ardupilot/libraries/AP_Volz_Protocol/AP_Volz_Protocol.h

77 lines
2.1 KiB
C
Raw Normal View History

/*
* 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.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_Param/AP_Param.h>
//#include <GCS_MAVLink/GCS.h>
#define VOLZ_SCALE_VALUE (uint16_t)(VOLZ_EXTENDED_POSITION_MAX - VOLZ_EXTENDED_POSITION_MIN) // Extended Position Data Format defines 100 as 0x0F80, which results in 1920 steps for +100 deg and 1920 steps for -100 degs meaning if you take movement a scaled between -1 ... 1 and multiply by 1920 you get the travel from center
#define VOLZ_SET_EXTENDED_POSITION_CMD 0xDC
#define VOLZ_SET_EXTENDED_POSITION_RSP 0x2C
#define VOLZ_DATA_FRAME_SIZE 6
#define VOLZ_EXTENDED_POSITION_MIN 0x0080 // Extended Position Data Format defines -100 as 0x0080 decimal 128
#define VOLZ_EXTENDED_POSITION_CENTER 0x0800 // Extended Position Data Format defines 0 as 0x0800 - decimal 2048
#define VOLZ_EXTENDED_POSITION_MAX 0x0F80 // Extended Position Data Format defines +100 as 0x0F80 decimal 3968 -> full range decimal 3840
class AP_Volz_Protocol {
public:
AP_Volz_Protocol();
/* Do not allow copies */
AP_Volz_Protocol(const AP_Volz_Protocol &other) = delete;
AP_Volz_Protocol &operator=(const AP_Volz_Protocol&) = delete;
static const struct AP_Param::GroupInfo var_info[];
void update();
private:
AP_HAL::UARTDriver *port;
void init(void);
void send_command(uint8_t data[VOLZ_DATA_FRAME_SIZE]);
void update_volz_bitmask(uint32_t new_bitmask);
uint32_t last_volz_update_time;
uint32_t volz_time_frame_micros;
uint32_t last_used_bitmask;
AP_Int32 bitmask;
bool initialised;
};