mirror of https://github.com/ArduPilot/ardupilot
82 lines
2.3 KiB
C
82 lines
2.3 KiB
C
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/*
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* AP_VOLZ_PROTOCOL.h
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*
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* Created on: Oct 31, 2017
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* Author: guy tzoler
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*
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* Baud-Rate: 115.200 bits per second
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* Number of Data bits: 8
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* Number of Stop bits: 1
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* Parity: None
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* Half/Full Duplex: Half Duplex
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*
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* Volz Command and Response are all 6 bytes
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*
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* Command
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* byte | Communication Type
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* 1 Command Code
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* 2 Actuator ID
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* 3 Argument 1
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* 4 Argument 2
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* 5 CRC High-byte
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* 6 CRC Low-Byte
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*
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* byte | Communication Type
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* 1 Response Code
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* 2 Actuator ID
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* 3 Argument 1
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* 4 Argument 2
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* 5 CRC High-byte
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* 6 CRC Low-Byte
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*
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_SerialManager/AP_SerialManager.h>
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#include <AP_Param/AP_Param.h>
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//#include <GCS_MAVLink/GCS.h>
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#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
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#define VOLZ_SET_EXTENDED_POSITION_CMD 0xDC
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#define VOLZ_SET_EXTENDED_POSITION_RSP 0x2C
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#define VOLZ_DATA_FRAME_SIZE 6
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#define VOLZ_EXTENDED_POSITION_MIN 0x0080 // Extended Position Data Format defines -100 as 0x0080 decimal 128
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#define VOLZ_EXTENDED_POSITION_CENTER 0x0800 // Extended Position Data Format defines 0 as 0x0800 - decimal 2048
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#define VOLZ_EXTENDED_POSITION_MAX 0x0F80 // Extended Position Data Format defines +100 as 0x0F80 decimal 3968 -> full range decimal 3840
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class AP_Volz_Protocol {
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public:
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static const struct AP_Param::GroupInfo var_info[];
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static AP_Volz_Protocol create() {
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return AP_Volz_Protocol{};
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}
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constexpr AP_Volz_Protocol(AP_Volz_Protocol &&other) = default;
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/* Do not allow copies */
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AP_Volz_Protocol(const AP_Volz_Protocol &other) = delete;
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AP_Volz_Protocol &operator=(const AP_Volz_Protocol&) = delete;
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void update();
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private:
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AP_Volz_Protocol();
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AP_HAL::UARTDriver *port;
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void init(void);
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void send_command(uint8_t data[VOLZ_DATA_FRAME_SIZE]);
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void update_volz_bitmask(uint32_t new_bitmask);
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uint32_t last_volz_update_time;
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uint32_t volz_time_frame_micros;
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uint32_t last_used_bitmask;
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AP_Int32 bitmask;
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bool initialised;
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};
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