How to add hobbywing msg subscriber？

ArduCopter Copter 4.6
1

I try to subscriber 20052.StatusMsg3.uavcan.

#if AP_DRONECAN_HOBBYWING_ESC_SUPPORT


/\*

  Hobbywing ESC support. Note that we need additional meta-data as

  the status messages do not have an ESC ID in them, so we need a

  mapping from node ID

\*/


#define HOBBYWING_MAX_ESC 8

struct {

uint32_t last_GetId_send_ms;

uint8_t thr_chan\[HOBBYWING_MAX_ESC\];

} hobbywing;

void hobbywing_ESC_update();

void SRV_send_esc_hobbywing();

Canard::Publisher<com_hobbywing_esc_RawCommand> esc_hobbywing_raw{canard_iface};

Canard::Publisher<com_hobbywing_esc_GetEscID> esc_hobbywing_GetEscID{canard_iface};

Canard::ObjCallback<AP_DroneCAN, com_hobbywing_esc_GetEscID> esc_hobbywing_GetEscID_cb{this, &AP_DroneCAN::handle_hobbywing_GetEscID};

Canard::Subscriber<com_hobbywing_esc_GetEscID> esc_hobbywing_GetEscID_listener{esc_hobbywing_GetEscID_cb, \_driver_index};

Canard::ObjCallback<AP_DroneCAN, com_hobbywing_esc_StatusMsg1> esc_hobbywing_StatusMSG1_cb{this, &AP_DroneCAN::handle_hobbywing_StatusMsg1};

Canard::Subscriber<com_hobbywing_esc_StatusMsg1> esc_hobbywing_StatusMSG1_listener{esc_hobbywing_StatusMSG1_cb, \_driver_index};

Canard::ObjCallback<AP_DroneCAN, com_hobbywing_esc_StatusMsg2> esc_hobbywing_StatusMSG2_cb{this, &AP_DroneCAN::handle_hobbywing_StatusMsg2};

Canard::Subscriber<com_hobbywing_esc_StatusMsg2> esc_hobbywing_StatusMSG2_listener{esc_hobbywing_StatusMSG2_cb, \_driver_index};

Canard::ObjCallback<AP_DroneCAN, com_hobbywing_esc_StatusMsg3> esc_hobbywing_StatusMSG3_cb{this, &AP_DroneCAN::handle_hobbywing_StatusMsg3};

Canard::Subscriber<com_hobbywing_esc_StatusMsg3> esc_hobbywing_StatusMSG3_listener{esc_hobbywing_StatusMSG3_cb, \_driver_index};

bool hobbywing_find_esc_index(uint8_t node_id, uint8_t &esc_index) const;

void handle_hobbywing_GetEscID(const CanardRxTransfer& transfer, const com_hobbywing_esc_GetEscID& msg);

void handle_hobbywing_StatusMsg1(const CanardRxTransfer& transfer, const com_hobbywing_esc_StatusMsg1& msg);

void handle_hobbywing_StatusMsg2(const CanardRxTransfer& transfer, const com_hobbywing_esc_StatusMsg2& msg);

void handle_hobbywing_StatusMsg3(const CanardRxTransfer& transfer, const com_hobbywing_esc_StatusMsg3& msg);

#endif // AP_DRONECAN_HOBBYWING_ESC_SUPPORT

this is AP_DroneCAN.h hobbywing code. I add msg3 subscriber like msg1 and msg2.

void AP_DroneCAN::handle_hobbywing_StatusMsg3(const CanardRxTransfer& transfer, const com_hobbywing_esc_StatusMsg3& msg)

{

uint8_t esc_index;

static uint32_t ptime;

if (AP_HAL::millis() - ptime > 1000) {

GCS_SEND_TEXT(MAV_SEVERITY_INFO, “1.Sub success”);

ptime = AP_HAL::millis();

}

if (hobbywing_find_esc_index(transfer.source_node_id, esc_index)) {

static uint32_t ptime2;

if (AP_HAL::millis() - ptime2 > 1000) {

GCS_SEND_TEXT(MAV_SEVERITY_INFO, “2.Update, mos:%d, cap:%d, motor:%d”, msg.MOS_T, msg.CAP_T, msg.Motor_T);

ptime2 = AP_HAL::millis();

    }

update_temp_detail(esc_index, msg.MOS_T, msg.CAP_T, msg.Motor_T);

}

}

#endif // AP_DRONECAN_HOBBYWING_ESC_SUPPORT

this is handle_hobbywing_StatusMsg3 function, I add gcs print. Then I find no “1…” print when ESC working, but dronecan gui show msg3 is ok.
So, what’s problem?

2

Alright, after three days of difficult testing and troubleshooting, I found that the 20052.StatusMsg3 in Hobbywing’s protocol has 4 reserved bits, so the number of valid bytes is 7.

MSG3
MSG31452×234 14.9 KB

However, The current protocol only has three bytes data, so it was failed in the decode function, causing subscription failure.

OVERRIDE_SIGNATURE 0x24919cd1eb34ece9

uint8 MOS_T
uint8 CAP_T
uint8 Motor_T

I added a uint32_t in the message define to receive the reserved bits, and after recompiling, it worked normally.

OVERRIDE_SIGNATURE 0x24919cd1eb34ece9

uint8 MOS_T
uint8 CAP_T
uint8 Motor_T
uint32 Reserved
1 Like