc
rewrite dronecan pwm params with std::array
PonomarevDA May 6, 2024
3b58506
fix bug with raw command deserialization
PonomarevDA May 6, 2024
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2 changes: 1 addition & 1 deletion Libs/Dronecan
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Submodule Dronecan updated 4 files
+86 −0 serialization/uavcan/equipment/air_data/RawAirData.h
+2 −2 serialization/uavcan/equipment/esc/RawCommand.h
+76 −0 serialization/uavcan/equipment/hardpoint/Command.h
+40 −0 serialization/uavcan/equipment/hardpoint/Status.h
27 changes: 10 additions & 17 deletions Src/dronecan_application/modules/PWMModule.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,12 +21,12 @@ PWMModule::PWMModule() {
init();
}

PwmChannelInfo PWMModule::params[static_cast<uint8_t>(PwmPin::PWM_AMOUNT)] = {
std::array<PwmChannelInfo, static_cast<uint8_t>(PwmPin::PWM_AMOUNT)> PWMModule::params = {{
{.pin = PwmPin::PWM_1}, // PWM1
{.pin = PwmPin::PWM_2}, // PWM2
{.pin = PwmPin::PWM_3}, // PWM3
{.pin = PwmPin::PWM_4}, // PWM4
};
}};

PwmChannelsParamsNames
PWMModule::params_names[static_cast<uint8_t>(PwmPin::PWM_AMOUNT)] = {
Expand Down Expand Up @@ -204,25 +204,18 @@ void PWMModule::publish_actuator_status() {
}

void PWMModule::raw_command_callback(CanardRxTransfer* transfer) {
if (module_status != ModuleStatus::MODULE_OK || pwm_cmd_type != 0) return;
RawCommand_t command;
int8_t ch_num =
dronecan_equipment_esc_raw_command_deserialize(transfer, &command);
if (ch_num <= 0) {
if (module_status != ModuleStatus::MODULE_OK || pwm_cmd_type != 0) {
return;
}
for (int i = 0; i < static_cast<uint8_t>(PwmPin::PWM_AMOUNT); i++) {
auto pwm = &params[i];
if (pwm->channel < 0) {

for (auto& pwm : params) {
int16_t cmd;
if (!dronecan_equipment_esc_raw_command_channel_deserialize(transfer, pwm.channel, &cmd)) {
continue;
}
if (command.raw_cmd[pwm->channel] >= 0) {
pwm->cmd_end_time_ms = HAL_GetTick() + ttl_cmd;
pwm->command_val = mapRawCommandToPwm(command.raw_cmd[pwm->channel],
pwm->min, pwm->max, pwm->def);
} else {
pwm->command_val = pwm->def;
}

pwm.cmd_end_time_ms = HAL_GetTick() + ttl_cmd;
pwm.command_val = mapRawCommandToPwm(cmd, pwm.min, pwm.max, pwm.def);
}
}

Expand Down
2 changes: 1 addition & 1 deletion Src/dronecan_application/modules/PWMModule.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ class PWMModule {
public:
void spin_once();
static PWMModule &get_instance();
static PwmChannelInfo params[static_cast<uint8_t>(PwmPin::PWM_AMOUNT)];
static std::array<PwmChannelInfo, static_cast<uint8_t>(PwmPin::PWM_AMOUNT)> params;
static PwmChannelsParamsNames params_names[static_cast<uint8_t>(PwmPin::PWM_AMOUNT)];
static ModuleStatus module_status;

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