mirror of https://github.com/ArduPilot/ardupilot
AP_KDECAN: new CAN protocol
This library adds support for the KDE ESC supporting CAN
This commit is contained in:
Francisco Ferreira
parent
2f1f35ef03
commit
79bb3decfc
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@ -0,0 +1,754 @@
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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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* AP_KDECAN.cpp
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*
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* Author: Francisco Ferreira
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*/
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#include <AP_HAL/AP_HAL.h>
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#if HAL_WITH_UAVCAN
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/utility/sparse-endian.h>
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#include <SRV_Channel/SRV_Channel.h>
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#include <GCS_MAVLink/GCS.h>
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#include <AP_Scheduler/AP_Scheduler.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Motors/AP_Motors.h>
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#include "AP_KDECAN.h"
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extern const AP_HAL::HAL& hal;
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#define debug_can(level_debug, fmt, args...) do { if ((level_debug) <= AP::can().get_debug_level_driver(_driver_index)) { printf(fmt, ##args); }} while (0)
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#define DEFAULT_NUM_POLES 14
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// table of user settable CAN bus parameters
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const AP_Param::GroupInfo AP_KDECAN::var_info[] = {
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// @Param: NPOLE
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// @DisplayName: Number of motor poles
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// @Description: Sets the number of motor poles to calculate the correct RPM value
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AP_GROUPINFO("NPOLE", 1, AP_KDECAN, _num_poles, DEFAULT_NUM_POLES),
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AP_GROUPEND
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};
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AP_KDECAN::AP_KDECAN()
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{
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AP_Param::setup_object_defaults(this, var_info);
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debug_can(2, "KDECAN: constructed\n\r");
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}
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AP_KDECAN *AP_KDECAN::get_kdecan(uint8_t driver_index)
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{
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if (driver_index >= AP::can().get_num_drivers() ||
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AP::can().get_protocol_type(driver_index) != AP_BoardConfig_CAN::Protocol_Type_KDECAN) {
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return nullptr;
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}
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return static_cast<AP_KDECAN*>(AP::can().get_driver(driver_index));
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}
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void AP_KDECAN::init(uint8_t driver_index)
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{
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_driver_index = driver_index;
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debug_can(2, "KDECAN: starting init\n\r");
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if (_initialized) {
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debug_can(1, "KDECAN: already initialized\n\r");
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return;
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}
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// get CAN manager instance
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AP_HAL::CANManager* can_mgr = hal.can_mgr[driver_index];
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if (can_mgr == nullptr) {
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debug_can(1, "KDECAN: no mgr for this driver\n\r");
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return;
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}
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if (!can_mgr->is_initialized()) {
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debug_can(1, "KDECAN: mgr not initialized\n\r");
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return;
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}
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// store pointer to CAN driver
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_can_driver = can_mgr->get_driver();
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if (_can_driver == nullptr) {
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debug_can(1, "KDECAN: no CAN driver\n\r");
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return;
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}
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// find available KDE ESCs
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frame_id_t id = { { .object_address = ESC_INFO_OBJ_ADDR,
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.destination_id = BROADCAST_NODE_ID,
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.source_id = AUTOPILOT_NODE_ID,
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.priority = 0,
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.unused = 0 } };
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uavcan::CanFrame frame { (id.value | uavcan::CanFrame::FlagEFF), nullptr, 0 };
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if(!_can_driver->getIface(CAN_IFACE_INDEX)->send(frame, uavcan::MonotonicTime::fromMSec(AP_HAL::millis() + 1000), 0)) {
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debug_can(1, "KDECAN: couldn't send discovery message\n\r");
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return;
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}
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debug_can(2, "KDECAN: discovery message sent\n\r");
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uint32_t start = AP_HAL::millis();
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// wait 1 second for answers
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while (AP_HAL::millis() - start < 1000) {
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uavcan::CanFrame esc_id_frame {};
