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AP_FETtecOneWire: Conversion to C++ and initial ArduPilot support

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This commit is contained in:
Pierre Kancir 2021-07-06 21:26:00 +02:00 committed by Peter Barker
parent 35861ab616
commit 6346739466
2 changed files with 891 additions and 806 deletions
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620
libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp
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@ -14,143 +14,168 @@
*/ */
/* Initial protocol implementation was provided by FETtec */ /* Initial protocol implementation was provided by FETtec */
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_Math/AP_Math.h>
#include "AP_FETtecOneWire.h"
#include <stdio.h>
#include "FETtecOneWire.h" // constructor
AP_FETtecOneWire::AP_FETtecOneWire()
{
FETtecOneWire_ResponseLength[OW_OK] = 1;
FETtecOneWire_ResponseLength[OW_BL_PAGE_CORRECT] = 1; // BL only
FETtecOneWire_ResponseLength[OW_NOT_OK] = 1;
FETtecOneWire_ResponseLength[OW_BL_START_FW] = 0; // BL only
FETtecOneWire_ResponseLength[OW_BL_PAGES_TO_FLASH] = 1; // BL only
FETtecOneWire_ResponseLength[OW_REQ_TYPE] = 1;
FETtecOneWire_ResponseLength[OW_REQ_SN] = 12;
FETtecOneWire_ResponseLength[OW_REQ_SW_VER] = 2;
FETtecOneWire_ResponseLength[OW_RESET_TO_BL] = 0;
FETtecOneWire_ResponseLength[OW_THROTTLE] = 1;
FETtecOneWire_ResponseLength[OW_REQ_TLM] = 2;
FETtecOneWire_ResponseLength[OW_BEEP] = 0;
typedef struct FETtecOneWireESC { FETtecOneWire_ResponseLength[OW_SET_FAST_COM_LENGTH] = 1;
uint8_t inBootLoader;
uint8_t firmWareVersion;
uint8_t firmWareSubVersion;
uint8_t ESCtype;
uint8_t serialNumber[12];
} FETtecOneWireESC_t;
static uint8_t FETtecOneWire_activeESC_IDs[25] = {0}; FETtecOneWire_ResponseLength[OW_GET_ROTATION_DIRECTION] = 1;
static FETtecOneWireESC_t FETtecOneWire_foundESCs[25]; FETtecOneWire_ResponseLength[OW_SET_ROTATION_DIRECTION] = 1;
static uint8_t FETtecOneWire_FoundESCs = 0;
static uint8_t FETtecOneWire_ScanActive = 0;
static uint8_t FETtecOneWire_SetupActive = 0;
static uint8_t FETtecOneWire_IgnoreOwnBytes = 0;
static int8_t FETtecOneWire_minID = 25;
static int8_t FETtecOneWire_maxID = 0;
static uint8_t FETtecOneWire_IDcount = 0;
static uint8_t FETtecOneWire_FastThrottleByteCount = 0;
static uint8_t FETtecOneWire_PullSuccess = 0;
static uint8_t FETtecOneWire_PullBusy = 0;
static uint8_t FETtecOneWire_TLM_request = 0;
static uint8_t FETtecOneWire_lastCRC = 0;
static uint8_t FETtecOneWire_firstInitDone = 0;
uint8_t FETtecOneWire_ResponseLength[54] = { FETtecOneWire_ResponseLength[OW_GET_USE_SIN_START] = 1;
[OW_OK] = 1, FETtecOneWire_ResponseLength[OW_SET_USE_SIN_START] = 1;
[OW_BL_PAGE_CORRECT] = 1, // BL only
[OW_NOT_OK] = 1,
[OW_BL_START_FW] = 0, // BL only
[OW_BL_PAGES_TO_FLASH] = 1, // BL only
[OW_REQ_TYPE] = 1,
[OW_REQ_SN] = 12,
[OW_REQ_SW_VER] = 2,
[OW_RESET_TO_BL] = 0,
[OW_THROTTLE] = 1,
[OW_REQ_TLM] = 2,
[OW_BEEP] = 0,
[OW_SET_FAST_COM_LENGTH] = 1, FETtecOneWire_ResponseLength[OW_GET_3D_MODE] = 1;
FETtecOneWire_ResponseLength[OW_SET_3D_MODE] = 1;
[OW_GET_ROTATION_DIRECTION] = 1, FETtecOneWire_ResponseLength[OW_GET_ID] = 1;
[OW_SET_ROTATION_DIRECTION] = 1, FETtecOneWire_ResponseLength[OW_SET_ID] = 1;
[OW_GET_USE_SIN_START] = 1,
[OW_SET_USE_SIN_START] = 1,
[OW_GET_3D_MODE] = 1,
[OW_SET_3D_MODE] = 1,
[OW_GET_ID] = 1,
[OW_SET_ID] = 1,
/* /*
[OW_GET_LINEAR_THRUST] = 1, FETtecOneWire_ResponseLength[OW_GET_LINEAR_THRUST] = 1;
[OW_SET_LINEAR_THRUST] = 1, FETtecOneWire_ResponseLength[OW_SET_LINEAR_THRUST] = 1;
*/ */
[OW_GET_EEVER] = 1, FETtecOneWire_ResponseLength[OW_GET_EEVER] = 1;
[OW_GET_PWM_MIN] = 2, FETtecOneWire_ResponseLength[OW_GET_PWM_MIN] = 2;
[OW_SET_PWM_MIN] = 1, FETtecOneWire_ResponseLength[OW_SET_PWM_MIN] = 1;
[OW_GET_PWM_MAX] = 2, FETtecOneWire_ResponseLength[OW_GET_PWM_MAX] = 2;
[OW_SET_PWM_MAX] = 1, FETtecOneWire_ResponseLength[OW_SET_PWM_MAX] = 1;
[OW_GET_ESC_BEEP] = 1, FETtecOneWire_ResponseLength[OW_GET_ESC_BEEP] = 1;
[OW_SET_ESC_BEEP] = 1, FETtecOneWire_ResponseLength[OW_SET_ESC_BEEP] = 1;
[OW_GET_CURRENT_CALIB] = 1, FETtecOneWire_ResponseLength[OW_GET_CURRENT_CALIB] = 1;
[OW_SET_CURRENT_CALIB] = 1, FETtecOneWire_ResponseLength[OW_SET_CURRENT_CALIB] = 1;
[OW_SET_LED_TMP_COLOR] = 0, FETtecOneWire_ResponseLength[OW_SET_LED_TMP_COLOR] = 0;
[OW_GET_LED_COLOR] = 5, FETtecOneWire_ResponseLength[OW_GET_LED_COLOR] = 5;
[OW_SET_LED_COLOR] = 1 FETtecOneWire_ResponseLength[OW_SET_LED_COLOR] = 1;
}; FETtecOneWire_RequestLength[OW_OK] = 1;
uint8_t FETtecOneWire_RequestLength[54] = { FETtecOneWire_RequestLength[OW_BL_PAGE_CORRECT] = 1; // BL only
[OW_OK] = 1, FETtecOneWire_RequestLength[OW_NOT_OK] = 1;
[OW_BL_PAGE_CORRECT] = 1, // BL only FETtecOneWire_RequestLength[OW_BL_START_FW] = 1; // BL only
[OW_NOT_OK] = 1, FETtecOneWire_RequestLength[OW_BL_PAGES_TO_FLASH] = 1; // BL only
[OW_BL_START_FW] = 1, // BL only FETtecOneWire_RequestLength[OW_REQ_TYPE] = 1;
[OW_BL_PAGES_TO_FLASH] = 1, // BL only FETtecOneWire_RequestLength[OW_REQ_SN] = 1;
[OW_REQ_TYPE] = 1, FETtecOneWire_RequestLength[OW_REQ_SW_VER] = 1;
[OW_REQ_SN] = 1, FETtecOneWire_RequestLength[OW_RESET_TO_BL] = 1;
[OW_REQ_SW_VER] = 1, FETtecOneWire_RequestLength[OW_THROTTLE] = 1;
[OW_RESET_TO_BL] = 1, FETtecOneWire_RequestLength[OW_REQ_TLM] = 1;
[OW_THROTTLE] = 1, FETtecOneWire_RequestLength[OW_BEEP] = 2;
[OW_REQ_TLM] = 1,
[OW_BEEP] = 2,
[OW_SET_FAST_COM_LENGTH] = 4, FETtecOneWire_RequestLength[OW_SET_FAST_COM_LENGTH] = 4;
[OW_GET_ROTATION_DIRECTION] = 1, FETtecOneWire_RequestLength[OW_GET_ROTATION_DIRECTION] = 1;
[OW_SET_ROTATION_DIRECTION] = 1, FETtecOneWire_RequestLength[OW_SET_ROTATION_DIRECTION] = 1;
[OW_GET_USE_SIN_START] = 1, FETtecOneWire_RequestLength[OW_GET_USE_SIN_START] = 1;
[OW_SET_USE_SIN_START] = 1, FETtecOneWire_RequestLength[OW_SET_USE_SIN_START] = 1;
[OW_GET_3D_MODE] = 1, FETtecOneWire_RequestLength[OW_GET_3D_MODE] = 1;
[OW_SET_3D_MODE] = 1, FETtecOneWire_RequestLength[OW_SET_3D_MODE] = 1;
