ardupilot/libraries/AP_Volz_Protocol/AP_Volz_Protocol.h

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/*
* AP_VOLZ_PROTOCOL.h
*
* Created on: Oct 31, 2017
* Author: guy tzoler
*
* Baud-Rate: 115.200 bits per second
* Number of Data bits: 8
* Number of Stop bits: 1
* Parity: None
* Half/Full Duplex: Half Duplex
*
* Volz Command and Response are all 6 bytes
*
* Command
* byte | Communication Type
* 1 Command Code
* 2 Actuator ID
* 3 Argument 1
* 4 Argument 2
* 5 CRC High-byte
* 6 CRC Low-Byte
*
* byte | Communication Type
* 1 Response Code
* 2 Actuator ID
* 3 Argument 1
* 4 Argument 2
* 5 CRC High-byte
* 6 CRC Low-Byte
*
*/
#pragma once
#include <AP_HAL/AP_HAL_Boards.h>
#ifndef AP_VOLZ_ENABLED
#define AP_VOLZ_ENABLED BOARD_FLASH_SIZE > 1024
#endif
#if AP_VOLZ_ENABLED
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <SRV_Channel/SRV_Channel_config.h>
#include <AP_Logger/AP_Logger_config.h>
class AP_Volz_Protocol {
public:
AP_Volz_Protocol();
/* Do not allow copies */
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CLASS_NO_COPY(AP_Volz_Protocol);
static const struct AP_Param::GroupInfo var_info[];
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void update();
private:
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// Command and response IDs
enum class CMD_ID : uint8_t {
SET_EXTENDED_POSITION = 0xDC,
EXTENDED_POSITION_RESPONSE = 0x2C,
READ_CURRENT = 0xB0,
CURRENT_RESPONSE = 0x30,
READ_VOLTAGE = 0xB1,
VOLTAGE_RESPONSE = 0x31,
READ_TEMPERATURE = 0xC0,
TEMPERATURE_RESPONSE = 0x10,
};
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// Command frame
union CMD {
struct PACKED {
CMD_ID ID;
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uint8_t actuator_id; // actuator send to or receiving from
uint8_t arg1; // CMD dependant argument 1
uint8_t arg2; // CMD dependant argument 2
uint8_t crc1;
uint8_t crc2;
};
uint8_t data[6];
};
AP_HAL::UARTDriver *port;
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// Loop in thread to output to uart
void loop();
uint8_t sent_count;
void init(void);
// Return the crc for a given command packet
uint16_t calculate_crc(const CMD &cmd) const;
// calculate CRC for volz serial protocol and send the data.
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void send_command(CMD &cmd);
// Incoming PWM commands from the servo lib
uint16_t servo_pwm[NUM_SERVO_CHANNELS];
// Send postion commands from PWM, cycle through each servo
void send_position_cmd();
uint8_t last_sent_index;
AP_Int32 bitmask;
AP_Int16 range;
bool initialised;
#if HAL_LOGGING_ENABLED
// Request telem data, cycling through each servo and telem item
void request_telem();
// Return true if the given ID is a valid response
bool is_response(uint8_t ID) const;
// Reading of telem packets
void read_telem();
void process_response(const CMD &cmd);
struct {
CMD_ID types[3] {
CMD_ID::READ_CURRENT,
CMD_ID::READ_VOLTAGE,
CMD_ID::READ_TEMPERATURE,
};
uint8_t actuator_id;
uint8_t request_type;
HAL_Semaphore sem;
CMD cmd_buffer;
uint8_t buffer_offset;
struct {
uint32_t last_response_ms;
float desired_angle;
float angle;
float primary_current;
float secondary_current;
float primary_voltage;
float secondary_voltage;
uint16_t motor_temp_deg;
uint16_t pcb_temp_deg;
} data[NUM_SERVO_CHANNELS];
} telem;
#endif
};
#endif // AP_VOLZ_PROTOCOL