ardupilot/libraries/AP_CANManager/AP_CANTester_KDECAN.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* Author: Francisco Ferreira
* Modified for CANManager by Siddharth B Purohit
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_CANMANAGER_ENABLED
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#include "AP_CANTester_KDECAN.h"
#include "AP_CANManager.h"
#include <AP_Math/AP_Math.h>
#include <AP_HAL/utility/sparse-endian.h>
#include <AP_Vehicle/AP_Vehicle.h>
#define debug_can(level_debug, fmt, args...) do { AP::can().log_text(level_debug, "TestKDECAN", fmt, ##args); } while (0)
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extern const AP_HAL::HAL& hal;
void AP_CANTester_KDECAN::count_msg(uint32_t frame_id)
{
for (uint16_t i=0; i<ARRAY_SIZE(counters); i++) {
if (counters[i].frame_id == frame_id) {
counters[i].count++;
break;
}
if (counters[i].frame_id == 0) {
counters[i].frame_id = frame_id;
counters[i].count++;
break;
}
}
}
bool AP_CANTester_KDECAN::init(AP_HAL::CANIface* can_iface)
{
_can_iface = can_iface;
if (_can_iface == nullptr) {
debug_can(AP_CANManager::LOG_ERROR, "CANIface is null, abort!");
return false;
}
if (!_can_iface->is_initialized()) {
debug_can(AP_CANManager::LOG_ERROR, "Can not initialised");
return false;
}
if (!_can_iface->set_event_handle(&_event_handle)) {
debug_can(AP_CANManager::LOG_ERROR, "Failed to set Event Handle");
return false;
}
debug_can(AP_CANManager::LOG_ERROR, "init done");
return true;
}
void AP_CANTester_KDECAN::loop(void)
{
if (_can_iface == nullptr) {
return;
}
AP_HAL::CANFrame empty_frame { (0 | AP_HAL::CANFrame::FlagEFF), nullptr, 0 };
bool read_select = true;
bool write_select = false;
bool select_ret = _can_iface->select(read_select, write_select, nullptr, AP_HAL::micros64() + 1000);
if (select_ret && read_select) {
AP_HAL::CANFrame recv_frame;
uint64_t rx_time;
AP_HAL::CANIface::CanIOFlags flags {};
int16_t res = _can_iface->receive(recv_frame, rx_time, flags);
if (res == 1) {
uint32_t id = recv_frame.id & AP_HAL::CANFrame::MaskExtID;
uint8_t object_address = id & 0xFF;
uint8_t esc_num = uint8_t((id >> 8) & 0xFF);
count_msg(id);
uint8_t i = 0;
uint8_t n = NUM_ESCS;
if (esc_num != BROADCAST_NODE_ID) {
for (; i < NUM_ESCS; i++) {
if (object_address == UPDATE_NODE_ID_OBJ_ADDR) {
uint64_t mcu_id;
memcpy (&mcu_id, recv_frame.data, sizeof(mcu_id));
mcu_id = be64toh(mcu_id);
if (_esc_info[i].mcu_id == mcu_id) {
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n = i + 1;
break;
}
} else if (_esc_info[i].node_id == esc_num) {
n = i + 1;
break;
}
}
}
while (i < n) {
AP_HAL::CANFrame res_frame;
switch (object_address) {
case ESC_INFO_OBJ_ADDR: {
uint8_t info[5] { 1, 2, 3, 4, 0 };
res_frame.dlc = 5;
memcpy(res_frame.data, info, 5);
break;
}
case SET_PWM_OBJ_ADDR: {
if ((1 << (esc_num - 2) & _mask_received_pwm) && _mask_received_pwm != ((1 << _max_node_id) - 1)) {
count_msg(0xFFFFFFF0);
_mask_received_pwm = 0;
}
_mask_received_pwm |= 1 << (esc_num - 2);
if (_mask_received_pwm == ((1 << _max_node_id) - 1)) {
count_msg(0xFFFFFFFF);
_mask_received_pwm = 0;
}
res_frame.dlc = 0;
break;
}
case UPDATE_NODE_ID_OBJ_ADDR: {
if (_esc_info[i].enum_timeout_ms != 0
&& _esc_info[i].enum_timeout_ms >= AP_HAL::millis()) {
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_esc_info[i].node_id = esc_num;
_max_node_id = MAX(_max_node_id, esc_num - 2 + 1);
gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Set node ID %d for ESC %d\n", esc_num, i);
}
_esc_info[i].enum_timeout_ms = 0;
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res_frame.dlc = 1;
memcpy(res_frame.data, &(_esc_info[i].node_id), 1);
break;
}
case START_ENUM_OBJ_ADDR: {
_esc_info[i].enum_timeout_ms = AP_HAL::millis() + be16toh_ptr(&recv_frame.data[0]);
gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Starting enumeration for ESC %d, timeout %u", i, (unsigned)_esc_info[i].enum_timeout_ms);
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i++;
continue;
}
case TELEMETRY_OBJ_ADDR: {
uint8_t data[8] {};
put_le16_ptr(&data[0], get_random16());
put_le16_ptr(&data[2], get_random16());
put_le16_ptr(&data[4], get_random16());
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data[6] = uint8_t(float(rand()) / RAND_MAX * 40.0f + 15);
res_frame.dlc = 8;
memcpy(res_frame.data, data, 8);
break;
}
case VOLTAGE_OBJ_ADDR:
case CURRENT_OBJ_ADDR:
case RPM_OBJ_ADDR:
case TEMPERATURE_OBJ_ADDR:
case GET_PWM_INPUT_OBJ_ADDR:
case GET_PWM_OUTPUT_OBJ_ADDR:
case MCU_ID_OBJ_ADDR:
default:
// discard frame
return;
}
res_frame.id = (_esc_info[i].node_id << 16) | object_address | AP_HAL::CANFrame::FlagEFF;
read_select = false;
write_select = true;
select_ret = _can_iface->select(read_select, write_select, &res_frame, AP_HAL::micros64() + 1000);
if (!select_ret) {
break;
}
int16_t res2 = _can_iface->send(res_frame, AP_HAL::micros64() + 500000, 0);
if (res2 == 1) {
i++;
} else {
gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Failed to transmit frame Err: %d 0x%lx", res2, (long unsigned)res_frame.id);
}
}
}
}
}
void AP_CANTester_KDECAN::print_stats(void)
{
DEV_PRINTF("KDECANTester: TimeStamp: %u\n", (unsigned)AP_HAL::micros());
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for (uint16_t i=0; i<100; i++) {
if (counters[i].frame_id == 0) {
break;
}
DEV_PRINTF("0x%08x: %u\n", (unsigned)counters[i].frame_id, (unsigned)counters[i].count);
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counters[i].count = 0;
}
}
bool AP_CANTester_KDECAN::send_enumeration(uint8_t num)
{
if (_esc_info[num].enum_timeout_ms == 0 ||
AP_HAL::millis() > _esc_info[num].enum_timeout_ms) {
_esc_info[num].enum_timeout_ms = 0;
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gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Not running enumeration for ESC %d\n", num);
return false;
}
while (true) {
uint64_t mcu = 0;
mcu = htobe64(_esc_info[num].mcu_id);
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AP_HAL::CANFrame res_frame { (_esc_info[num].node_id << 16) | START_ENUM_OBJ_ADDR | AP_HAL::CANFrame::FlagEFF,
(uint8_t*)&mcu,
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8 };
int16_t res = _can_iface->send(res_frame, AP_HAL::micros64() + 1000, 0);
if (res == 1) {
return true;
}
}
}
#endif