mirror of https://github.com/ArduPilot/ardupilot
AP_PiccoloCAN: Remove duplicated code
Fix doxygen markup for consistency Fix typos
This commit is contained in:
Dr.-Ing. Amilcar do Carmo Lucas
Peter Barker
parent
0ede7f5075
commit
957b05e53e
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@ -403,82 +403,6 @@ void AP_PiccoloCAN::update()
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#endif // HAL_LOGGING_ENABLED
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}
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#if HAL_GCS_ENABLED
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// send ESC telemetry messages over MAVLink
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void AP_PiccoloCAN::send_esc_telemetry_mavlink(uint8_t mav_chan)
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{
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// Arrays to store ESC telemetry data
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uint8_t temperature[4] {};
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uint16_t voltage[4] {};
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uint16_t rpm[4] {};
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uint16_t count[4] {};
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uint16_t current[4] {};
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uint16_t totalcurrent[4] {};
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bool dataAvailable = false;
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uint8_t idx = 0;
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WITH_SEMAPHORE(_telem_sem);
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for (uint8_t ii = 0; ii < PICCOLO_CAN_MAX_NUM_ESC; ii++) {
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// Calculate index within storage array
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idx = (ii % 4);
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AP_PiccoloCAN_ESC &esc = _escs[idx];
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// Has the ESC been heard from recently?
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if (is_esc_present(ii)) {
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dataAvailable = true;
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// Provide the maximum ESC temperature in the telemetry stream
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temperature[idx] = esc.temperature(); // Convert to C
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voltage[idx] = esc.voltage() * 10; // Convert to cV
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current[idx] = esc.current() * 10; // Convert to cA
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totalcurrent[idx] = 0;
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rpm[idx] = esc.rpm();
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count[idx] = 0;
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} else {
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temperature[idx] = 0;
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voltage[idx] = 0;
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current[idx] = 0;
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totalcurrent[idx] = 0;
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rpm[idx] = 0;
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count[idx] = 0;
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}
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// Send ESC telemetry in groups of 4
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if ((ii % 4) == 3) {
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if (dataAvailable) {
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if (!HAVE_PAYLOAD_SPACE((mavlink_channel_t) mav_chan, ESC_TELEMETRY_1_TO_4)) {
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continue;
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}
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switch (ii) {
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case 3:
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mavlink_msg_esc_telemetry_1_to_4_send((mavlink_channel_t) mav_chan, temperature, voltage, current, totalcurrent, rpm, count);
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break;
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case 7:
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mavlink_msg_esc_telemetry_5_to_8_send((mavlink_channel_t) mav_chan, temperature, voltage, current, totalcurrent, rpm, count);
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break;
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case 11:
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mavlink_msg_esc_telemetry_9_to_12_send((mavlink_channel_t) mav_chan, temperature, voltage, current, totalcurrent, rpm, count);
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break;
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case 15:
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mavlink_msg_esc_telemetry_13_to_16_send((mavlink_channel_t) mav_chan, temperature, voltage, current, totalcurrent, rpm, count);
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break;
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default:
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break;
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}
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}
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dataAvailable = false;
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}
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}
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}
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#endif
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// send servo messages over CAN
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void AP_PiccoloCAN::send_servo_messages(void)
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@ -56,9 +56,6 @@ public:
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// called from SRV_Channels
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void update();
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// send ESC telemetry messages over MAVLink
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void send_esc_telemetry_mavlink(uint8_t mav_chan);
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// return true if a particular servo is 'active' on the Piccolo interface
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bool is_servo_channel_active(uint8_t chan);
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@ -125,14 +122,14 @@ private:
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} _ecu_info;
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// Piccolo CAN parameters
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AP_Int32 _esc_bm; //! ESC selection bitmask
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AP_Int16 _esc_hz; //! ESC update rate (Hz)
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AP_Int32 _esc_bm; //!< ESC selection bitmask
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AP_Int16 _esc_hz; //!< ESC update rate (Hz)
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AP_Int32 _srv_bm; //! Servo selection bitmask
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AP_Int16 _srv_hz; //! Servo update rate (Hz)
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AP_Int32 _srv_bm; //!< Servo selection bitmask
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AP_Int16 _srv_hz; //!< Servo update rate (Hz)
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AP_Int16 _ecu_id; //! ECU Node ID
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AP_Int16 _ecu_hz; //! ECU update rate (Hz)
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AP_Int16 _ecu_id; //!< ECU Node ID
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AP_Int16 _ecu_hz; //!< ECU update rate (Hz)
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HAL_Semaphore _telem_sem;
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};
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@ -27,18 +27,18 @@
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#if HAL_PICCOLO_CAN_ENABLE
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// Piccolo message groups form part of the CAN ID of each frame
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//! Piccolo message groups form part of the CAN ID of each frame
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enum class PiccoloCAN_MessageGroup : uint8_t {
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SIMULATOR = 0x00, // Simulator messages
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SENSOR = 0x04, // External sensors
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ACTUATOR = 0x07, // Actuators (e.g. ESC / servo)
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ECU_OUT = 0x08, // Messages *from* an ECU
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ECU_IN = 0x09, // Message *to* an ECU
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SIMULATOR = 0x00, //!< Simulator messages
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SENSOR = 0x04, //!< External sensors
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ACTUATOR = 0x07, //!< Actuators (e.g. ESC / servo)
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ECU_OUT = 0x08, //!< Messages *from* an ECU
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ECU_IN = 0x09, //!< Message *to* an ECU
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SYSTEM = 0x19, // System messages (e.g. bootloader)
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SYSTEM = 0x19, //!< System messages (e.g. bootloader)
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};
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// Piccolo actuator types differentiate between actuator frames
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//! Piccolo actuator types differentiate between actuator frames
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enum class PiccoloCAN_ActuatorType : uint8_t {
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SERVO = 0x00,
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ESC = 0x20,
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@ -20,7 +20,7 @@
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#if HAL_PICCOLO_CAN_ENABLE
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/*
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* Decode a recevied CAN frame.
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* Decode a received CAN frame.
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* It is assumed at this point that the received frame is intended for *this* ESC
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*/
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bool AP_PiccoloCAN_ESC::handle_can_frame(AP_HAL::CANFrame &frame)
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