[OW_GET_ID] = 1, FETtecOneWire_RequestLength[OW_GET_ID] = 1;
[OW_SET_ID] = 1, FETtecOneWire_RequestLength[OW_SET_ID] = 1;
/* /*
[OW_GET_LINEAR_THRUST] = 1, FETtecOneWire_RequestLength[OW_GET_LINEAR_THRUST] = 1;
[OW_SET_LINEAR_THRUST] = 1, FETtecOneWire_RequestLength[OW_SET_LINEAR_THRUST] = 1;
*/ */
[OW_GET_EEVER] = 1, FETtecOneWire_RequestLength[OW_GET_EEVER] = 1;
[OW_GET_PWM_MIN] = 1, FETtecOneWire_RequestLength[OW_GET_PWM_MIN] = 1;
[OW_SET_PWM_MIN] = 2, FETtecOneWire_RequestLength[OW_SET_PWM_MIN] = 2;
[OW_GET_PWM_MAX] = 1, FETtecOneWire_RequestLength[OW_GET_PWM_MAX] = 1;
[OW_SET_PWM_MAX] = 2, FETtecOneWire_RequestLength[OW_SET_PWM_MAX] = 2;
[OW_GET_ESC_BEEP] = 1, FETtecOneWire_RequestLength[OW_GET_ESC_BEEP] = 1;
[OW_SET_ESC_BEEP] = 1, FETtecOneWire_RequestLength[OW_SET_ESC_BEEP] = 1;
[OW_GET_CURRENT_CALIB] = 1, FETtecOneWire_RequestLength[OW_GET_CURRENT_CALIB] = 1;
[OW_SET_CURRENT_CALIB] = 1, FETtecOneWire_RequestLength[OW_SET_CURRENT_CALIB] = 1;
[OW_SET_LED_TMP_COLOR] = 4, FETtecOneWire_RequestLength[OW_SET_LED_TMP_COLOR] = 4;
[OW_GET_LED_COLOR] = 1, FETtecOneWire_RequestLength[OW_GET_LED_COLOR] = 1;
[OW_SET_LED_COLOR] = 5 FETtecOneWire_RequestLength[OW_SET_LED_COLOR] = 5;
};
}
void AP_FETtecOneWire::init()
{
AP_SerialManager& serial_manager = AP::serialmanager();
_uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FETtechOneWire, 0);
if (_uart) {
_uart->begin(2000000);
}
FETtecOneWire_Init();
}
void AP_FETtecOneWire::update()
{
if (!initialised) {
initialised = true;
init();
last_send_us = AP_HAL::micros();
return;
}
if (_uart == nullptr) {
return;
}
uint16_t requestedTelemetry[MOTOR_COUNT] = {0};
int8_t TelemetryAvailable = FETtecOneWire_ESCsSetValues(motorpwm, requestedTelemetry, MOTOR_COUNT, TLM_request);
if (TelemetryAvailable != -1) {
for (uint8_t i = 0; i < MOTOR_COUNT; i++) {
completeTelemetry[i][TelemetryAvailable] = requestedTelemetry[i];
}
}
if (++TLM_request == 5) {
TLM_request = 0;
}
if (TelemetryAvailable != -1) {
for (uint8_t i = 0; i < MOTOR_COUNT; i++) {
printf(" esc: %d", i + 1);
printf(" Temperature: %d", completeTelemetry[i][0]);
printf(", Voltage: %d", completeTelemetry[i][1]);
printf(", Current: %d", completeTelemetry[i][2]);
printf(", E-rpm: %d", completeTelemetry[i][3]);
printf(", consumption: %d", completeTelemetry[i][4]);
printf("\n");
}
}
}
/* /*
initialize FETtecOneWire protocol initialize FETtecOneWire protocol
*/ */
void FETtecOneWire_Init(){ void AP_FETtecOneWire::FETtecOneWire_Init()
if(FETtecOneWire_firstInitDone == 0){ {
if (FETtecOneWire_firstInitDone == 0) {
FETtecOneWire_FoundESCs = 0; FETtecOneWire_FoundESCs = 0;
FETtecOneWire_ScanActive = 0; FETtecOneWire_ScanActive = 0;
FETtecOneWire_SetupActive = 0; FETtecOneWire_SetupActive = 0;
@ -158,35 +183,30 @@ void FETtecOneWire_Init(){
FETtecOneWire_maxID = 0; FETtecOneWire_maxID = 0;
FETtecOneWire_IDcount = 0; FETtecOneWire_IDcount = 0;
FETtecOneWire_FastThrottleByteCount = 0; FETtecOneWire_FastThrottleByteCount = 0;
for(uint8_t i = 0; i < 25; i++) FETtecOneWire_activeESC_IDs[i] = 0; for (uint8_t i = 0; i < 25; i++) {
FETtecOneWire_activeESC_IDs[i] = 0;
}
} }
FETtecOneWire_IgnoreOwnBytes = 0; FETtecOneWire_IgnoreOwnBytes = 0;
FETtecOneWire_PullSuccess = 0; FETtecOneWire_PullSuccess = 0;
FETtecOneWire_PullBusy = 0; FETtecOneWire_PullBusy = 0;
FETOW_UART_DEINIT;
FETOW_UART_INIT;
FETtecOneWire_firstInitDone = 1; FETtecOneWire_firstInitDone = 1;
} }
/*
deinitialize FETtecOneWire protocol
*/
void FETtecOneWire_DeInit(){
FETOW_UART_DEINIT;
}
/* /*
generates used 8 bit CRC generates used 8 bit CRC
crc = byte to be added to CRC crc = byte to be added to CRC
crc_seed = CRC where it gets added too crc_seed = CRC where it gets added too
returns 8 bit CRC returns 8 bit CRC
*/ */
uint8_t FETtecOneWire_UpdateCrc8(uint8_t crc, uint8_t crc_seed){ uint8_t AP_FETtecOneWire::FETtecOneWire_UpdateCrc8(uint8_t crc, uint8_t crc_seed)
{
uint8_t crc_u, i; uint8_t crc_u, i;
crc_u = crc; crc_u = crc;
crc_u ^= crc_seed; crc_u ^= crc_seed;
for ( i=0; i<8; i++) crc_u = ( crc_u & 0x80 ) ? 0x7 ^ ( crc_u << 1 ) : ( crc_u << 1 ); for (i = 0; i < 8; i++) {
crc_u = (crc_u & 0x80) ? 0x7 ^ (crc_u << 1) : (crc_u << 1);
}
return (crc_u); return (crc_u);
} }
@ -196,9 +216,12 @@ uint8_t FETtecOneWire_UpdateCrc8(uint8_t crc, uint8_t crc_seed){
BufLen = count of bytes that should be used for CRC calculation BufLen = count of bytes that should be used for CRC calculation
returns 8 bit CRC returns 8 bit CRC
*/ */
uint8_t FETtecOneWire_GetCrc8(uint8_t *Buf, uint16_t BufLen){ uint8_t AP_FETtecOneWire::FETtecOneWire_GetCrc8(uint8_t* Buf, uint16_t BufLen)
{
uint8_t crc = 0; uint8_t crc = 0;
for(uint16_t i=0; i<BufLen; i++) crc = FETtecOneWire_UpdateCrc8(Buf[i], crc); for (uint16_t i = 0; i < BufLen; i++) {
crc = FETtecOneWire_UpdateCrc8(Buf[i], crc);
}
return (crc); return (crc);
} }
@ -209,7 +232,8 @@ uint8_t FETtecOneWire_GetCrc8(uint8_t *Buf, uint16_t BufLen){
Length = length of the Bytes array Length = length of the Bytes array
returns nothing returns nothing
*/ */
void FETtecOneWire_Transmit(uint8_t ESC_id, uint8_t *Bytes, uint8_t Length){ void AP_FETtecOneWire::FETtecOneWire_Transmit(uint8_t ESC_id, uint8_t* Bytes, uint8_t Length)
{
/* /*
a frame lookes like: a frame lookes like:
byte 1 = fremae header (master is always 0x01) byte 1 = fremae header (master is always 0x01)
@ -219,12 +243,14 @@ void FETtecOneWire_Transmit(uint8_t ESC_id, uint8_t *Bytes, uint8_t Length){
byte 6 - X = request type, followed by the payload byte 6 - X = request type, followed by the payload
byte X+1 = 8bit CRC byte X+1 = 8bit CRC
*/ */
uint8_t transmitArr[256] = {0x01,ESC_id,0x00,0x00}; uint8_t transmitArr[256] = {0x01, ESC_id, 0x00, 0x00};
transmitArr[4] = Length+6; transmitArr[4] = Length + 6;
for(uint8_t i = 0; i < Length; i++) transmitArr[i+5] = Bytes[i]; for (uint8_t i = 0; i < Length; i++) {
transmitArr[Length+5] = FETtecOneWire_GetCrc8(transmitArr, Length+5); // crc transmitArr[i + 5] = Bytes[i];