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uavcan::MonotonicTime time {};
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uavcan::UtcTime utc_time {};
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uavcan::CanIOFlags flags {};
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int16_t n = _can_driver->getIface(CAN_IFACE_INDEX)->receive(esc_id_frame, time, utc_time, flags);
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if (n != 1) {
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continue;
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}
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if (!esc_id_frame.isExtended()) {
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continue;
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}
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if (esc_id_frame.dlc != 5) {
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continue;
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}
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id.value = esc_id_frame.id & uavcan::CanFrame::MaskExtID;
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if (id.source_id == BROADCAST_NODE_ID ||
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id.source_id >= (KDECAN_MAX_NUM_ESCS + ESC_NODE_ID_FIRST) ||
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id.destination_id != AUTOPILOT_NODE_ID ||
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id.object_address != ESC_INFO_OBJ_ADDR) {
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continue;
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}
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_esc_present_bitmask |= (1 << (id.source_id - ESC_NODE_ID_FIRST));
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_esc_max_node_id = id.source_id - ESC_NODE_ID_FIRST + 1;
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debug_can(2, "KDECAN: found ESC id %u\n\r", id.source_id);
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}
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snprintf(_thread_name, sizeof(_thread_name), "kdecan_%u", driver_index);
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// start thread for receiving and sending CAN frames
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if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_KDECAN::loop, void), _thread_name, 4096, AP_HAL::Scheduler::PRIORITY_CAN, 0)) {
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debug_can(1, "KDECAN: couldn't create thread\n\r");
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return;
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}
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_initialized = true;
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debug_can(2, "KDECAN: init done\n\r");
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return;
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}
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void AP_KDECAN::loop()
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{
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uavcan::MonotonicTime timeout;
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uavcan::CanFrame empty_frame { (0 | uavcan::CanFrame::FlagEFF), nullptr, 0 };
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const uavcan::CanFrame* select_frames[uavcan::MaxCanIfaces] { };
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select_frames[CAN_IFACE_INDEX] = &empty_frame;
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uint16_t output_buffer[KDECAN_MAX_NUM_ESCS] {};
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enumeration_state_t enumeration_state = _enumeration_state;
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uint64_t enumeration_start = 0;
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uint8_t enumeration_esc_num = 0;
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const uint32_t LOOP_INTERVAL_US = MIN(AP::scheduler().get_loop_period_us(), SET_PWM_MIN_INTERVAL_US);
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uint64_t pwm_last_sent = 0;
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uint8_t sending_esc_num = 0;
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uint64_t telemetry_last_request = 0;
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while (true) {
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if (!_initialized) {
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debug_can(2, "KDECAN: not initialized\n\r");
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hal.scheduler->delay_microseconds(2000);
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continue;
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}
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uavcan::CanSelectMasks inout_mask;
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uint64_t now = AP_HAL::micros64();
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// get latest enumeration state set from GCS
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if (_enum_sem.take(1)) {
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enumeration_state = _enumeration_state;
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_enum_sem.give();
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} else {
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debug_can(2, "KDECAN: failed to get enumeration semaphore on loop\n\r");
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}
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if (enumeration_state != ENUMERATION_STOPPED) {
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// check if enumeration timed out
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if (enumeration_start != 0 && now - enumeration_start >= ENUMERATION_TIMEOUT_MS * 1000) {
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enumeration_start = 0;
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WITH_SEMAPHORE(_enum_sem);
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// check if enumeration state didn't change or was set to stop
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if (enumeration_state == _enumeration_state || _enumeration_state == ENUMERATION_STOP) {
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enumeration_state = _enumeration_state = ENUMERATION_STOPPED;
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}
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continue;
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}
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timeout = uavcan::MonotonicTime::fromUSec(now + 1000);
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switch (enumeration_state) {
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case ENUMERATION_START: {
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inout_mask.write = 1 << CAN_IFACE_INDEX;
