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147 lines
4.8 KiB
147 lines
4.8 KiB
/* |
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ESC Telemetry for Hobbywing Pro 80A HV ESC. This will be |
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incorporated into a broader ESC telemetry library in ArduPilot |
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master in the future |
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This protocol only allows for one ESC per UART RX line, so using a |
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CAN node per ESC works well. |
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*/ |
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#include "hwing_esc.h" |
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#include <AP_HAL/utility/sparse-endian.h> |
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#ifdef HAL_PERIPH_ENABLE_HWESC |
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extern const AP_HAL::HAL& hal; |
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#define TELEM_HEADER 0x9B |
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#define TELEM_LEN 0x16 |
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// constructor |
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HWESC_Telem::HWESC_Telem(void) |
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{ |
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} |
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void HWESC_Telem::init(AP_HAL::UARTDriver *_uart) |
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{ |
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uart = _uart; |
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uart->begin(19200); |
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uart->set_options(AP_HAL::UARTDriver::OPTION_PULLDOWN_RX); |
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} |
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/* |
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update ESC telemetry |
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*/ |
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bool HWESC_Telem::update() |
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{ |
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uint32_t n = uart->available(); |
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if (n == 0) { |
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return false; |
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} |
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// we expect at least 50ms idle between frames |
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uint32_t now = AP_HAL::native_millis(); |
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bool frame_gap = (now - last_read_ms) > 10; |
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last_read_ms = now; |
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// don't read too much in one loop to prevent too high CPU load |
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if (n > 500) { |
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n = 500; |
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} |
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if (len == 0 && !frame_gap) { |
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uart->discard_input(); |
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return false; |
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} |
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if (frame_gap) { |
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len = 0; |
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} |
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bool ret = false; |
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while (n--) { |
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uint8_t b = uart->read(); |
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//hal.console->printf("t=%u 0x%02x\n", now, b); |
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if (len == 0 && b != TELEM_HEADER) { |
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continue; |
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} |
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if (len == 1 && b != TELEM_LEN) { |
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continue; |
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} |
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uint8_t *buf = (uint8_t *)&pkt; |
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buf[len++] = b; |
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if (len == sizeof(pkt)) { |
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ret = parse_packet(); |
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len = 0; |
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} |
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} |
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return ret; |
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} |
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static uint16_t calc_crc(const uint8_t *buf, uint8_t len) |
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{ |
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uint16_t crc = 0; |
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while (len--) { |
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crc += *buf++; |
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} |
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return crc; |
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} |
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static const struct { |
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uint8_t adc_temp; |
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uint8_t temp_C; |
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} temp_table[] = { |
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{ 241, 0}, { 240, 1}, { 239, 2}, { 238, 3}, { 237, 4}, { 236, 5}, { 235, 6}, { 234, 7}, { 233, 8}, { 232, 9}, |
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{ 231, 10}, { 230, 11}, { 229, 12}, { 228, 13}, { 227, 14}, { 226, 15}, { 224, 16}, { 223, 17}, { 222, 18}, { 220, 19}, |
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{ 219, 20}, { 217, 21}, { 216, 22}, { 214, 23}, { 213, 24}, { 211, 25}, { 209, 26}, { 208, 27}, { 206, 28}, { 204, 29}, |
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{ 202, 30}, { 201, 31}, { 199, 32}, { 197, 33}, { 195, 34}, { 193, 35}, { 191, 36}, { 189, 37}, { 187, 38}, { 185, 39}, |
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{ 183, 40}, { 181, 41}, { 179, 42}, { 177, 43}, { 174, 44}, { 172, 45}, { 170, 46}, { 168, 47}, { 166, 48}, { 164, 49}, |
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{ 161, 50}, { 159, 51}, { 157, 52}, { 154, 53}, { 152, 54}, { 150, 55}, { 148, 56}, { 146, 57}, { 143, 58}, { 141, 59}, |
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{ 139, 60}, { 136, 61}, { 134, 62}, { 132, 63}, { 130, 64}, { 128, 65}, { 125, 66}, { 123, 67}, { 121, 68}, { 119, 69}, |
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{ 117, 70}, { 115, 71}, { 113, 72}, { 111, 73}, { 109, 74}, { 106, 75}, { 105, 76}, { 103, 77}, { 101, 78}, { 99, 79}, |
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{ 97, 80}, { 95, 81}, { 93, 82}, { 91, 83}, { 90, 84}, { 88, 85}, { 85, 86}, { 84, 87}, { 82, 88}, { 81, 89}, |
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{ 79, 90}, { 77, 91}, { 76, 92}, { 74, 93}, { 73, 94}, { 72, 95}, { 69, 96}, { 68, 97}, { 66, 98}, { 65, 99}, |
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{ 64, 100}, { 62, 101}, { 62, 102}, { 61, 103}, { 59, 104}, { 58, 105}, { 56, 106}, { 54, 107}, { 54, 108}, { 53, 109}, |
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{ 51, 110}, { 51, 111}, { 50, 112}, { 48, 113}, { 48, 114}, { 46, 115}, { 46, 116}, { 44, 117}, { 43, 118}, { 43, 119}, |
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{ 41, 120}, { 41, 121}, { 39, 122}, { 39, 123}, { 39, 124}, { 37, 125}, { 37, 126}, { 35, 127}, { 35, 128}, { 33, 129}, |
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}; |
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uint8_t HWESC_Telem::temperature_decode(uint8_t temp_raw) const |
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{ |
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for (uint8_t i=0; i<ARRAY_SIZE(temp_table); i++) { |
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if (temp_table[i].adc_temp <= temp_raw) { |
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return temp_table[i].temp_C; |
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} |
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} |
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return 130U; |
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} |
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/* |
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parse packet |
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*/ |
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bool HWESC_Telem::parse_packet(void) |
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{ |
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uint16_t crc = calc_crc((uint8_t *)&pkt, sizeof(pkt)-2); |
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if (crc != pkt.crc) { |
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return false; |
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} |
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decoded.counter = be32toh(pkt.counter); |
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decoded.throttle_req = be16toh(pkt.throttle_req); |
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decoded.throttle = be16toh(pkt.throttle); |
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decoded.rpm = be16toh(pkt.rpm) * 5.0 / 7.0; // scale from eRPM to RPM |
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decoded.voltage = be16toh(pkt.voltage) * 0.1; |
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decoded.phase_current = int16_t(be16toh(pkt.phase_current)) * 0.01; |
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decoded.current = int16_t(be16toh(pkt.current)) * 0.01; |
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decoded.mos_temperature = temperature_decode(pkt.mos_temperature); |
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decoded.cap_temperature = temperature_decode(pkt.cap_temperature); |
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decoded.status = be16toh(pkt.status); |
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if (decoded.status != 0) { |
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decoded.error_count++; |
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} |
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return true; |
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} |
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#endif // HAL_PERIPH_ENABLE_HWESC |
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