FETOW_UART_SEND_BYTES(transmitArr, Length+6); }
FETtecOneWire_IgnoreOwnBytes += Length+6; transmitArr[Length + 5] = FETtecOneWire_GetCrc8(transmitArr, Length + 5); // crc
_uart->write(transmitArr, Length + 6);
FETtecOneWire_IgnoreOwnBytes += Length + 6;
} }
/* /*
@ -234,7 +260,8 @@ void FETtecOneWire_Transmit(uint8_t ESC_id, uint8_t *Bytes, uint8_t Length){
returnFullFrame can be OW_RETURN_RESPONSE or OW_RETURN_FULL_FRAME returnFullFrame can be OW_RETURN_RESPONSE or OW_RETURN_FULL_FRAME
returns 1 if the expected answer frame was there, 0 if dont returns 1 if the expected answer frame was there, 0 if dont
*/ */
uint8_t FETtecOneWire_Receive(uint8_t *Bytes, uint8_t Length, uint8_t returnFullFrame){ uint8_t AP_FETtecOneWire::FETtecOneWire_Receive(uint8_t* Bytes, uint8_t Length, uint8_t returnFullFrame)
{
/* /*
a frame lookes like: a frame lookes like:
byte 1 = fremae header (0x02 = bootloader, 0x03 = ESC firmware) byte 1 = fremae header (0x02 = bootloader, 0x03 = ESC firmware)
@ -246,44 +273,61 @@ uint8_t FETtecOneWire_Receive(uint8_t *Bytes, uint8_t Length, uint8_t returnFull
*/ */
//ignore own bytes //ignore own bytes
while(FETtecOneWire_IgnoreOwnBytes > 0 && FETOW_UART_BYTES_AVAILABLE){ while (FETtecOneWire_IgnoreOwnBytes > 0 && _uart->available()) {
FETtecOneWire_IgnoreOwnBytes--; FETtecOneWire_IgnoreOwnBytes--;
FETOW_UART_READ_BYTE; _uart->read();
} }
// look for the real answer // look for the real answer
if(FETOW_UART_BYTES_AVAILABLE >= Length+6){ if (_uart->available() >= Length + 6u) {
// sync to frame starte byte // sync to frame starte byte
uint8_t testFrameStart = 0; uint8_t testFrameStart = 0;
do{ do {
testFrameStart = FETOW_UART_READ_BYTE; testFrameStart = _uart->read();
}while(testFrameStart != 0x02 && testFrameStart != 0x03 && FETOW_UART_BYTES_AVAILABLE); }
while (testFrameStart != 0x02 && testFrameStart != 0x03 && _uart->available());
// copy message // copy message
if(FETOW_UART_BYTES_AVAILABLE >= Length+5){ if (_uart->available() >= Length + 5u) {
uint8_t ReceiveBuf[20] = {0}; uint8_t ReceiveBuf[20] = {0};
ReceiveBuf[0] = testFrameStart; ReceiveBuf[0] = testFrameStart;
for(uint8_t i=1; i<Length+6;i++) ReceiveBuf[i] = FETOW_UART_READ_BYTE; for (uint8_t i = 1; i < Length + 6; i++) {
ReceiveBuf[i] = _uart->read();
}
// check CRC // check CRC
if(FETtecOneWire_GetCrc8(ReceiveBuf, Length+5) == ReceiveBuf[Length+5]){ if (FETtecOneWire_GetCrc8(ReceiveBuf, Length + 5) == ReceiveBuf[Length + 5]) {
if(!returnFullFrame) for(uint8_t i=0; i<Length; i++) Bytes[i] = ReceiveBuf[5+i]; if (!returnFullFrame) {
else for(uint8_t i=0; i<Length+6; i++) Bytes[i] = ReceiveBuf[i]; for (uint8_t i = 0; i < Length; i++) {
Bytes[i] = ReceiveBuf[5 + i];
}
} else {
for (uint8_t i = 0; i < Length + 6; i++) {
Bytes[i] = ReceiveBuf[i];
}
}
return 1; return 1;
}else return 0; // crc missmatch } else {
}else return 0; // no answer yet return 0;
}else return 0; // no answer yet } // crc missmatch
} else {
return 0;
} // no answer yet
} else {
return 0;
} // no answer yet
} }
/* /*
makes all connected ESC's beep makes all connected ESC's beep
beepFreqency = a 8 bit value from 0-255. higher make a higher beep beepFreqency = a 8 bit value from 0-255. higher make a higher beep
*/ */
void FETtecOneWire_Beep(uint8_t beepFreqency){ void AP_FETtecOneWire::FETtecOneWire_Beep(uint8_t beepFreqency)
if(FETtecOneWire_IDcount > 0){ {
if (FETtecOneWire_IDcount > 0) {
uint8_t request[2] = {OW_BEEP, beepFreqency}; uint8_t request[2] = {OW_BEEP, beepFreqency};
uint8_t spacer[2] = {0,0}; uint8_t spacer[2] = {0, 0};
for(uint8_t i=FETtecOneWire_minID; i<FETtecOneWire_maxID+1; i++){ for (uint8_t i = FETtecOneWire_minID; i < FETtecOneWire_maxID + 1; i++) {
FETtecOneWire_Transmit(i, request, FETtecOneWire_RequestLength[request[0]]); FETtecOneWire_Transmit(i, request, FETtecOneWire_RequestLength[request[0]]);
// add two zeros to make sure all ESC's can catch their command as we dont wait for a response here // add two zeros to make sure all ESC's can catch their command as we dont wait for a response here
FETOW_UART_SEND_BYTES(spacer, 2); _uart->write(spacer, 2);
FETtecOneWire_IgnoreOwnBytes += 2; FETtecOneWire_IgnoreOwnBytes += 2;
} }
} }
@ -293,14 +337,15 @@ void FETtecOneWire_Beep(uint8_t beepFreqency){
sets the racewire color for all ESC's sets the racewire color for all ESC's
R, G, B = 8bit colors R, G, B = 8bit colors
*/ */
void FETtecOneWire_RW_LEDcolor(uint8_t R, uint8_t G, uint8_t B){ void AP_FETtecOneWire::FETtecOneWire_RW_LEDcolor(uint8_t R, uint8_t G, uint8_t B)
if(FETtecOneWire_IDcount > 0){ {
if (FETtecOneWire_IDcount > 0) {
uint8_t request[4] = {OW_SET_LED_TMP_COLOR, R, G, B}; uint8_t request[4] = {OW_SET_LED_TMP_COLOR, R, G, B};
uint8_t spacer[2] = {0,0}; uint8_t spacer[2] = {0, 0};
for(uint8_t i=FETtecOneWire_minID; i<FETtecOneWire_maxID+1; i++){ for (uint8_t i = FETtecOneWire_minID; i < FETtecOneWire_maxID + 1; i++) {
FETtecOneWire_Transmit(i, request, FETtecOneWire_RequestLength[request[0]]); FETtecOneWire_Transmit(i, request, FETtecOneWire_RequestLength[request[0]]);
// add two zeros to make sure all ESC's can catch their command as we dont wait for a response here // add two zeros to make sure all ESC's can catch their command as we dont wait for a response here
FETOW_UART_SEND_BYTES(spacer, 2); _uart->write(spacer, 2);
FETtecOneWire_IgnoreOwnBytes += 2; FETtecOneWire_IgnoreOwnBytes += 2;
} }
} }
@ -310,7 +355,8 @@ void FETtecOneWire_RW_LEDcolor(uint8_t R, uint8_t G, uint8_t B){
Resets a pending pull request Resets a pending pull request
returns nothing returns nothing
*/ */
void FETtecOneWire_PullReset(){ void AP_FETtecOneWire::FETtecOneWire_PullReset()
{
FETtecOneWire_PullSuccess = 0; FETtecOneWire_PullSuccess = 0;
FETtecOneWire_PullBusy = 0; FETtecOneWire_PullBusy = 0;
} }
@ -323,13 +369,15 @@ void FETtecOneWire_PullReset(){
returnFullFrame can be OW_RETURN_RESPONSE or OW_RETURN_FULL_FRAME returnFullFrame can be OW_RETURN_RESPONSE or OW_RETURN_FULL_FRAME