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// send broadcast frame to start enumeration
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frame_id_t id = { { .object_address = ENUM_OBJ_ADDR,
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.destination_id = BROADCAST_NODE_ID,
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.source_id = AUTOPILOT_NODE_ID,
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.priority = 0,
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.unused = 0 } };
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be16_t data = htobe16((uint16_t) ENUMERATION_TIMEOUT_MS);
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uavcan::CanFrame frame { (id.value | uavcan::CanFrame::FlagEFF), (uint8_t*) &data, sizeof(data) };
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uavcan::CanSelectMasks in_mask = inout_mask;
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select_frames[CAN_IFACE_INDEX] = &frame;
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// wait for write space to be available
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_can_driver->select(inout_mask, select_frames, timeout);
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select_frames[CAN_IFACE_INDEX] = &empty_frame;
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if (in_mask.write & inout_mask.write) {
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now = AP_HAL::micros64();
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timeout = uavcan::MonotonicTime::fromUSec(now + ENUMERATION_TIMEOUT_MS * 1000);
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int8_t res = _can_driver->getIface(CAN_IFACE_INDEX)->send(frame, timeout, 0);
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if (res == 1) {
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enumeration_start = now;
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enumeration_esc_num = 0;
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_esc_present_bitmask = 0;
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_esc_max_node_id = 0;
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WITH_SEMAPHORE(_enum_sem);
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if (enumeration_state == _enumeration_state) {
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enumeration_state = _enumeration_state = ENUMERATION_RUNNING;
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}
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} else if (res == 0) {
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debug_can(1, "KDECAN: strange buffer full when starting ESC enumeration\n\r");
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break;
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} else {
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debug_can(1, "KDECAN: error sending message to start ESC enumeration, result %d\n\r", res);
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break;
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}
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} else {
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break;
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}
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FALLTHROUGH;
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}
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case ENUMERATION_RUNNING: {
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inout_mask.read = 1 << CAN_IFACE_INDEX;
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inout_mask.write = 0;
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// wait for enumeration messages from ESCs
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uavcan::CanSelectMasks in_mask = inout_mask;
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_can_driver->select(inout_mask, select_frames, timeout);
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if (in_mask.read & inout_mask.read) {
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uavcan::CanFrame recv_frame;
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uavcan::MonotonicTime time;
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uavcan::UtcTime utc_time;
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uavcan::CanIOFlags flags {};
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int16_t res = _can_driver->getIface(CAN_IFACE_INDEX)->receive(recv_frame, time, utc_time, flags);
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if (res == 1) {
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if (time.toUSec() < enumeration_start) {
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// old message
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break;
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}
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frame_id_t id { .value = recv_frame.id & uavcan::CanFrame::MaskExtID };
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if (id.object_address == UPDATE_NODE_ID_OBJ_ADDR) {
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// reply from setting new node ID
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_esc_present_bitmask |= 1 << (id.source_id - ESC_NODE_ID_FIRST);
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_esc_max_node_id = MAX(_esc_max_node_id, id.source_id - ESC_NODE_ID_FIRST + 1);
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break;
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} else if (id.object_address != ENUM_OBJ_ADDR) {
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// discardable frame, only looking for enumeration
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break;
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}
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// try to set node ID for the received ESC
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while (AP_HAL::micros64() - enumeration_start < ENUMERATION_TIMEOUT_MS * 1000) {
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inout_mask.read = 0;
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inout_mask.write = 1 << CAN_IFACE_INDEX;
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// wait for write space to be available
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in_mask = inout_mask;
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_can_driver->select(inout_mask, select_frames, timeout);
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if (in_mask.write & inout_mask.write) {
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id = { { .object_address = UPDATE_NODE_ID_OBJ_ADDR,
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.destination_id = uint8_t(enumeration_esc_num + ESC_NODE_ID_FIRST),
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.source_id = AUTOPILOT_NODE_ID,
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.priority = 0,
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.unused = 0 } };
