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Copter: remove ToshibaCAN support

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This commit is contained in:
Randy Mackay 2022-06-08 20:22:09 +09:00
parent b9f4998fd8
commit cedac30a62
1 changed files with 0 additions and 49 deletions
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49
ArduCopter/AP_Arming.cpp
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@ -1,9 +1,5 @@
#include "Copter.h"
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
#include <AP_ToshibaCAN/AP_ToshibaCAN.h>
#endif
bool AP_Arming_Copter::pre_arm_checks(bool display_failure)
{
const bool passed = run_pre_arm_checks(display_failure);
@ -293,51 +289,6 @@ bool AP_Arming_Copter::motor_checks(bool display_failure)
return true;
}
// if this is a multicopter using ToshibaCAN ESCs ensure MOT_PMW_MIN = 1000, MOT_PWM_MAX = 2000
#if HAL_MAX_CAN_PROTOCOL_DRIVERS && (FRAME_CONFIG != HELI_FRAME)
bool tcan_active = false;
uint8_t tcan_index = 0;
const uint8_t num_drivers = AP::can().get_num_drivers();
for (uint8_t i = 0; i < num_drivers; i++) {
if (AP::can().get_driver_type(i) == AP_CANManager::Driver_Type_ToshibaCAN) {
tcan_active = true;
tcan_index = i;
}
}
if (tcan_active) {
// check motor range parameters
if (copter.motors->get_pwm_output_min() != 1000) {
check_failed(display_failure, "TCAN ESCs require MOT_PWM_MIN=1000");
return false;
}
if (copter.motors->get_pwm_output_max() != 2000) {
check_failed(display_failure, "TCAN ESCs require MOT_PWM_MAX=2000");
return false;
}
// check we have an ESC present for every SERVOx_FUNCTION = motorx
// find and report first missing ESC, extra ESCs are OK
AP_ToshibaCAN *tcan = AP_ToshibaCAN::get_tcan(tcan_index);
const uint32_t motors_mask = copter.motors->get_motor_mask();
const uint32_t esc_mask = tcan->get_present_mask();
uint8_t escs_missing = 0;
uint8_t first_missing = 0;
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
uint32_t bit = 1UL << i;
if (((motors_mask & bit) > 0) && ((esc_mask & bit) == 0)) {
escs_missing++;
if (first_missing == 0) {
first_missing = i+1;
}
}
}
if (escs_missing > 0) {
check_failed(display_failure, "TCAN missing %d escs, check #%d", (int)escs_missing, (int)first_missing);
return false;
}
}
#endif
return true;
}