returns 1 if the request is completed, 0 if dont returns 1 if the request is completed, 0 if dont
*/ */
uint8_t FETtecOneWire_PullCommand(uint8_t ESC_id, uint8_t *command, uint8_t *response, uint8_t returnFullFrame){ uint8_t AP_FETtecOneWire::FETtecOneWire_PullCommand(uint8_t ESC_id, uint8_t* command, uint8_t* response,
if(!FETtecOneWire_PullBusy){ uint8_t returnFullFrame)
{
if (!FETtecOneWire_PullBusy) {
FETtecOneWire_PullBusy = 1; FETtecOneWire_PullBusy = 1;
FETtecOneWire_PullSuccess = 0; FETtecOneWire_PullSuccess = 0;
FETtecOneWire_Transmit(ESC_id, command, FETtecOneWire_RequestLength[command[0]]); FETtecOneWire_Transmit(ESC_id, command, FETtecOneWire_RequestLength[command[0]]);
}else{ } else {
if(FETtecOneWire_Receive(response, FETtecOneWire_ResponseLength[command[0]], returnFullFrame)){ if (FETtecOneWire_Receive(response, FETtecOneWire_ResponseLength[command[0]], returnFullFrame)) {
FETtecOneWire_PullSuccess = 1; FETtecOneWire_PullSuccess = 1;
FETtecOneWire_PullBusy = 0; FETtecOneWire_PullBusy = 0;
} }
@ -337,81 +385,92 @@ uint8_t FETtecOneWire_PullCommand(uint8_t ESC_id, uint8_t *command, uint8_t *res
return FETtecOneWire_PullSuccess; return FETtecOneWire_PullSuccess;
} }
/* /*
scans for ESC's in bus. should be called intill FETtecOneWire_ScanActive >= 25 scans for ESC's in bus. should be called intill FETtecOneWire_ScanActive >= 25
returns the currend scanned ID returns the currend scanned ID
*/ */
uint8_t FETtecOneWire_ScanESCs(){ uint8_t AP_FETtecOneWire::FETtecOneWire_ScanESCs()
{
static uint16_t delayLoops = 500; static uint16_t delayLoops = 500;
static uint8_t scanID = 0; static uint8_t scanID = 0;
static uint8_t scanState = 0; static uint8_t scanState = 0;
static uint8_t scanTimeOut = 0; static uint8_t scanTimeOut = 0;
uint8_t response[18] = {0}; uint8_t response[18] = {0};
uint8_t request[1] = {0}; uint8_t request[1] = {0};
if(FETtecOneWire_ScanActive == 0){ if (FETtecOneWire_ScanActive == 0) {
delayLoops = 500; delayLoops = 500;
scanID = 0; scanID = 0;
scanState = 0; scanState = 0;
scanTimeOut = 0; scanTimeOut = 0;
return FETtecOneWire_ScanActive+1; return FETtecOneWire_ScanActive + 1;
} }
if(delayLoops > 0){ if (delayLoops > 0) {
delayLoops--; delayLoops--;
return FETtecOneWire_ScanActive; return FETtecOneWire_ScanActive;
} }
if(scanID < FETtecOneWire_ScanActive){ if (scanID < FETtecOneWire_ScanActive) {
scanID = FETtecOneWire_ScanActive; scanID = FETtecOneWire_ScanActive;
scanState = 0; scanState = 0;
scanTimeOut = 0; scanTimeOut = 0;
} }
if(scanTimeOut == 3 || scanTimeOut == 6 || scanTimeOut == 9 || scanTimeOut == 12) FETtecOneWire_PullReset(); if (scanTimeOut == 3 || scanTimeOut == 6 || scanTimeOut == 9 || scanTimeOut == 12) {
if(scanTimeOut < 15){ FETtecOneWire_PullReset();
switch(scanState){ }
case 0: if (scanTimeOut < 15) {
request[0] = OW_OK; switch (scanState) {
if(FETtecOneWire_PullCommand(scanID, request, response, OW_RETURN_FULL_FRAME)){ case 0:request[0] = OW_OK;
if (FETtecOneWire_PullCommand(scanID, request, response, OW_RETURN_FULL_FRAME)) {
scanTimeOut = 0; scanTimeOut = 0;
FETtecOneWire_activeESC_IDs[scanID] = 1; FETtecOneWire_activeESC_IDs[scanID] = 1;
FETtecOneWire_FoundESCs++; FETtecOneWire_FoundESCs++;
if(response[0] == 0x02) FETtecOneWire_foundESCs[scanID].inBootLoader = 1; if (response[0] == 0x02) {
else FETtecOneWire_foundESCs[scanID].inBootLoader = 0; FETtecOneWire_foundESCs[scanID].inBootLoader = 1;
} else {
FETtecOneWire_foundESCs[scanID].inBootLoader = 0;
}
delayLoops = 1; delayLoops = 1;
scanState++; scanState++;
}else scanTimeOut++; } else {
scanTimeOut++;
}
break; break;
case 1: case 1:request[0] = OW_REQ_TYPE;
request[0] = OW_REQ_TYPE; if (FETtecOneWire_PullCommand(scanID, request, response, OW_RETURN_RESPONSE)) {
if(FETtecOneWire_PullCommand(scanID, request, response, OW_RETURN_RESPONSE)){
scanTimeOut = 0; scanTimeOut = 0;
FETtecOneWire_foundESCs[scanID].ESCtype = response[0]; FETtecOneWire_foundESCs[scanID].ESCtype = response[0];
delayLoops = 1; delayLoops = 1;
scanState++; scanState++;
}else scanTimeOut++; } else {
scanTimeOut++;
}
break; break;
case 2: case 2:request[0] = OW_REQ_SW_VER;
request[0] = OW_REQ_SW_VER; if (FETtecOneWire_PullCommand(scanID, request, response, OW_RETURN_RESPONSE)) {
if(FETtecOneWire_PullCommand(scanID, request, response, OW_RETURN_RESPONSE)){
scanTimeOut = 0; scanTimeOut = 0;
FETtecOneWire_foundESCs[scanID].firmWareVersion = response[0]; FETtecOneWire_foundESCs[scanID].firmWareVersion = response[0];
FETtecOneWire_foundESCs[scanID].firmWareSubVersion = response[1]; FETtecOneWire_foundESCs[scanID].firmWareSubVersion = response[1];
delayLoops = 1; delayLoops = 1;
scanState++; scanState++;
}else scanTimeOut++; } else {
scanTimeOut++;
}
break; break;
case 3: case 3:request[0] = OW_REQ_SN;
request[0] = OW_REQ_SN; if (FETtecOneWire_PullCommand(scanID, request, response, OW_RETURN_RESPONSE)) {
if(FETtecOneWire_PullCommand(scanID, request, response, OW_RETURN_RESPONSE)){
scanTimeOut = 0; scanTimeOut = 0;
for(uint8_t i=0; i<12; i++) FETtecOneWire_foundESCs[scanID].serialNumber[i] = response[i]; for (uint8_t i = 0; i < 12; i++) {
FETtecOneWire_foundESCs[scanID].serialNumber[i] = response[i];
}
delayLoops = 1; delayLoops = 1;
return scanID+1; return scanID + 1;
}else scanTimeOut++; } else {
scanTimeOut++;
}
break; break;
} }
}else{ } else {
FETtecOneWire_PullReset(); FETtecOneWire_PullReset();
return scanID+1; return scanID + 1;
} }
return scanID; return scanID;
} }
@ -420,27 +479,31 @@ uint8_t FETtecOneWire_ScanESCs(){
starts all ESC's in bus and prepares them for receiving teh fast throttle command should be called untill FETtecOneWire_SetupActive >= 25 starts all ESC's in bus and prepares them for receiving teh fast throttle command should be called untill FETtecOneWire_SetupActive >= 25
returns the current used ID returns the current used ID
*/ */
uint8_t FETtecOneWire_InitESCs(){ uint8_t AP_FETtecOneWire::FETtecOneWire_InitESCs()
