在PX4中添加自己的can驱动

为什么又报错

已于 2024-09-06 15:26:17 修改

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文章标签： c++ 无人机

于 2024-09-06 15:25:31 首次发布

本文链接：https://blog.csdn.net/weixin_47924470/article/details/141960507

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想在px4开源无人机中源码里面添加自己的can设备，于是我仿照uavcan中的beep.hpp写了一份自己的源码。
这是beep中结构



#pragma once

#include <uavcan/uavcan.hpp>
#include <uavcan/equipment/indication/BeepCommand.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/tune_control.h>
#include <lib/tunes/tunes.h>

class UavcanBeepController
{
public:
	UavcanBeepController(uavcan::INode &node);

	/*
	* setup periodic updater
	*/
	int init();

private:
	/*
	 * Max update rate to avoid excessive bus traffic
	 */
	static constexpr unsigned MAX_RATE_HZ = 100;

	/*
	 * Setup timer and call back function for periodic updates
	 */
	void periodic_update(const uavcan::TimerEvent &);

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

	/*
	 * Subscription tune_control
	 */
	uORB::Subscription _tune_control_sub{ORB_ID(tune_control)};

	/*
	 * Publish CAN Beep
	 */
	uavcan::Publisher<uavcan::equipment::indication::BeepCommand> _beep_pub;

	uavcan::TimerEventForwarder<TimerCbBinder> _timer;

	hrt_abstime _interval_timestamp{0};
	tune_control_s _tune{};
	Tunes _tunes{};
	unsigned int _silence_length{0};	///< If nonzero, silence before next note.
	unsigned int _frequency{0};
	unsigned int _duration{0};
};

下面是我自己写的代码结构

/****************************************************************************
*
*   Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
*    notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
*    notice, this list of conditions and the following disclaimer in
*    the documentation and/or other materials provided with the
*    distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
*    used to endorse or promote products derived from this software
*    without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/

/**
 * @file car_wheel.hpp
 *
 * @author liuda
 * @brief Control CAN wheel
 *
 */

#pragma once

#include <uavcan/uavcan.hpp>
#include <uavcan/equipment/indication/BeepCommand.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/tune_control.h>
#include <lib/tunes/tunes.h>

class UavcanWheelController
{
public:
	UavcanWheelController(uavcan::INode &node);

	/*
	* setup periodic updater
	*/
	int init();

private:
	/*
	 * Max update rate to avoid excessive bus traffic
	 */


	/*
	 * Setup timer and call back function for periodic update
	 * Subscription tune_control
	 */


	/*
	 * Publish CAN Beep
	 */
	uavcan::INode node1;
         uavcan::MonotonicTime tx_deadline;  // 截止时间为当前时间加上100毫秒
	uint32_t can_id=0x0200;  // 扩展帧
	// uint8_t can_data[8];
	uint8_t data_len = 8;
	//uavcan::CanFrame frame;
	uint8_t iface_mask = 3;  // 将帧发送到接口0和接口1
	uavcan::CanTxQueue::Qos qos = uavcan::CanTxQueue::Volatile;
	uavcan::CanIOFlags flags = 1;
};

我在beep对应的camkelis中加入自己的代码，其中carwheel是我的代码

px4_add_module(
	MODULE drivers__uavcan
	MAIN uavcan
	STACK_MAIN 4096
	COMPILE_FLAGS
		-Wno-format-security # logmessage.hpp
		#-O0
		#-DDEBUG_BUILD
	INCLUDES
		${DSDLC_OUTPUT}
		${LIBUAVCAN_DIR}/libuavcan/include
		${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
		${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include
		${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver/include
	SRCS
		arming_status.cpp
		arming_status.hpp
		beep.cpp
		beep.hpp
		car_wheel.cpp
		car_wheel.hpp
		remoteid.cpp
		remoteid.hpp
		rgbled.cpp
		rgbled.hpp
		safety_state.cpp
		safety_state.hpp

		# Main
		uavcan_main.cpp
		uavcan_servers.cpp

		# Actuators
		actuators/esc.cpp
		actuators/hardpoint.cpp
		actuators/servo.cpp

		# Sensors
		sensors/sensor_bridge.cpp
		sensors/differential_pressure.cpp
		sensors/baro.cpp
		sensors/battery.cpp
		sensors/airspeed.cpp
		sensors/flow.cpp
		sensors/fuel_tank_status.cpp
		sensors/gnss_relative.cpp
		sensors/gnss.cpp
		sensors/mag.cpp
		sensors/rangefinder.cpp
		sensors/accel.cpp
		sensors/gyro.cpp
		sensors/ice_status.cpp
		sensors/hygrometer.cpp
		sensors/safety_button.cpp
	MODULE_CONFIG
		module.yaml
	DEPENDS
		px4_uavcan_dsdlc

		button_publisher
		drivers_rangefinder
		led
		mixer_module
		version

		git_uavcan
		uavcan_${UAVCAN_DRIVER}_driver

		drivers_rangefinder # Fix undefined reference when no distance sensors are selected

