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82 lines
2.4 KiB
82 lines
2.4 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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* Author: Francisco Ferreira |
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* Modified for CANManager by Siddharth B Purohit |
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*/ |
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#include "AP_CANDriver.h" |
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#include <AP_Common/AP_Common.h> |
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#include <AP_HAL/AP_HAL.h> |
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_MAX_CAN_PROTOCOL_DRIVERS |
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#define NUM_ESCS 4 |
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class AP_CANTester_KDECAN |
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{ |
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public: |
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AP_CANTester_KDECAN() |
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{ |
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for (uint8_t i = 0; i < NUM_ESCS; i++) { |
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_esc_info[i].mcu_id = 0xA5961824E7BD3C00 | i; |
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} |
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} |
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bool init(AP_HAL::CANIface* can_iface); |
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void loop(void); |
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void print_stats(void); |
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bool send_enumeration(uint8_t num); |
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private: |
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uint8_t _driver_index = 0; |
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uint8_t _interface = 0; |
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AP_HAL::CANIface* _can_iface; |
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uint8_t _mask_received_pwm = 0; |
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struct esc_info { |
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uint8_t node_id; |
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uint64_t mcu_id; |
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uint32_t enum_timeout_ms; |
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esc_info() : node_id(1), mcu_id(0), enum_timeout_ms(0) {} |
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} _esc_info[NUM_ESCS]; |
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uint8_t _max_node_id = 0; |
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static const uint8_t BROADCAST_NODE_ID = 1; |
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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 START_ENUM_OBJ_ADDR = 10; |
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static const uint8_t TELEMETRY_OBJ_ADDR = 11; |
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struct { |
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uint32_t frame_id; |
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uint32_t count; |
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} counters[100]; |
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void count_msg(uint32_t frame_id); |
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HAL_EventHandle _event_handle; |
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}; |
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#endif
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