{
static uint8_t delayLoops = 0; static uint8_t delayLoops = 0;
static uint8_t activeID = 1; static uint8_t activeID = 1;
static uint8_t State = 0; static uint8_t State = 0;
static uint8_t TimeOut = 0; static uint8_t TimeOut = 0;
static uint8_t wakeFromBL = 1; static uint8_t wakeFromBL = 1;
static uint8_t setFastCommand[4] = {OW_SET_FAST_COM_LENGTH,0,0,0}; static uint8_t setFastCommand[4] = {OW_SET_FAST_COM_LENGTH, 0, 0, 0};
uint8_t response[18] = {0}; uint8_t response[18] = {0};
uint8_t request[1] = {0}; uint8_t request[1] = {0};
if(FETtecOneWire_SetupActive == 0){ if (FETtecOneWire_SetupActive == 0) {
delayLoops = 0; delayLoops = 0;
activeID = 1; activeID = 1;
State = 0; State = 0;
TimeOut = 0; TimeOut = 0;
wakeFromBL = 1; wakeFromBL = 1;
return FETtecOneWire_SetupActive+1; return FETtecOneWire_SetupActive + 1;
}
while (FETtecOneWire_activeESC_IDs[FETtecOneWire_SetupActive] == 0 && FETtecOneWire_SetupActive < 25) {
FETtecOneWire_SetupActive++;
} }
while(FETtecOneWire_activeESC_IDs[FETtecOneWire_SetupActive] == 0 && FETtecOneWire_SetupActive < 25) FETtecOneWire_SetupActive++;
if(FETtecOneWire_SetupActive == 25 && wakeFromBL == 0) return FETtecOneWire_SetupActive; if (FETtecOneWire_SetupActive == 25 && wakeFromBL == 0) {
else if(FETtecOneWire_SetupActive == 25 && wakeFromBL){ return FETtecOneWire_SetupActive;
} else if (FETtecOneWire_SetupActive == 25 && wakeFromBL) {
wakeFromBL = 0; wakeFromBL = 0;
activeID = 1; activeID = 1;
FETtecOneWire_SetupActive = 1; FETtecOneWire_SetupActive = 1;
@ -450,82 +513,91 @@ uint8_t FETtecOneWire_InitESCs(){
FETtecOneWire_minID = 25; FETtecOneWire_minID = 25;
FETtecOneWire_maxID = 0; FETtecOneWire_maxID = 0;
FETtecOneWire_IDcount = 0; FETtecOneWire_IDcount = 0;
for(uint8_t i=0; i<25; i++){ for (uint8_t i = 0; i < 25; i++) {
if(FETtecOneWire_activeESC_IDs[i] != 0){ if (FETtecOneWire_activeESC_IDs[i] != 0) {
FETtecOneWire_IDcount++; FETtecOneWire_IDcount++;
if(i < FETtecOneWire_minID) FETtecOneWire_minID = i; if (i < FETtecOneWire_minID) {
if(i > FETtecOneWire_maxID) FETtecOneWire_maxID = i; FETtecOneWire_minID = i;
}
if (i > FETtecOneWire_maxID) {
FETtecOneWire_maxID = i;
}
} }
} }
if(FETtecOneWire_IDcount == 0 || FETtecOneWire_maxID-FETtecOneWire_minID > FETtecOneWire_IDcount-1){ // loop forever if (FETtecOneWire_IDcount == 0
|| FETtecOneWire_maxID - FETtecOneWire_minID > FETtecOneWire_IDcount - 1) { // loop forever
wakeFromBL = 1; wakeFromBL = 1;
return activeID; return activeID;
} }
FETtecOneWire_FastThrottleByteCount = 1; FETtecOneWire_FastThrottleByteCount = 1;
int8_t bitCount = 12+(FETtecOneWire_IDcount*11); int8_t bitCount = 12 + (FETtecOneWire_IDcount * 11);
while(bitCount > 0){ while (bitCount > 0) {
FETtecOneWire_FastThrottleByteCount++; FETtecOneWire_FastThrottleByteCount++;
bitCount -= 8; bitCount -= 8;
} }
setFastCommand[1] = FETtecOneWire_FastThrottleByteCount; // just for older ESC FW versions since 1.0 001 this byte is ignored as the ESC calculates it itself setFastCommand[1] = FETtecOneWire_FastThrottleByteCount; // just for older ESC FW versions since 1.0 001 this byte is ignored as the ESC calculates it itself
setFastCommand[2] = FETtecOneWire_minID; // min ESC id setFastCommand[2] = FETtecOneWire_minID; // min ESC id
setFastCommand[3] = FETtecOneWire_IDcount; // count of ESC's that will get signals setFastCommand[3] = FETtecOneWire_IDcount; // count of ESC's that will get signals
} }
if(delayLoops > 0){ if (delayLoops > 0) {
delayLoops--; delayLoops--;
return FETtecOneWire_SetupActive; return FETtecOneWire_SetupActive;
} }
if(activeID < FETtecOneWire_SetupActive){ if (activeID < FETtecOneWire_SetupActive) {
activeID = FETtecOneWire_SetupActive; activeID = FETtecOneWire_SetupActive;
State = 0; State = 0;
TimeOut = 0; TimeOut = 0;
} }
if(TimeOut == 3 || TimeOut == 6 || TimeOut == 9 || TimeOut == 12) FETtecOneWire_PullReset(); if (TimeOut == 3 || TimeOut == 6 || TimeOut == 9 || TimeOut == 12) {
FETtecOneWire_PullReset();
}
if(TimeOut < 15){ if (TimeOut < 15) {
if(wakeFromBL){ if (wakeFromBL) {
switch(State){ switch (State) {
case 0: case 0:request[0] = OW_BL_START_FW;
request[0] = OW_BL_START_FW; if (FETtecOneWire_foundESCs[activeID].inBootLoader == 1) {
if(FETtecOneWire_foundESCs[activeID].inBootLoader == 1){
FETtecOneWire_Transmit(activeID, request, FETtecOneWire_RequestLength[request[0]]); FETtecOneWire_Transmit(activeID, request, FETtecOneWire_RequestLength[request[0]]);
delayLoops = 5; delayLoops = 5;
}else return activeID+1; } else {
return activeID + 1;
}
State = 1; State = 1;
break; break;
case 1: case 1:request[0] = OW_OK;
request[0] = OW_OK; if (FETtecOneWire_PullCommand(activeID, request, response, OW_RETURN_FULL_FRAME)) {
if(FETtecOneWire_PullCommand(activeID, request, response, OW_RETURN_FULL_FRAME)){
TimeOut = 0; TimeOut = 0;
if(response[0] == 0x02){ if (response[0] == 0x02) {
FETtecOneWire_foundESCs[activeID].inBootLoader = 1; FETtecOneWire_foundESCs[activeID].inBootLoader = 1;
State = 0; State = 0;
}else{ } else {
FETtecOneWire_foundESCs[activeID].inBootLoader = 0; FETtecOneWire_foundESCs[activeID].inBootLoader = 0;
delayLoops = 1; delayLoops = 1;
return activeID+1; return activeID + 1;
}
} else {
TimeOut++;
} }
}else TimeOut++;
break; break;
} }
}else{ } else {
if(FETtecOneWire_PullCommand(activeID, setFastCommand, response, OW_RETURN_RESPONSE)){ if (FETtecOneWire_PullCommand(activeID, setFastCommand, response, OW_RETURN_RESPONSE)) {
TimeOut = 0; TimeOut = 0;
delayLoops = 1; delayLoops = 1;
return activeID+1; return activeID + 1;
}else TimeOut++; } else {
TimeOut++;
} }
}else{ }
} else {
FETtecOneWire_PullReset(); FETtecOneWire_PullReset();
return activeID+1; return activeID + 1;
} }
return activeID; return activeID;
} }
/* /*
@ -533,27 +605,34 @@ uint8_t FETtecOneWire_InitESCs(){
Telemetry = 16bit array where the read Telemetry will be stored in. Telemetry = 16bit array where the read Telemetry will be stored in.
