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127 lines
3.8 KiB
127 lines
3.8 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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* AP_KDECAN.h |
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* |
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* Author: Francisco Ferreira |
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*/ |
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#pragma once |
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#include <AP_CANManager/AP_CANDriver.h> |
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS |
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#include <AP_HAL/Semaphores.h> |
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#include <AP_Param/AP_Param.h> |
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#include <AP_ESC_Telem/AP_ESC_Telem_Backend.h> |
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#include <atomic> |
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// there are 12 motor functions in SRV_Channel but CAN driver can't keep up |
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#define KDECAN_MAX_NUM_ESCS 8 |
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class AP_KDECAN : public AP_CANDriver, public AP_ESC_Telem_Backend { |
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public: |
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AP_KDECAN(); |
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/* Do not allow copies */ |
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AP_KDECAN(const AP_KDECAN &other) = delete; |
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AP_KDECAN &operator=(const AP_KDECAN&) = delete; |
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static const struct AP_Param::GroupInfo var_info[]; |
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// Return KDECAN from @driver_index or nullptr if it's not ready or doesn't exist |
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static AP_KDECAN *get_kdecan(uint8_t driver_index); |
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void init(uint8_t driver_index, bool enable_filters) override; |
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bool add_interface(AP_HAL::CANIface* can_iface) override; |
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// called from SRV_Channels |
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void update(); |
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// check that arming can happen |
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bool pre_arm_check(char* reason, uint8_t reason_len); |
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// caller checks that vehicle isn't armed |
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// start_stop: true to start, false to stop |
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bool run_enumeration(bool start_stop); |
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private: |
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void loop(); |
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bool _initialized; |
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char _thread_name[11]; |
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uint8_t _driver_index; |
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AP_HAL::CANIface* _can_iface; |
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HAL_EventHandle _event_handle; |
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AP_Int8 _num_poles; |
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// ESC detected information |
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uint32_t _esc_present_bitmask; |
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uint8_t _esc_max_node_id; |
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// enumeration |
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HAL_Semaphore _enum_sem; |
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enum enumeration_state_t : uint8_t { |
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ENUMERATION_STOPPED, |
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ENUMERATION_START, |
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ENUMERATION_STOP, |
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ENUMERATION_RUNNING |
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} _enumeration_state = ENUMERATION_STOPPED; |
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// PWM output |
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HAL_Semaphore _rc_out_sem; |
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std::atomic<bool> _new_output; |
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uint16_t _scaled_output[KDECAN_MAX_NUM_ESCS]; |
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union frame_id_t { |
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struct PACKED { |
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uint8_t object_address; |
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uint8_t destination_id; |
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uint8_t source_id; |
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uint8_t priority:5; |
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uint8_t unused:3; |
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}; |
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uint32_t value; |
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}; |
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static const uint8_t AUTOPILOT_NODE_ID = 0; |
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static const uint8_t BROADCAST_NODE_ID = 1; |
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static const uint8_t ESC_NODE_ID_FIRST = 2; |
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static const uint8_t ESC_INFO_OBJ_ADDR = 0; |
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static const uint8_t SET_PWM_OBJ_ADDR = 1; |
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static const uint8_t VOLTAGE_OBJ_ADDR = 2; |
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static const uint8_t CURRENT_OBJ_ADDR = 3; |
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static const uint8_t RPM_OBJ_ADDR = 4; |
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static const uint8_t TEMPERATURE_OBJ_ADDR = 5; |
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static const uint8_t GET_PWM_INPUT_OBJ_ADDR = 6; |
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static const uint8_t GET_PWM_OUTPUT_OBJ_ADDR = 7; |
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static const uint8_t MCU_ID_OBJ_ADDR = 8; |
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static const uint8_t UPDATE_NODE_ID_OBJ_ADDR = 9; |
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static const uint8_t ENUM_OBJ_ADDR = 10; |
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static const uint8_t TELEMETRY_OBJ_ADDR = 11; |
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static const uint16_t SET_PWM_MIN_INTERVAL_US = 2500; |
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static const uint32_t TELEMETRY_INTERVAL_US = 100000; |
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static const uint32_t SET_PWM_TIMEOUT_US = 2000; |
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static const uint16_t TELEMETRY_TIMEOUT_US = 500; |
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static const uint16_t ENUMERATION_TIMEOUT_MS = 30000; |
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}; |
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#endif //HAL_NUM_CAN_IFACES
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