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uavcan::CanFrame send_frame { (id.value | uavcan::CanFrame::FlagEFF), (uint8_t*) &recv_frame.data, recv_frame.dlc };
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timeout = uavcan::MonotonicTime::fromUSec(enumeration_start + ENUMERATION_TIMEOUT_MS * 1000);
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res = _can_driver->getIface(CAN_IFACE_INDEX)->send(send_frame, timeout, 0);
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if (res == 1) {
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enumeration_esc_num++;
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break;
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} else if (res == 0) {
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debug_can(1, "KDECAN: strange buffer full when setting ESC node ID\n\r");
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} else {
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debug_can(1, "KDECAN: error sending message to set ESC node ID, result %d\n\r", res);
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}
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}
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}
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} else if (res == 0) {
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debug_can(1, "KDECAN: strange failed read when getting ESC enumeration message\n\r");
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} else {
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debug_can(1, "KDECAN: error receiving ESC enumeration message, result %d\n\r", res);
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}
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}
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break;
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}
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case ENUMERATION_STOP: {
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inout_mask.write = 1 << CAN_IFACE_INDEX;
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// send broadcast frame to stop enumeration
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frame_id_t id = { { .object_address = ENUM_OBJ_ADDR,
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.destination_id = BROADCAST_NODE_ID,
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.source_id = AUTOPILOT_NODE_ID,
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.priority = 0,
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.unused = 0 } };
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le16_t data = htole16((uint16_t) ENUMERATION_TIMEOUT_MS);
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uavcan::CanFrame frame { (id.value | uavcan::CanFrame::FlagEFF), (uint8_t*) &data, sizeof(data) };
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uavcan::CanSelectMasks in_mask = inout_mask;
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select_frames[CAN_IFACE_INDEX] = &frame;
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// wait for write space to be available
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_can_driver->select(inout_mask, select_frames, timeout);
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select_frames[CAN_IFACE_INDEX] = &empty_frame;
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if (in_mask.write & inout_mask.write) {
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timeout = uavcan::MonotonicTime::fromUSec(enumeration_start + ENUMERATION_TIMEOUT_MS * 1000);
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int8_t res = _can_driver->getIface(CAN_IFACE_INDEX)->send(frame, timeout, 0);
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if (res == 1) {
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enumeration_start = 0;
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WITH_SEMAPHORE(_enum_sem);
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if (enumeration_state == _enumeration_state) {
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enumeration_state = _enumeration_state = ENUMERATION_STOPPED;
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}
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} else if (res == 0) {
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debug_can(1, "KDECAN: strange buffer full when stop ESC enumeration\n\r");
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} else {
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debug_can(1, "KDECAN: error sending message to stop ESC enumeration, result %d\n\r", res);
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}
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}
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break;
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}
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case ENUMERATION_STOPPED:
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default:
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debug_can(2, "KDECAN: something wrong happened, shouldn't be here, enumeration state: %u\n\r", enumeration_state);
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break;
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}
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continue;
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}
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if (!_esc_present_bitmask) {
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debug_can(1, "KDECAN: no valid ESC present");
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hal.scheduler->delay(1000);
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continue;
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}
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// always look for received frames
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inout_mask.read = 1 << CAN_IFACE_INDEX;
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timeout = uavcan::MonotonicTime::fromUSec(now + LOOP_INTERVAL_US);
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// check if:
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// - is currently sending throttle frames, OR
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// - there are new output values and, a throttle frame was never sent or it's no longer in CAN queue, OR
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// - it is time to send throttle frames again, regardless of new output values, OR
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// - it is time to ask for telemetry information
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if (sending_esc_num > 0 ||
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(_new_output.load(std::memory_order_acquire) && (pwm_last_sent == 0 || now - pwm_last_sent > SET_PWM_TIMEOUT_US)) ||
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(pwm_last_sent != 0 && (now - pwm_last_sent > SET_PWM_MIN_INTERVAL_US)) ||