returns the telemetry request number or -1 if unavailable returns the telemetry request number or -1 if unavailable
*/ */
int8_t FETtecOneWire_CheckForTLM(uint16_t *Telemetry){ int8_t AP_FETtecOneWire::FETtecOneWire_CheckForTLM(uint16_t* Telemetry)
{
int8_t return_TLM_request = 0; int8_t return_TLM_request = 0;
if(FETtecOneWire_IDcount > 0){ if (FETtecOneWire_IDcount > 0) {
// empty buffer // empty buffer
while(FETtecOneWire_IgnoreOwnBytes > 0 && FETOW_UART_BYTES_AVAILABLE){ while (FETtecOneWire_IgnoreOwnBytes > 0 && _uart->available()) {
FETOW_UART_READ_BYTE; _uart->read();
FETtecOneWire_IgnoreOwnBytes--; FETtecOneWire_IgnoreOwnBytes--;
} }
// first two byte are the ESC Telemetry of the first ESC. next two byte of the second.... // first two byte are the ESC Telemetry of the first ESC. next two byte of the second....
if(FETOW_UART_BYTES_AVAILABLE == (FETtecOneWire_IDcount*2)+1){ if (_uart->available() == (FETtecOneWire_IDcount * 2) + 1u) {
// look if first byte in buffer is equal to last byte of throttle command (crc) // look if first byte in buffer is equal to last byte of throttle command (crc)
if(FETOW_UART_READ_BYTE == FETtecOneWire_lastCRC){ if (_uart->read() == FETtecOneWire_lastCRC) {
for(uint8_t i=0; i<FETtecOneWire_IDcount; i++){ for (uint8_t i = 0; i < FETtecOneWire_IDcount; i++) {
Telemetry[i] = FETOW_UART_READ_BYTE<<8; Telemetry[i] = _uart->read() << 8;
Telemetry[i] |= FETOW_UART_READ_BYTE; Telemetry[i] |= _uart->read();
} }
return_TLM_request = FETtecOneWire_TLM_request; return_TLM_request = FETtecOneWire_TLM_request;
}else return_TLM_request = -1; } else {
}else return_TLM_request = -1; return_TLM_request = -1;
}else return_TLM_request = -1; }
} else {
return_TLM_request = -1;
}
} else {
return_TLM_request = -1;
}
return return_TLM_request; return return_TLM_request;
} }
@ -568,29 +647,34 @@ int8_t FETtecOneWire_CheckForTLM(uint16_t *Telemetry){
tlmRequest = the requested telemetry type (OW_TLM_XXXXX) tlmRequest = the requested telemetry type (OW_TLM_XXXXX)
returns the telemetry request if telemetry was available, -1 if dont returns the telemetry request if telemetry was available, -1 if dont
*/ */
int8_t FETtecOneWire_ESCsSetValues(uint16_t *motorValues, uint16_t *Telemetry, uint8_t motorCount, uint8_t tlmRequest){ int8_t AP_FETtecOneWire::FETtecOneWire_ESCsSetValues(uint16_t* motorValues, uint16_t* Telemetry, uint8_t motorCount,
static uint32_t lastTime = 0; uint8_t tlmRequest)
{
int8_t return_TLM_request = -2; int8_t return_TLM_request = -2;
// init should not be done too fast. as at last the bootloader has some timing requirements with messages. so loop delays must fit more or less // init should not be done too fast. as at last the bootloader has some timing requirements with messages. so loop delays must fit more or less
if(FETtecOneWire_ScanActive < 25 || FETtecOneWire_SetupActive < 25){ if (FETtecOneWire_ScanActive < 25 || FETtecOneWire_SetupActive < 25) {
if((uint32_t)micros() -(uint32_t)lastTime < 700) return 0; const uint32_t now = AP_HAL::micros();
else lastTime = micros(); if (now - last_send_us < DELAY_TIME_US) {
return 0;
} else {
last_send_us = now;
}
if(FETtecOneWire_ScanActive < 25){ if (FETtecOneWire_ScanActive < 25) {
// scan for all ESC's in onewire bus // scan for all ESC's in onewire bus
FETtecOneWire_ScanActive = FETtecOneWire_ScanESCs(); FETtecOneWire_ScanActive = FETtecOneWire_ScanESCs();
}else if(FETtecOneWire_SetupActive < 25){ } else if (FETtecOneWire_SetupActive < 25) {
if(FETtecOneWire_FoundESCs == 0){ if (FETtecOneWire_FoundESCs == 0) {
FETtecOneWire_ScanActive = 0; FETtecOneWire_ScanActive = 0;
}else{ } else {
// check if in bootloader, start ESC's FW if they are and prepare fast throttle command // check if in bootloader, start ESC's FW if they are and prepare fast throttle command
FETtecOneWire_SetupActive = FETtecOneWire_InitESCs(); FETtecOneWire_SetupActive = FETtecOneWire_InitESCs();
} }
} }
}else{ } else {
//send fast throttle signals //send fast throttle signals
if(FETtecOneWire_IDcount > 0){ if (FETtecOneWire_IDcount > 0) {
// check for telemetry // check for telemetry
return_TLM_request = FETtecOneWire_CheckForTLM(Telemetry); return_TLM_request = FETtecOneWire_CheckForTLM(Telemetry);
@ -599,8 +683,12 @@ int8_t FETtecOneWire_ESCsSetValues(uint16_t *motorValues, uint16_t *Telemetry, u
//prepare fast throttle signals //prepare fast throttle signals
uint16_t useSignals[24] = {0}; uint16_t useSignals[24] = {0};
uint8_t OneWireFastThrottleCommand[36] = {0}; uint8_t OneWireFastThrottleCommand[36] = {0};
if(motorCount > FETtecOneWire_IDcount) motorCount = FETtecOneWire_IDcount; if (motorCount > FETtecOneWire_IDcount) {
for(uint8_t i=0; i < motorCount; i++) useSignals[i] = constrain(motorValues[i], 0, 2000); motorCount = FETtecOneWire_IDcount;
}
for (uint8_t i = 0; i < motorCount; i++) {
useSignals[i] = constrain_int16(motorValues[i], 0, 2000);
}
uint8_t actThrottleCommand = 0; uint8_t actThrottleCommand = 0;
@ -629,7 +717,9 @@ int8_t FETtecOneWire_ESCsSetValues(uint16_t *motorValues, uint16_t *Telemetry, u
uint8_t bitsToAddLeft = (12 + (((FETtecOneWire_maxID - FETtecOneWire_minID) + 1) * 11)) - 16; uint8_t bitsToAddLeft = (12 + (((FETtecOneWire_maxID - FETtecOneWire_minID) + 1) * 11)) - 16;
while (bitsToAddLeft > 0) { while (bitsToAddLeft > 0) {
if (bitsFromByteLeft >= BitsLeftFromCommand) { if (bitsFromByteLeft >= BitsLeftFromCommand) {
OneWireFastThrottleCommand[actByte] |= (useSignals[actThrottleCommand] & ((1 << BitsLeftFromCommand) - 1)) << (bitsFromByteLeft - BitsLeftFromCommand); OneWireFastThrottleCommand[actByte] |=
(useSignals[actThrottleCommand] & ((1 << BitsLeftFromCommand) - 1))
<< (bitsFromByteLeft - BitsLeftFromCommand);
bitsToAddLeft -= BitsLeftFromCommand; bitsToAddLeft -= BitsLeftFromCommand;
bitsFromByteLeft -= BitsLeftFromCommand; bitsFromByteLeft -= BitsLeftFromCommand;
actThrottleCommand++; actThrottleCommand++;
@ -639,7 +729,9 @@ int8_t FETtecOneWire_ESCsSetValues(uint16_t *motorValues, uint16_t *Telemetry, u
bitsFromByteLeft = 8; bitsFromByteLeft = 8;
} }
} else { } else {
OneWireFastThrottleCommand[actByte] |= (useSignals[actThrottleCommand] >> (BitsLeftFromCommand - bitsFromByteLeft)) & ((1 << bitsFromByteLeft) - 1); OneWireFastThrottleCommand[actByte] |=
(useSignals[actThrottleCommand] >> (BitsLeftFromCommand - bitsFromByteLeft))
& ((1 << bitsFromByteLeft) - 1);
bitsToAddLeft -= bitsFromByteLeft; bitsToAddLeft -= bitsFromByteLeft;
BitsLeftFromCommand -= bitsFromByteLeft; BitsLeftFromCommand -= bitsFromByteLeft;
actByte++; actByte++;
@ -651,29 +743,19 @@ int8_t FETtecOneWire_ESCsSetValues(uint16_t *motorValues, uint16_t *Telemetry, u
} }
} }
// empty buffer // empty buffer
while(FETOW_UART_BYTES_AVAILABLE) FETOW_UART_READ_BYTE; while (_uart->available()) {
_uart->read();
}
// send throttle signal // send throttle signal
OneWireFastThrottleCommand[FETtecOneWire_FastThrottleByteCount-1] = FETtecOneWire_GetCrc8(OneWireFastThrottleCommand, FETtecOneWire_FastThrottleByteCount-1); OneWireFastThrottleCommand[FETtecOneWire_FastThrottleByteCount - 1] = FETtecOneWire_GetCrc8(
FETOW_UART_SEND_BYTES(OneWireFastThrottleCommand, FETtecOneWire_FastThrottleByteCount); OneWireFastThrottleCommand, FETtecOneWire_FastThrottleByteCount - 1);
_uart->write(OneWireFastThrottleCommand, FETtecOneWire_FastThrottleByteCount);
// last byte of signal can be used to make sure the first TLM byte is correct, in case of spike corruption // last byte of signal can be used to make sure the first TLM byte is correct, in case of spike corruption
FETtecOneWire_IgnoreOwnBytes = FETtecOneWire_FastThrottleByteCount-1; FETtecOneWire_IgnoreOwnBytes = FETtecOneWire_FastThrottleByteCount - 1;
FETtecOneWire_lastCRC = OneWireFastThrottleCommand[FETtecOneWire_FastThrottleByteCount-1]; FETtecOneWire_lastCRC = OneWireFastThrottleCommand[FETtecOneWire_FastThrottleByteCount - 1];
// the ESC's will answer the TLM as 16bit each ESC, so 2byte each ESC. // the ESC's will answer the TLM as 16bit each ESC, so 2byte each ESC.
