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AP_PiccoloCAN: ESC command rate now configurable

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Uses CAN_Dx_PC_ESC_MS parameter to set the ESC data rate (in ms)
This commit is contained in:
Oliver Walters 2020-01-23 14:56:06 +11:00 committed by Andrew Tridgell
parent a98babc02c
commit 17932e3d1d
2 changed files with 16 additions and 7 deletions
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22
libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
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@ -151,7 +151,8 @@ void AP_PiccoloCAN::loop()
// How often to transmit CAN messages (milliseconds) // How often to transmit CAN messages (milliseconds)
#define CMD_TX_PERIOD 10 #define CMD_TX_PERIOD 10
uint16_t txCounter = 0; uint16_t esc_tx_counter = 0;
uint16_t srv_tx_counter = 0;
// CAN Frame ID components // CAN Frame ID components
uint8_t frame_id_group; // Piccolo message group uint8_t frame_id_group; // Piccolo message group
@ -172,13 +173,22 @@ void AP_PiccoloCAN::loop()
// 1ms loop delay // 1ms loop delay
hal.scheduler->delay_microseconds(1 * 1000); hal.scheduler->delay_microseconds(1 * 1000);
// Transmit CAN commands at regular intervals // Transmit ESC commands at regular intervals
if (txCounter++ > CMD_TX_PERIOD) { if (esc_tx_counter++ > _esc_ms) {
esc_tx_counter = 0;
txCounter = 0; if (_esc_ms >= PICCOLO_MSG_RATE_MS_MIN) {
send_esc_messages();
}
}
// Transmit ESC commands // Transmit servo commands at regular intervals
send_esc_messages(); if (srv_tx_counter++ > _srv_ms) {
srv_tx_counter = 0;
if (_srv_ms >= PICCOLO_MSG_RATE_MS_MIN) {
// TODO - Transmit servo messages
}
} }
// Look for any message responses on the CAN bus // Look for any message responses on the CAN bus

1
libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
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@ -36,7 +36,6 @@
#if HAL_PICCOLO_CAN_ENABLE #if HAL_PICCOLO_CAN_ENABLE
#define PICCOLO_MSG_RATE_MS_MIN 2 #define PICCOLO_MSG_RATE_MS_MIN 2
#define PICCOLO_MSG_RATE_MS_MAX 100
#define PICCOLO_MSG_RATE_MS_DEFAULT 20 #define PICCOLO_MSG_RATE_MS_DEFAULT 20
class AP_PiccoloCAN : public AP_CANDriver class AP_PiccoloCAN : public AP_CANDriver