		# within libuavcan
		uavcan

加入后可以成功编译。
所以我继续把我的代码加入到uavcan_main.cpp中运行起来.
首先将实例化加入到 uavcan的hpp里面

	pthread_mutex_t			_node_mutex;

#if defined(CONFIG_UAVCAN_ARMING_CONTROLLER)
	UavcanArmingStatus		_arming_status_controller;
#endif
#if defined(CONFIG_UAVCAN_BEEP_CONTROLLER)
	UavcanBeepController		_beep_controller;
#endif
#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
	UavcanEscController		_esc_controller;
	UavcanMixingInterfaceESC 	_mixing_interface_esc{_node_mutex, _esc_controller};

	UavcanServoController		_servo_controller;
	UavcanMixingInterfaceServo 	_mixing_interface_servo{_node_mutex, _servo_controller};
#endif
#if defined(CONFIG_UAVCAN_HARDPOINT_CONTROLLER)
	UavcanHardpointController	_hardpoint_controller;
#endif
#if defined(CONFIG_UAVCAN_SAFETY_STATE_CONTROLLER)
	UavcanSafetyState         	_safety_state_controller;
#endif
#if defined(CONFIG_UAVCAN_REMOTEID_CONTROLLER)
	UavcanRemoteIDController _remoteid_controller;
#endif
#if defined(CONFIG_UAVCAN_RGB_CONTROLLER)
	UavcanRGBController             _rgbled_controller;
#endif
	UavcanWheelController		_wheel_ctrl;

然后在uavcan_main.cpp中初始化列表


#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/tasks.h>

#include <inttypes.h>
#include <cstdlib>
#include <cstring>
#include <fcntl.h>
#include <systemlib/err.h>
#include <parameters/param.h>
#include <version/version.h>

#include <arch/chip/chip.h>

#include <uORB/topics/esc_status.h>

#include <drivers/drv_hrt.h>

#include "uavcan_module.hpp"
#include "uavcan_main.hpp"
#include <uavcan/util/templates.hpp>

#include <uavcan/protocol/param/ExecuteOpcode.hpp>

//todo:The Inclusion of file_server_backend is killing
// #include <sys/types.h> and leaving OK undefined
# define OK 0

/*
 * UavcanNode
 */
UavcanNode *UavcanNode::_instance;

static UavcanNode::CanInitHelper *can = nullptr;

UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) :
	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::uavcan),
	ModuleParams(nullptr),
	_node(can_driver, system_clock, _pool_allocator),
#if defined(CONFIG_UAVCAN_ARMING_CONTROLLER)
	_arming_status_controller(_node),
#endif
#if defined(CONFIG_UAVCAN_BEEP_CONTROLLER)
	_beep_controller(_node),
#endif
#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
	_esc_controller(_node),
	_servo_controller(_node),
#endif
#if defined(CONFIG_UAVCAN_HARDPOINT_CONTROLLER)
	_hardpoint_controller(_node),
#endif
#if defined(CONFIG_UAVCAN_SAFETY_STATE_CONTROLLER)
	_safety_state_controller(_node),
#endif
#if defined(CONFIG_UAVCAN_REMOTEID_CONTROLLER)
	_remoteid_controller(_node),
#endif
#if defined(CONFIG_UAVCAN_RGB_CONTROLLER)
	_rgbled_controller(_node),
#endif
	_wheel_ctrl(_node),

	_log_message_controller(_node),
	_time_sync_master(_node),
	_time_sync_slave(_node),
	_node_status_monitor(_node),
	_node_info_retriever(_node),
	_master_timer(_node),
	_param_getset_client(_node),
	_param_opcode_client(_node),
	_param_restartnode_client(_node)
{
	int res = pthread_mutex_init(&_node_mutex, nullptr);

	if (res < 0) {
		std::abort();
	}

#if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
	_mixing_interface_esc.mixingOutput().setMaxTopicUpdateRate(1000000 / UavcanEscController::MAX_RATE_HZ);
	_mixing_interface_servo.mixingOutput().setMaxTopicUpdateRate(1000000 / UavcanServoController::MAX_RATE_HZ);
#endif
}