} }
} }
return return_TLM_request; // returns the readed tlm as it is 1 loop delayed return return_TLM_request; // returns the readed tlm as it is 1 loop delayed
} }

301
libraries/AP_FETtecOneWire/AP_FETtecOneWire.h
View File

@ -15,69 +15,173 @@
/* Initial protocol implementation was provided by FETtec */ /* Initial protocol implementation was provided by FETtec */
// includes #pragma once
#include "config.h"
#include "serial.h" #include <AP_HAL/AP_HAL.h>
#ifdef STM32F3
#include "driversF3/GEN_SERIAL_Driver_F3.h" #ifndef HAL_AP_FETTECONEWIRE_ENABLED
#endif #define HAL_AP_FETTECONEWIRE_ENABLED !HAL_MINIMIZE_FEATURES
#ifdef STM32L4
#include "driversL4/GEN_SERIAL_Driver_L4.h"
#endif
#ifdef STM32G4
#include "driversG4/GEN_SERIAL_Driver_G4.h"
#endif
#ifdef STM32F7
#include "driversF7/GEN_SERIAL_Driver_F7.h"
#endif #endif
//UART uasage #if HAL_AP_FETTECONEWIRE_ENABLED
class AP_FETtecOneWire {
public:
AP_FETtecOneWire();
void update();
private:
void init();
bool initialised;
AP_HAL::UARTDriver *_uart;
uint32_t last_send_us;
static constexpr uint32_t DELAY_TIME_US = 700;
static constexpr uint8_t DETECT_ESC_COUNT = 4; // TODO needed ?
static constexpr uint8_t MOTOR_COUNT = 4;
uint16_t completeTelemetry[MOTOR_COUNT][5] = {0};
uint16_t motorpwm[MOTOR_COUNT] = {1000};
uint8_t TLM_request = 0;
/*
initialize FETtecOneWire protocol
*/
void FETtecOneWire_Init(void);
/* /*
inits the UART with 2000000 baud 8n1 half duplex deinitialize FETtecOneWire protocol
*/ */
#define FETOW_UART_INIT \ void FETtecOneWire_DeInit(void);
GEN_SERIAL_swapRXTXpins(FETTEC_ONE_WIRE_UART_NUM, FETTEC_ONE_WIRE_UART_SWAPP_PINS); \
GEN_SERIAL_initUART(FETTEC_ONE_WIRE_UART_NUM, FETTEC_ONE_WIRE_UART_PINSET, 2000000, 1, 0, 1, 0);
/* /*
de inits the UART with 2000000 baud 8n1 half duplex generates used 8 bit CRC
crc = byte to be added to CRC
crc_seed = CRC where it gets added too
returns 8 bit CRC
*/ */
#define FETOW_UART_DEINIT GEN_SERIAL_DeInitUART(FETTEC_ONE_WIRE_UART_NUM); uint8_t FETtecOneWire_Update_crc8(uint8_t crc, uint8_t crc_seed);
/* /*
should return the available bytes in RX buffer generates used 8 bit CRC for arrays
Buf = 8 bit byte array
BufLen = count of bytes that should be used for CRC calculation
returns 8 bit CRC
*/ */
#define FETOW_UART_BYTES_AVAILABLE GEN_SERIAL_bytesAvailable(FETTEC_ONE_WIRE_UART_NUM) uint8_t FETtecOneWire_Get_crc8(uint8_t *Buf, uint16_t BufLen);
/* /*
should return one byte of the RX buffer transmitts a FETtecOneWire frame to a ESC
ESC_id = id of the ESC
Bytes = 8 bit array of bytes. Where byte 1 contains the command, and all following bytes can be the payload
Length = length of the Bytes array
returns nothing
*/ */
#define FETOW_UART_READ_BYTE GEN_SERIAL_readByte(FETTEC_ONE_WIRE_UART_NUM) void FETtecOneWire_Transmit(uint8_t ESC_id, uint8_t *Bytes, uint8_t Length);
/* /*
to transmit a array of bytes. where buf will be a uint8_t byte array and len is the byte count that should be sent reads the answer frame of a ESC
Bytes = 8 bit byte array, where the received answer gets stored in
Length = the expected answer length
returnFullFrame can be OW_RETURN_RESPONSE or OW_RETURN_FULL_FRAME
returns 1 if the expected answer frame was there, 0 if dont
*/ */
#define FETOW_UART_SEND_BYTES(buf, len) GEN_SERIAL_sendBytes(FETTEC_ONE_WIRE_UART_NUM, buf, len) uint8_t FETtecOneWire_Receive(uint8_t *Bytes, uint8_t Length, uint8_t returnFullFrame);
/* /*
emtys the RX buffer makes all connected ESC's beep
beepFreqency = a 8 bit value from 0-255. higher make a higher beep
*/ */
#define FETOW_UART_EMPTY_RX while(FETOW_UART_BYTES_AVAILABLE) FETOW_UART_READ_BYTE; void FETtecOneWire_Beep(uint8_t beepFreqency);
/*
sets the racewire color for all ESC's
R, G, B = 8bit colors
*/
void FETtecOneWire_RW_LEDcolor(uint8_t R, uint8_t G, uint8_t B);
/*
Resets a pending pull request
returns nothing
*/
void FETtecOneWire_PullReset(void);
/*
Pulls a complete request between for ESC
ESC_id = id of the ESC
command = 8bit array containing the command that thould be send including the possible payload
response = 8bit array where the response will be stored in
returnFullFrame can be OW_RETURN_RESPONSE or OW_RETURN_FULL_FRAME
returns 1 if the request is completed, 0 if dont
*/
uint8_t FETtecOneWire_PullCommand(uint8_t ESC_id, uint8_t *command, uint8_t *response, uint8_t returnFullFrame);
/*
scans for ESC's in bus. should be called intill FETtecOneWire_ScanActive >= 25
returns the current scanned ID
*/
uint8_t FETtecOneWire_ScanESCs(void);
/*
starts all ESC's in bus and prepares them for receiving teh fast throttle command should be called untill FETtecOneWire_SetupActive >= 25
returns the current used ID
*/
uint8_t FETtecOneWire_InitESCs(void);
/*
checks if the requested telemetry is available.