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(now - telemetry_last_request > TELEMETRY_INTERVAL_US)) {
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inout_mask.write = 1 << CAN_IFACE_INDEX;
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} else { // don't need to send frame, choose the maximum time we'll wait for receiving a frame
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uint64_t next_action = MIN(now + LOOP_INTERVAL_US, telemetry_last_request + TELEMETRY_INTERVAL_US);
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if (pwm_last_sent != 0) {
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next_action = MIN(next_action, pwm_last_sent + SET_PWM_MIN_INTERVAL_US);
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}
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timeout = uavcan::MonotonicTime::fromUSec(next_action);
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}
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// wait for write space or receive frame
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uavcan::CanSelectMasks in_mask = inout_mask;
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_can_driver->select(inout_mask, select_frames, timeout);
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if (in_mask.read & inout_mask.read) {
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uavcan::CanFrame frame;
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uavcan::MonotonicTime time;
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uavcan::UtcTime utc_time;
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uavcan::CanIOFlags flags {};
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|
||||
int16_t res = _can_driver->getIface(CAN_IFACE_INDEX)->receive(frame, time, utc_time, flags);
|
||||
|
||||
if (res == 1) {
|
||||
frame_id_t id { .value = frame.id & uavcan::CanFrame::MaskExtID };
|
||||
|
||||
// check if frame is valid: directed at autopilot, doesn't come from broadcast and ESC was detected before
|
||||
if (id.destination_id == AUTOPILOT_NODE_ID &&
|
||||
id.source_id != BROADCAST_NODE_ID &&
|
||||
(1 << (id.source_id - ESC_NODE_ID_FIRST) & _esc_present_bitmask)) {
|
||||
switch (id.object_address) {
|
||||
case TELEMETRY_OBJ_ADDR: {
|
||||
if (frame.dlc != 8) {
|
||||
break;
|
||||
}
|
||||
|
||||
if (!_telem_sem.take(1)) {
|
||||
debug_can(2, "KDECAN: failed to get telemetry semaphore on write\n\r");
|
||||
break;
|
||||
}
|
||||
|
||||
_telemetry[id.source_id - ESC_NODE_ID_FIRST].time = time.toUSec();
|
||||
_telemetry[id.source_id - ESC_NODE_ID_FIRST].voltage = frame.data[0] << 8 | frame.data[1];
|
||||
_telemetry[id.source_id - ESC_NODE_ID_FIRST].current = frame.data[2] << 8 | frame.data[3];
|
||||
_telemetry[id.source_id - ESC_NODE_ID_FIRST].rpm = frame.data[4] << 8 | frame.data[5];
|
||||
_telemetry[id.source_id - ESC_NODE_ID_FIRST].temp = frame.data[6];
|
||||
_telemetry[id.source_id - ESC_NODE_ID_FIRST].new_data = true;
|
||||
_telem_sem.give();
|
||||
break;
|
||||
}
|
||||
default:
|
||||
// discard frame
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (in_mask.write & inout_mask.write) {
|
||||
now = AP_HAL::micros64();
|
||||
|
||||
bool new_output = _new_output.load(std::memory_order_acquire);
|
||||
|
||||
if (sending_esc_num > 0) {
|
||||
// currently sending throttle frames, check it didn't timeout
|
||||
if (now - pwm_last_sent > SET_PWM_TIMEOUT_US) {
|
||||
debug_can(2, "KDECAN: timed-out after sending frame to ESC with ID %d\n\r", sending_esc_num - 1);
|
||||
sending_esc_num = 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (sending_esc_num == 0 && new_output) {
|
||||
if (!_rc_out_sem.take(1)) {
|
||||
debug_can(2, "KDECAN: failed to get PWM semaphore on read\n\r");
|
||||
continue;
|
||||
}
|
||||
|
||||
memcpy(output_buffer, _scaled_output, KDECAN_MAX_NUM_ESCS * sizeof(uint16_t));
|
||||
|
||||
_rc_out_sem.give();
|
||||
}
|
||||
|
||||
// check if:
|
||||
// - is currently sending throttle frames, OR
|
||||
// - there are new output values and, a throttle frame was never sent or it's no longer in CAN queue, OR
|
||||
// - it is time to send throttle frames again, regardless of new output values
|
||||
if (sending_esc_num > 0 ||
|
||||
(new_output && (pwm_last_sent == 0 || now - pwm_last_sent > SET_PWM_TIMEOUT_US)) ||
|
||||
(pwm_last_sent != 0 && (now - pwm_last_sent > SET_PWM_MIN_INTERVAL_US))) {
|
||||
|
||||
for (uint8_t esc_num = sending_esc_num; esc_num < _esc_max_node_id; esc_num++) {
|
||||
|
||||
if ((_esc_present_bitmask & (1 << esc_num)) == 0) {
|
||||
continue;
|
||||
}
|
||||
|
||||
be16_t kde_pwm = htobe16(output_buffer[esc_num]);
|
||||
|
||||
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
|
||||
kde_pwm = 0;
|
||||
}
|
||||
|
||||
frame_id_t id = { { .object_address = SET_PWM_OBJ_ADDR,
|
||||
.destination_id = uint8_t(esc_num + ESC_NODE_ID_FIRST),
|
||||
.source_id = AUTOPILOT_NODE_ID,
|
||||
.priority = 0,
|
||||
.unused = 0 } };
|
||||
|
||||
uavcan::CanFrame frame { (id.value | uavcan::CanFrame::FlagEFF), (uint8_t*) &kde_pwm, sizeof(kde_pwm) };
|
||||
|
||||
if (esc_num == 0) {
|
||||
timeout = uavcan::MonotonicTime::fromUSec(now + SET_PWM_TIMEOUT_US);
|
||||
} else {
|
||||
timeout = uavcan::MonotonicTime::fromUSec(pwm_last_sent + SET_PWM_TIMEOUT_US);
|
||||
}
|
||||
|
||||
int8_t res = _can_driver->getIface(CAN_IFACE_INDEX)->send(frame, timeout, 0);
|
||||
|
||||
if (res == 1) {
|
||||
if (esc_num == 0) {
|
||||
pwm_last_sent = now;
|
||||
|
||||
if (new_output) {
|
||||
_new_output.store(false, std::memory_order_release);
|
||||
}
|
||||
}
|
||||
|
||||
sending_esc_num = (esc_num + 1) % _esc_max_node_id;
|
||||
} else if (res == 0) {
|
||||
debug_can(1, "KDECAN: strange buffer full when sending message to ESC with ID %d\n\r", esc_num + ESC_NODE_ID_FIRST);
|
||||
} else {
|
||||
debug_can(1, "KDECAN: error sending message to ESC with ID %d, result %d\n\r", esc_num + ESC_NODE_ID_FIRST, res);
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
} else if (now - telemetry_last_request > TELEMETRY_INTERVAL_US) {
|
||||
// broadcast telemetry request frame
|
||||
frame_id_t id = { { .object_address = TELEMETRY_OBJ_ADDR,
|
||||
.destination_id = BROADCAST_NODE_ID,
|
||||
.source_id = AUTOPILOT_NODE_ID,
|
||||
.priority = 0,
|
||||
.unused = 0 } };
|
||||
|
||||
uavcan::CanFrame frame { (id.value | uavcan::CanFrame::FlagEFF), nullptr, 0 };
|
||||
timeout = uavcan::MonotonicTime::fromUSec(now + TELEMETRY_TIMEOUT_US);
|
||||
|
||||
int8_t res = _can_driver->getIface(CAN_IFACE_INDEX)->send(frame, timeout, 0);
|
||||
|
||||
if (res == 1) {
|
||||
telemetry_last_request = now;
|
||||
} else if (res == 0) {
|
||||
debug_can(1, "KDECAN: strange buffer full when sending message requesting telemetry\n\r");
|
||||
} else {
|
||||
