mirror of https://github.com/ArduPilot/ardupilot
83 lines
2.4 KiB
C
83 lines
2.4 KiB
C
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/*
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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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uint64_t enum_timeout;
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esc_info() : node_id(1), mcu_id(0), enum_timeout(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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