Telemetry = 16bit array where the read Telemetry will be stored in.
returns the telemetry request number or -1 if unavailable
*/
int8_t FETtecOneWire_CheckForTLM(uint16_t *Telemetry);
/*
does almost all of the job.
scans for ESC's if not already done.
initializes the ESC's if not already done.
sends fast throttle signals if init is complete.
motorValues = a 16bit array containing the throttle signals that should be sent to the motors. 0-2000 where 1001-2000 is positive rotation and 999-0 reversed rotation
Telemetry = 16bit array where the read telemetry will be stored in.
motorCount = the count of motors that should get values send
tlmRequest = the requested telemetry type (OW_TLM_XXXXX)
returns the telemetry request if telemetry was available, -1 if dont
*/
int8_t FETtecOneWire_ESCsSetValues(uint16_t *motorValues, uint16_t *Telemetry, uint8_t motorCount, uint8_t tlmRequest);
uint8_t FETtecOneWire_UpdateCrc8(uint8_t crc, uint8_t crc_seed); //TODO remove
uint8_t FETtecOneWire_GetCrc8(uint8_t* Buf, uint16_t BufLen);
static constexpr uint8_t ALL_ID = 0x1F;
typedef struct FETtecOneWireESC
{
uint8_t inBootLoader;
uint8_t firmWareVersion;
uint8_t firmWareSubVersion;
uint8_t ESCtype;
uint8_t serialNumber[12];
} FETtecOneWireESC_t;
uint8_t FETtecOneWire_activeESC_IDs[25] = {0};
FETtecOneWireESC_t FETtecOneWire_foundESCs[25];
uint8_t FETtecOneWire_FoundESCs = 0;
uint8_t FETtecOneWire_ScanActive = 0;
uint8_t FETtecOneWire_SetupActive = 0;
uint8_t FETtecOneWire_IgnoreOwnBytes = 0;
int8_t FETtecOneWire_minID = 25;
int8_t FETtecOneWire_maxID = 0;
uint8_t FETtecOneWire_IDcount = 0;
uint8_t FETtecOneWire_FastThrottleByteCount = 0;
uint8_t FETtecOneWire_PullSuccess = 0;
uint8_t FETtecOneWire_PullBusy = 0;
uint8_t FETtecOneWire_TLM_request = 0;
uint8_t FETtecOneWire_lastCRC = 0;
uint8_t FETtecOneWire_firstInitDone = 0;
enum
{
#define ALL_ID 0x1F
enum {
OW_RETURN_RESPONSE, OW_RETURN_RESPONSE,
OW_RETURN_FULL_FRAME OW_RETURN_FULL_FRAME
}; };
enum { enum
{
OW_OK, OW_OK,
OW_BL_PAGE_CORRECT, // BL only OW_BL_PAGE_CORRECT, // BL only
OW_NOT_OK, OW_NOT_OK,
@ -86,9 +190,10 @@ enum {
OW_REQ_TYPE, OW_REQ_TYPE,
OW_REQ_SN, OW_REQ_SN,
OW_REQ_SW_VER OW_REQ_SW_VER
}; };
enum { enum
{
OW_RESET_TO_BL = 10, OW_RESET_TO_BL = 10,
OW_THROTTLE = 11, OW_THROTTLE = 11,
OW_REQ_TLM = 12, OW_REQ_TLM = 12,
@ -131,9 +236,10 @@ enum {
OW_GET_LED_COLOR = 52, OW_GET_LED_COLOR = 52,
OW_SET_LED_COLOR = 53 OW_SET_LED_COLOR = 53
}; };
enum { enum
{
OW_TLM_TEMP, OW_TLM_TEMP,
OW_TLM_VOLT, OW_TLM_VOLT,
OW_TLM_CURRENT, OW_TLM_CURRENT,
@ -142,112 +248,9 @@ enum {
OW_TLM_DEBUG1, OW_TLM_DEBUG1,
OW_TLM_DEBUG2, OW_TLM_DEBUG2,
OW_TLM_DEBUG3 OW_TLM_DEBUG3
};
static uint8_t FETtecOneWire_ResponseLength[54];
static uint8_t FETtecOneWire_RequestLength[54];
}; };
#endif // HAL_AP_FETTECONEWIRE_ENABLED
extern uint8_t FETtecOneWire_ResponseLength[54];
extern uint8_t FETtecOneWire_RequestLength[54];
/*
initialize FETtecOneWire protocol
*/
void FETtecOneWire_Init(void);
/*
deinitialize FETtecOneWire protocol
*/
void FETtecOneWire_DeInit(void);
/*
generates used 8 bit CRC
crc = byte to be added to CRC
crc_seed = CRC where it gets added too
returns 8 bit CRC
*/
uint8_t FETtecOneWire_Update_crc8(uint8_t crc, uint8_t crc_seed);
/*
generates used 8 bit CRC for arrays
Buf = 8 bit byte array
BufLen = count of bytes that should be used for CRC calculation
returns 8 bit CRC
*/
uint8_t FETtecOneWire_Get_crc8(uint8_t *Buf, uint16_t BufLen);
/*
transmitts a FETtecOneWire frame to a ESC
ESC_id = id of the ESC
Bytes = 8 bit array of bytes. Where byte 1 contains the command, and all following bytes can be the payload
Length = length of the Bytes array
returns nothing
*/
void FETtecOneWire_Transmit(uint8_t ESC_id, uint8_t *Bytes, uint8_t Length);
/*
reads the answer frame of a ESC
Bytes = 8 bit byte array, where the received answer gets stored in
Length = the expected answer length
returnFullFrame can be OW_RETURN_RESPONSE or OW_RETURN_FULL_FRAME
returns 1 if the expected answer frame was there, 0 if dont
*/
uint8_t FETtecOneWire_Receive(uint8_t *Bytes, uint8_t Length, uint8_t returnFullFrame);
/*
makes all connected ESC's beep
beepFreqency = a 8 bit value from 0-255. higher make a higher beep
*/
void FETtecOneWire_Beep(uint8_t beepFreqency);
/*
sets the racewire color for all ESC's
R, G, B = 8bit colors
*/
void FETtecOneWire_RW_LEDcolor(uint8_t R, uint8_t G, uint8_t B);
/*
Resets a pending pull request
returns nothing
*/
void FETtecOneWire_PullReset(void);
/*
Pulls a complete request between for ESC
ESC_id = id of the ESC
command = 8bit array containing the command that thould be send including the possible payload
response = 8bit array where the response will be stored in
returnFullFrame can be OW_RETURN_RESPONSE or OW_RETURN_FULL_FRAME
returns 1 if the request is completed, 0 if dont
*/
uint8_t FETtecOneWire_PullCommand(uint8_t ESC_id, uint8_t *command, uint8_t *response, uint8_t returnFullFrame);
/*
scans for ESC's in bus. should be called intill FETtecOneWire_ScanActive >= 25
returns the current scanned ID
*/
uint8_t FETtecOneWire_ScanESCs(void);
/*
starts all ESC's in bus and prepares them for receiving teh fast throttle command should be called untill FETtecOneWire_SetupActive >= 25
returns the current used ID
*/
uint8_t FETtecOneWire_InitESCs(void);
/*
checks if the requested telemetry is available.
Telemetry = 16bit array where the read Telemetry will be stored in.
returns the telemetry request number or -1 if unavailable
*/
int8_t FETtecOneWire_CheckForTLM(uint16_t *Telemetry);
/*
does almost all of the job.
scans for ESC's if not already done.
initializes the ESC's if not already done.
sends fast throttle signals if init is complete.
motorValues = a 16bit array containing the throttle signals that should be sent to the motors. 0-2000 where 1001-2000 is positive rotation and 999-0 reversed rotation
Telemetry = 16bit array where the read telemetry will be stored in.
motorCount = the count of motors that should get values send
tlmRequest = the requested telemetry type (OW_TLM_XXXXX)
returns the telemetry request if telemetry was available, -1 if dont
*/
int8_t FETtecOneWire_ESCsSetValues(uint16_t *motorValues, uint16_t *Telemetry, uint8_t motorCount, uint8_t tlmRequest);