debug_can(1, "KDECAN: error sending message requesting telemetry, result %d\n\r", res);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void AP_KDECAN::update()
|
||||
{
|
||||
if (_rc_out_sem.take(1)) {
|
||||
for (uint8_t i = 0; i < KDECAN_MAX_NUM_ESCS; i++) {
|
||||
if ((_esc_present_bitmask & (1 << i)) == 0) {
|
||||
continue;
|
||||
}
|
||||
|
||||
SRV_Channel::Aux_servo_function_t motor_function = SRV_Channels::get_motor_function(i);
|
||||
|
||||
if (SRV_Channels::function_assigned(motor_function)) {
|
||||
float norm_output = SRV_Channels::get_output_norm(motor_function);
|
||||
_scaled_output[i] = uint16_t((norm_output + 1.0f) / 2.0f * 2000.0f);
|
||||
} else {
|
||||
_scaled_output[i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
_rc_out_sem.give();
|
||||
_new_output.store(true, std::memory_order_release);
|
||||
} else {
|
||||
debug_can(2, "KDECAN: failed to get PWM semaphore on write\n\r");
|
||||
}
|
||||
|
||||
DataFlash_Class *df = DataFlash_Class::instance();
|
||||
|
||||
if (df == nullptr || !df->should_log(0xFFFFFFFF)) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (!_telem_sem.take(1)) {
|
||||
debug_can(2, "KDECAN: failed to get telemetry semaphore on DF read\n\r");
|
||||
return;
|
||||
}
|
||||
|
||||
telemetry_info_t telem_buffer[KDECAN_MAX_NUM_ESCS] {};
|
||||
|
||||
for (uint8_t i = 0; i < _esc_max_node_id; i++) {
|
||||
if (_telemetry[i].new_data) {
|
||||
telem_buffer[i] = _telemetry[i];
|
||||
_telemetry[i].new_data = false;
|
||||
}
|
||||
}
|
||||
|
||||
_telem_sem.give();
|
||||
|
||||
uint8_t num_poles = _num_poles > 0 ? _num_poles : DEFAULT_NUM_POLES;
|
||||
|
||||
// log ESC telemetry data
|
||||
for (uint8_t i = 0; i < _esc_max_node_id; i++) {
|
||||
if (telem_buffer[i].new_data) {
|
||||
struct log_Esc pkt = {
|
||||
LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC1_MSG+i)),
|
||||
time_us : telem_buffer[i].time,
|
||||
rpm : int32_t(telem_buffer[i].rpm * 60UL * 2 / num_poles * 100),
|
||||
voltage : telem_buffer[i].voltage,
|
||||
current : telem_buffer[i].current,
|
||||
temperature : int16_t(telem_buffer[i].temp * 100U),
|
||||
current_tot : 0
|
||||
};
|
||||
df->WriteBlock(&pkt, sizeof(pkt));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool AP_KDECAN::pre_arm_check(const char* &reason)
|
||||
{
|
||||
if (!_enum_sem.take(1)) {
|
||||
debug_can(2, "KDECAN: failed to get enumeration semaphore on read\n\r");
|
||||
reason = "KDECAN enumeration state unknown";
|
||||
return false;
|
||||
}
|
||||
|
||||
if (_enumeration_state != ENUMERATION_STOPPED) {
|
||||
reason = "KDECAN enumeration running";
|
||||
_enum_sem.give();
|
||||
return false;
|
||||
}
|
||||
|
||||
_enum_sem.give();
|
||||
|
||||
uint16_t motors_mask = 0;
|
||||
AP_Motors *motors = AP_Motors::get_instance();
|
||||
|
||||
if (motors) {
|
||||
motors_mask = motors->get_motor_mask();
|
||||
}
|
||||
|
||||
uint8_t num_expected_motors = __builtin_popcount(motors_mask);
|
||||
uint8_t num_present_escs = __builtin_popcount(_esc_present_bitmask);
|
||||
|
||||
if (num_present_escs < num_expected_motors) {
|
||||
reason = "Not enough KDECAN ESCs detected";
|
||||
return false;
|
||||
}
|
||||
|
||||
if (num_present_escs > num_expected_motors) {
|
||||
reason = "Too many KDECAN ESCs detected";
|
||||
return false;
|
||||
}
|
||||
|
||||
if (_esc_max_node_id != num_expected_motors) {
|
||||
reason = "Wrong KDECAN node IDs, run enumeration";
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void AP_KDECAN::send_mavlink(uint8_t chan)
|
||||
{
|
||||
if (!_telem_sem.take(1)) {
|
||||
debug_can(2, "KDECAN: failed to get telemetry semaphore on MAVLink read\n\r");
|
||||
return;
|
||||
}
|
||||
|
||||
telemetry_info_t telem_buffer[KDECAN_MAX_NUM_ESCS];
|
||||
memcpy(telem_buffer, _telemetry, sizeof(telemetry_info_t) * KDECAN_MAX_NUM_ESCS);
|
||||
_telem_sem.give();
|
||||
|
||||
uint16_t voltage[4] {};
|
||||
uint16_t current[4] {};
|
||||
uint16_t rpm[4] {};
|
||||
uint8_t temperature[4] {};
|
||||
uint16_t totalcurrent[4] {};
|
||||
uint16_t count[4] {};
|
||||
uint8_t num_poles = _num_poles > 0 ? _num_poles : DEFAULT_NUM_POLES;
|
||||
uint64_t now = AP_HAL::micros64();
|
||||
|
||||
for (uint8_t i = 0; i < _esc_max_node_id && i < 8; i++) {
|
||||
uint8_t idx = i % 4;
|
||||
if (telem_buffer[i].time && (now - telem_buffer[i].time < 1000000)) {
|
||||
voltage[idx] = telem_buffer[i].voltage;
|
||||
current[idx] = telem_buffer[i].current;
|
||||
rpm[idx] = uint16_t(telem_buffer[i].rpm * 60UL * 2 / num_poles);
|
||||
temperature[idx] = telem_buffer[i].temp;
|
||||
} else {
|
||||
voltage[idx] = 0;
|
||||
current[idx] = 0;
|
||||
rpm[idx] = 0;
|
||||
temperature[idx] = 0;
|
||||
}
|
||||
|
||||
if (idx == 3 || i == _esc_max_node_id - 1) {
|
||||
if (!HAVE_PAYLOAD_SPACE((mavlink_channel_t)chan, ESC_TELEMETRY_1_TO_4)) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (i < 4) {
|
||||
mavlink_msg_esc_telemetry_1_to_4_send((mavlink_channel_t)chan, temperature, voltage, current, totalcurrent, rpm, count);
|
||||
} else {
|
||||
mavlink_msg_esc_telemetry_5_to_8_send((mavlink_channel_t)chan, temperature, voltage, current, totalcurrent, rpm, count);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool AP_KDECAN::run_enumeration(bool start_stop)
|
||||
{
|
||||
if (!_enum_sem.take(1)) {
|
||||
debug_can(2, "KDECAN: failed to get enumeration semaphore on write\n\r");
|
||||
return false;
|
||||
}
|
||||
|
||||
if (start_stop) {
|
||||
_enumeration_state = ENUMERATION_START;
|
||||
} else if (_enumeration_state != ENUMERATION_STOPPED) {
|
||||
_enumeration_state = ENUMERATION_STOP;
|
||||
}
|
||||
|
||||
_enum_sem.give();
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
#endif // HAL_WITH_UAVCAN
|
||||
|
|
@ -0,0 +1,137 @@
|
|||
/*
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
/*
|
||||
* AP_KDECAN.h
|
||||
*
|
||||
* Author: Francisco Ferreira
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <AP_HAL/CAN.h>
|
||||
#include <AP_HAL/Semaphores.h>
|
||||
|
||||
#include <AP_Param/AP_Param.h>
|
||||
|
||||
#include <atomic>
|
||||
|
||||
// there are 12 motor functions in SRV_Channel but CAN driver can't keep up
|
||||
#define KDECAN_MAX_NUM_ESCS 8
|
||||
|
||||
class AP_KDECAN : public AP_HAL::CANProtocol {
|
||||
public:
|
||||
AP_KDECAN();
|
||||
|
||||
/* Do not allow copies */
|
||||
AP_KDECAN(const AP_KDECAN &other) = delete;
|
||||
AP_KDECAN &operator=(const AP_KDECAN&) = delete;
|
||||
|
||||
static const struct AP_Param::GroupInfo var_info[];
|
||||
|
||||
// Return KDECAN from @driver_index or nullptr if it's not ready or doesn't exist
|
||||
static AP_KDECAN *get_kdecan(uint8_t driver_index);
|
||||
|
||||
void init(uint8_t driver_index) override;
|
||||
|
||||
// called from SRV_Channels
|
||||
void update();
|
||||
|
||||
// check that arming can happen
|
||||
bool pre_arm_check(const char* &reason);
|
||||
|
||||
// send MAVLink telemetry packets
|
||||
void send_mavlink(uint8_t chan);
|
||||
|
||||
