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AP_KDECAN: apply NFC suggestions from Peter Barker

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This commit is contained in:
Tom Pittenger 2023-04-15 14:56:54 -07:00 committed by Andrew Tridgell
parent a443fd97a6
commit e21063522d
2 changed files with 13 additions and 16 deletions
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21
libraries/AP_KDECAN/AP_KDECAN.cpp
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@ -59,15 +59,8 @@ void AP_KDECAN::init()
return; return;
} }
AP_CANManager::Driver_Type protocol = AP_CANManager::Driver_Type_None;
for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) { for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) {
#if HAL_CANMANAGER_ENABLED if (CANSensor::get_driver_type(i) == AP_CANManager::Driver_Type_KDECAN) {
protocol = AP::can().get_driver_type(i);
#elif defined(HAL_BUILD_AP_PERIPH)
protocol = CANSensor::get_driver_type(i);
#endif
if (protocol == AP_CANManager::Driver_Type_KDECAN) {
_driver = new AP_KDECAN_Driver(); _driver = new AP_KDECAN_Driver();
return; return;
} }
@ -131,7 +124,7 @@ void AP_KDECAN_Driver::handle_frame(AP_HAL::CANFrame &frame)
const uint8_t num_poles = _telemetry.num_poles > 0 ? _telemetry.num_poles : DEFAULT_NUM_POLES; const uint8_t num_poles = _telemetry.num_poles > 0 ? _telemetry.num_poles : DEFAULT_NUM_POLES;
update_rpm(idx, uint16_t(uint16_t(frame.data[4] << 8 | frame.data[5]) * 60UL * 2 / num_poles)); update_rpm(idx, uint16_t(uint16_t(frame.data[4] << 8 | frame.data[5]) * 60UL * 2 / num_poles));
TelemetryData t { const TelemetryData t {
.temperature_cdeg = int16_t(frame.data[6] * 100), .temperature_cdeg = int16_t(frame.data[6] * 100),
.voltage = float(uint16_t(frame.data[0] << 8 | frame.data[1])) * 0.01f, .voltage = float(uint16_t(frame.data[0] << 8 | frame.data[1])) * 0.01f,
.current = float(uint16_t(frame.data[2] << 8 | frame.data[3])) * 0.01f, .current = float(uint16_t(frame.data[2] << 8 | frame.data[3])) * 0.01f,
@ -198,7 +191,7 @@ void AP_KDECAN_Driver::loop()
#endif #endif
uint8_t broadcast_esc_info_boot_spam_count = 3; uint8_t broadcast_esc_info_boot_spam_count = 3;
uint32_t broadcast_esc_info_next_interval_ms = 100; // spam a few at boot at 5Hz uint32_t broadcast_esc_info_next_interval_ms = 100; // spam a few at boot at this rate
while (true) { while (true) {
#if AP_KDECAN_USE_EVENTS #if AP_KDECAN_USE_EVENTS
@ -277,11 +270,15 @@ bool AP_KDECAN_Driver::send_packet_uint16(const uint8_t address, const uint8_t d
bool AP_KDECAN_Driver::send_packet(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_ms, const uint8_t *data, const uint8_t data_len) bool AP_KDECAN_Driver::send_packet(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_ms, const uint8_t *data, const uint8_t data_len)
{ {
// broadcast telemetry request frame // broadcast telemetry request frame
frame_id_t id = { { .object_address = address, const frame_id_t id {
{
.object_address = address,
.destination_id = dest_id, .destination_id = dest_id,
.source_id = AUTOPILOT_NODE_ID, .source_id = AUTOPILOT_NODE_ID,
.priority = 0, .priority = 0,
.unused = 0 } }; .unused = 0
}
};
AP_HAL::CANFrame frame = AP_HAL::CANFrame((id.value | AP_HAL::CANFrame::FlagEFF), data, data_len, false); AP_HAL::CANFrame frame = AP_HAL::CANFrame((id.value | AP_HAL::CANFrame::FlagEFF), data, data_len, false);