// caller checks that vehicle isn't armed
|
||||
// start_stop: true to start, false to stop
|
||||
bool run_enumeration(bool start_stop);
|
||||
|
||||
private:
|
||||
void loop();
|
||||
|
||||
bool _initialized;
|
||||
char _thread_name[9];
|
||||
uint8_t _driver_index;
|
||||
uavcan::ICanDriver* _can_driver;
|
||||
|
||||
AP_Int8 _num_poles;
|
||||
|
||||
// ESC detected information
|
||||
uint16_t _esc_present_bitmask;
|
||||
uint8_t _esc_max_node_id;
|
||||
|
||||
// enumeration
|
||||
HAL_Semaphore _enum_sem;
|
||||
enum enumeration_state_t : uint8_t {
|
||||
ENUMERATION_STOPPED,
|
||||
ENUMERATION_START,
|
||||
ENUMERATION_STOP,
|
||||
ENUMERATION_RUNNING
|
||||
} _enumeration_state = ENUMERATION_STOPPED;
|
||||
|
||||
// PWM output
|
||||
HAL_Semaphore _rc_out_sem;
|
||||
std::atomic<bool> _new_output;
|
||||
uint16_t _scaled_output[KDECAN_MAX_NUM_ESCS];
|
||||
|
||||
// telemetry input
|
||||
HAL_Semaphore _telem_sem;
|
||||
struct telemetry_info_t {
|
||||
uint64_t time;
|
||||
uint16_t voltage;
|
||||
uint16_t current;
|
||||
uint16_t rpm;
|
||||
uint8_t temp;
|
||||
bool new_data;
|
||||
} _telemetry[KDECAN_MAX_NUM_ESCS];
|
||||
|
||||
|
||||
union frame_id_t {
|
||||
struct {
|
||||
uint8_t object_address;
|
||||
uint8_t destination_id;
|
||||
uint8_t source_id;
|
||||
uint8_t priority:5;
|
||||
uint8_t unused:3;
|
||||
};
|
||||
uint32_t value;
|
||||
};
|
||||
|
||||
static const uint8_t AUTOPILOT_NODE_ID = 0;
|
||||
static const uint8_t BROADCAST_NODE_ID = 1;
|
||||
static const uint8_t ESC_NODE_ID_FIRST = 2;
|
||||
|
||||
static const uint8_t ESC_INFO_OBJ_ADDR = 0;
|
||||
static const uint8_t SET_PWM_OBJ_ADDR = 1;
|
||||
static const uint8_t VOLTAGE_OBJ_ADDR = 2;
|
||||
static const uint8_t CURRENT_OBJ_ADDR = 3;
|
||||
static const uint8_t RPM_OBJ_ADDR = 4;
|
||||
static const uint8_t TEMPERATURE_OBJ_ADDR = 5;
|
||||
static const uint8_t GET_PWM_INPUT_OBJ_ADDR = 6;
|
||||
static const uint8_t GET_PWM_OUTPUT_OBJ_ADDR = 7;
|
||||
static const uint8_t MCU_ID_OBJ_ADDR = 8;
|
||||
static const uint8_t UPDATE_NODE_ID_OBJ_ADDR = 9;
|
||||
static const uint8_t ENUM_OBJ_ADDR = 10;
|
||||
static const uint8_t TELEMETRY_OBJ_ADDR = 11;
|
||||
|
||||
static const uint16_t SET_PWM_MIN_INTERVAL_US = 2500;
|
||||
static const uint32_t TELEMETRY_INTERVAL_US = 100000;
|
||||
|
||||
static const uint32_t SET_PWM_TIMEOUT_US = 2000;
|
||||
static const uint16_t TELEMETRY_TIMEOUT_US = 500;
|
||||
static const uint16_t ENUMERATION_TIMEOUT_MS = 30000;
|
||||
|
||||
static const uint8_t CAN_IFACE_INDEX = 0;
|
||||
};
|
||||
|
|
@ -0,0 +1,358 @@
|
|||
/*
|
||||
simple KDECAN network sniffer as an ArduPilot firmware
|
||||
*/
|
||||
#include <AP_Common/AP_Common.h>
|
||||
#include <AP_HAL/AP_HAL.h>
|
||||
|
||||
#if (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS || CONFIG_HAL_BOARD == HAL_BOARD_LINUX) && HAL_WITH_UAVCAN
|
||||
|
||||
#include <AP_HAL/CAN.h>
|
||||
#include <AP_HAL/Semaphores.h>
|
||||
|
||||
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
|
||||
#include <AP_HAL_Linux/CAN.h>
|
||||
#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
|
||||
#include <AP_HAL_ChibiOS/CAN.h>
|
||||
#endif
|
||||
|
||||
#include <AP_HAL/utility/sparse-endian.h>
|
||||
#include <AP_Math/AP_Math.h>
|
||||
|
||||
#include <cinttypes>
|
||||
|
||||
void setup();
|
||||
void loop();
|
||||
|
||||
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
|
||||
|
||||
#define debug_can(fmt, args...) do { hal.console->printf(fmt, ##args); } while (0)
|
||||
|
||||
#define NUM_ESCS 8
|
||||
|
||||
class KDECAN_sniffer {
|
||||
public:
|
||||
KDECAN_sniffer() {
|
||||
for (uint8_t i = 0; i < NUM_ESCS; i++) {
|
||||
_esc_info[i].mcu_id = 0xA5961824E7BD3C00 | i;
|
||||
}
|
||||
}
|
||||
|
||||
void init(void);
|
||||
void loop(void);
|
||||
void print_stats(void);
|
||||
void send_enumeration(uint8_t num);
|
||||
|
||||
private:
|
||||
uint8_t _driver_index = 0;
|
||||
uint8_t _interface = 0;
|
||||
uavcan::ICanDriver* _can_driver;
|
||||
uint8_t _mask_received_pwm = 0;
|
||||
|
||||
struct esc_info {
|
||||
uint8_t node_id;
|
||||
uint64_t mcu_id;
|
||||
uint64_t enum_timeout;
|
||||
|
||||
esc_info() : node_id(1), mcu_id(0), enum_timeout(0) {}
|
||||
} _esc_info[NUM_ESCS];
|
||||
|
||||
uint8_t _max_node_id = 0;
|
||||
|
||||
static const uint8_t BROADCAST_NODE_ID = 1;
|
||||
|
||||
static const uint8_t ESC_INFO_OBJ_ADDR = 0;
|
||||
static const uint8_t SET_PWM_OBJ_ADDR = 1;
|
||||
static const uint8_t VOLTAGE_OBJ_ADDR = 2;
|
||||
static const uint8_t CURRENT_OBJ_ADDR = 3;
|
||||
static const uint8_t RPM_OBJ_ADDR = 4;
|
||||
static const uint8_t TEMPERATURE_OBJ_ADDR = 5;
|
||||
static const uint8_t GET_PWM_INPUT_OBJ_ADDR = 6;
|
||||
static const uint8_t GET_PWM_OUTPUT_OBJ_ADDR = 7;
|
||||
static const uint8_t MCU_ID_OBJ_ADDR = 8;
|
||||
static const uint8_t UPDATE_NODE_ID_OBJ_ADDR = 9;
|
||||
static const uint8_t START_ENUM_OBJ_ADDR = 10;
|
||||
static const uint8_t TELEMETRY_OBJ_ADDR = 11;
|
||||
};
|
||||
|
||||
static struct {
|
||||
uint32_t frame_id;
|
||||
uint32_t count;
|
||||
} counters[100];
|
||||
|
||||
static void count_msg(uint32_t frame_id)
|
||||
{
|
||||
for (uint16_t i=0; i<ARRAY_SIZE(counters); i++) {
|
||||
if (counters[i].frame_id == frame_id) {
|
||||
counters[i].count++;
|
||||
break;
|
||||
}
|
||||
if (counters[i].frame_id == 0) {
|
||||
counters[i].frame_id = frame_id;
|
||||
counters[i].count++;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void KDECAN_sniffer::init(void)
|
||||
{
|
||||
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
|
||||
AP_HAL::CANManager* can_mgr = new ChibiOS::CANManager;
|
||||
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
|
||||
AP_HAL::CANManager* can_mgr = new Linux::CANManager;
|
||||
#endif
|
||||
|
||||
if (can_mgr == nullptr) {
|
||||
AP_HAL::panic("Couldn't allocate CANManager, something is very wrong");
|
||||
}
|
||||
|
||||
const_cast <AP_HAL::HAL&> (hal).can_mgr[_driver_index] = can_mgr;
|
||||
can_mgr->begin(1000000, _interface);
|
||||
can_mgr->initialized(true);
|
||||
|
||||
if (!can_mgr->is_initialized()) {
|
||||
debug_can("Can not initialised\n");
|
||||
return;
|
||||
}
|
||||
|
||||
_can_driver = can_mgr->get_driver();
|
||||
|
||||
if (_can_driver == nullptr) {
|
||||
debug_can("KDECAN: no CAN driver\n\r");
|
||||
return;
|
||||
}
|
||||
|
||||
debug_can("KDECAN: init done\n\r");
|
||||
}
|
||||
|
||||
void KDECAN_sniffer::loop(void)
|
||||
{
|
||||
if (_can_driver == nullptr) {
|
||||
return;
|
||||
}
|
||||
|
||||
uavcan::CanFrame empty_frame { (0 | uavcan::CanFrame::FlagEFF), nullptr, 0 };
|
||||
const uavcan::CanFrame* select_frames[uavcan::MaxCanIfaces] { &empty_frame };
|
||||
uavcan::MonotonicTime timeout = uavcan::MonotonicTime::fromMSec(AP_HAL::millis() + 1);
|
||||
|
||||
uavcan::CanSelectMasks inout_mask;
|
||||
inout_mask.read = 1 << _interface;
|
||||
|
||||
uavcan::CanSelectMasks in_mask = inout_mask;
|
||||
_can_driver->select(inout_mask, select_frames, timeout);
|
||||
|
||||
if (in_mask.read & inout_mask.read) {
|
||||
uavcan::CanFrame frame;
|
||||
uavcan::MonotonicTime time;
|
||||
uavcan::UtcTime utc_time;
|
||||
uavcan::CanIOFlags flags {};
|
||||
|
||||
int16_t res = _can_driver->getIface(_interface)->receive(frame, time, utc_time, flags);
|
||||
|
||||
if (res == 1) {
|
||||
uint32_t id = frame.id & uavcan::CanFrame::MaskExtID;
|
||||
uint8_t object_address = id & 0xFF;
|
||||
uint8_t esc_num = uint8_t((id >> 8) & 0xFF);
|
||||
|
||||
count_msg(id);
|
||||
|
||||
uint8_t i = 0;
|
||||
uint8_t n = NUM_ESCS;
|
||||
|
||||
if (esc_num != BROADCAST_NODE_ID) {
|
||||
for (; i < NUM_ESCS; i++) {
|
||||
if (object_address == UPDATE_NODE_ID_OBJ_ADDR) {
|
||||
if (_esc_info[i].mcu_id == be64toh(*((be64_t*) &(frame.data[0])))) {
|
||||
n = i + 1;
|
||||
break;
|
||||
}
|
||||
} else if (_esc_info[i].node_id == esc_num) {
|
||||
n = i + 1;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
while (i < n) {
|
||||
uavcan::CanFrame res_frame;
|
||||
|
||||
switch (object_address) {
|
||||
case ESC_INFO_OBJ_ADDR: {
|
||||
uint8_t info[5] { 1, 2, 3, 4, 0 };
|
||||
|
||||
res_frame.dlc = 5;
|
||||
memcpy(res_frame.data, info, 5);
|
||||
|
||||
break;
|
||||
}
|
||||
case SET_PWM_OBJ_ADDR: {
|
||||
if ((1 << (esc_num - 2) & _mask_received_pwm) && _mask_received_pwm != ((1 << _max_node_id) - 1)) {
|
||||
count_msg(0xFFFFFFF0);
|
||||
_mask_received_pwm = 0;
|
||||
}
|
||||
|
||||
_mask_received_pwm |= 1 << (esc_num - 2);
|
||||
|
||||
if (_mask_received_pwm == ((1 << _max_node_id) - 1)) {
|
||||
count_msg(0xFFFFFFFF);
|
||||
_mask_received_pwm = 0;
|
||||
}
|
||||
|
||||
res_frame.dlc = 0;
|
||||
|
||||
break;
|
||||
}
|
||||
case UPDATE_NODE_ID_OBJ_ADDR: {
|
||||
if (_esc_info[i].enum_timeout != 0 && _esc_info[i].enum_timeout >= AP_HAL::micros64()) {
|
||||
_esc_info[i].node_id = esc_num;
|
||||
_max_node_id = MAX(_max_node_id, esc_num - 2 + 1);
|
||||
hal.console->printf("Set node ID %d for ESC %d\n", esc_num, i);
|
||||
}
|
||||
|
||||
_esc_info[i].enum_timeout = 0;
|
||||
|
||||
res_frame.dlc = 1;
|
||||
memcpy(res_frame.data, &(_esc_info[i].node_id), 1);
|
||||
|
||||
break;
|
||||
}
|
||||
case START_ENUM_OBJ_ADDR: {
|
||||
_esc_info[i].enum_timeout = AP_HAL::micros64() + be16toh(*((be16_t*) &(frame.data[0]))) * 1000;
|
||||
hal.console->printf("Starting enumeration for ESC %d, timeout %" PRIu64 "\n", i, _esc_info[i].enum_timeout);
|
||||
i++;
|
||||
continue;
|
||||
}
|
||||
case TELEMETRY_OBJ_ADDR: {
|
||||
uint8_t data[7] {};
|
||||
*((be16_t*) &data[0]) = htobe16(get_random16());
|
||||
*((be16_t*) &data[2]) = htobe16(get_random16());
|
||||
*((be16_t*) &data[4]) = htobe16(get_random16());
|
||||
data[6] = uint8_t(float(rand()) / RAND_MAX * 40.0f + 15);
|
||||
|
||||
res_frame.dlc = 7;
|
||||
memcpy(res_frame.data, data, 7);
|
||||
break;
|
||||
}
|
||||
case VOLTAGE_OBJ_ADDR:
|
||||
case CURRENT_OBJ_ADDR:
|
||||
case RPM_OBJ_ADDR:
|
||||
case TEMPERATURE_OBJ_ADDR:
|
||||
case GET_PWM_INPUT_OBJ_ADDR:
|
||||
case GET_PWM_OUTPUT_OBJ_ADDR:
|
||||
case MCU_ID_OBJ_ADDR:
|
||||
default:
|
||||
// discard frame
|
||||
return;
|
||||
}
|
||||
|
||||
res_frame.id = (_esc_info[i].node_id << 16) | object_address | uavcan::CanFrame::FlagEFF;
|
||||
timeout = uavcan::MonotonicTime::fromUSec(AP_HAL::millis() + 500);
|
||||
int16_t res2 = _can_driver->getIface(_interface)->send(res_frame, timeout, 0);
|
||||
|
||||
if (res2 == 1) {
|
||||
i++;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void KDECAN_sniffer::print_stats(void)
|
||||
{
|
||||
hal.console->printf("%lu\n", AP_HAL::micros());
|
||||
for (uint16_t i=0;i<100;i++) {
|
||||
if (counters[i].frame_id == 0) {
|
||||
break;
|
||||
}
|
||||
hal.console->printf("0x%08" PRIX32 ": %" PRIu32 "\n", counters[i].frame_id, counters[i].count);
|
||||
counters[i].count = 0;
|
||||
}
|
||||
hal.console->printf("\n");
|
||||
}
|
||||
|
||||
void KDECAN_sniffer::send_enumeration(uint8_t num)
|
||||
{
|
||||
if (_esc_info[num].enum_timeout == 0 || AP_HAL::micros64() > _esc_info[num].enum_timeout) {
|
||||
_esc_info[num].enum_timeout = 0;
|
||||
hal.console->printf("Not running enumeration for ESC %d\n", num);
|
||||
return;
|
||||
}
|
||||
|
||||
while (true) {
|
||||
uint8_t mcu[8] {};
|
||||
*((be64_t*) mcu) = htobe64(_esc_info[num].mcu_id);
|
||||
uavcan::CanFrame res_frame { (_esc_info[num].node_id << 16) | START_ENUM_OBJ_ADDR | uavcan::CanFrame::FlagEFF,
|
||||
mcu,
|
||||
8 };
|
||||
uavcan::MonotonicTime timeout = uavcan::MonotonicTime::fromMSec(AP_HAL::millis() + 1);
|
||||
|
||||
int16_t res = _can_driver->getIface(_interface)->send(res_frame, timeout, 0);
|
||||
|
||||
if (res == 1) {
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static KDECAN_sniffer sniffer;
|
||||
|
||||
void setup(void)
|
||||
{
|
||||
hal.scheduler->delay(2000);
|
||||
hal.console->printf("Starting KDECAN sniffer\n");
|
||||
sniffer.init();
|
||||
}
|
||||
|
||||
void loop(void)
|
||||
{
|
||||
sniffer.loop();
|
||||
static uint32_t last_print_ms;
|
||||
uint32_t now = AP_HAL::millis();
|
||||
if (now - last_print_ms >= 1000) {
|
||||
last_print_ms = now;
|
||||
sniffer.print_stats();
|
||||
}
|
||||
|
||||
if (hal.console->available() >= 3) {
|
||||
char c = hal.console->read();
|
||||
|
||||
if (c == 'e') {
|
||||
c = hal.console->read();
|
||||
|
||||
if (c == ' ') {
|
||||
c = hal.console->read();
|
||||
|
||||
if (c >= '0' && c < '9') {
|
||||
uint8_t num = c - '0';
|
||||
sniffer.send_enumeration(num);
|
||||
}
|
||||
}
|
||||
} else if (c == 'r') {
|
||||
hal.console->printf("rebooting\n");
|
||||
hal.scheduler->reboot(false);
|
||||
}
|
||||
}
|
||||
|
||||
// auto-reboot for --upload
|
||||
if (hal.console->available() > 50) {
|
||||
hal.console->printf("rebooting\n");
|
||||
hal.scheduler->reboot(false);
|
||||
}
|
||||
}
|
||||
|
||||
AP_HAL_MAIN();
|
||||
|
||||
#else
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
|
||||
|
||||
static void loop() { }
|
||||
static void setup()
|
||||
{
|
||||
printf("Board not currently supported\n");
|
||||
}
|
||||
|
||||
AP_HAL_MAIN();
|
||||
#endif
|
||||
|
|
@ -0,0 +1,13 @@
|
|||
This is a KDECAN sniffer designed to run on an ArduPilot board. It can
|
||||
be used to watch traffic on a KDECAN bus as well as simulate a 8 ESCs (macro changeable).
|
||||
|
||||
To build and upload for a Pixhawk style board run this:
|
||||
|
||||
```
|
||||
./waf configure --board fmuv3
|
||||
./waf --target examples/KDECAN_sniffer --upload
|
||||
```
|
||||
|
||||
then connect on the USB console. You will see 1Hz packet stats.
|
||||
|
||||
You can respond to enumeration by writing 'e X', with X being the ESC number, zero index based.
|
||||
|
|
@ -0,0 +1,7 @@
|
|||
#!/usr/bin/env python
|
||||
# encoding: utf-8
|
||||
|
||||
def build(bld):
|
||||
bld.ap_example(
|
||||
use='ap',
|
||||
)
|
||||
Loading…
Reference in New Issue