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AP_PiccoloCAN: Improve arm/disarm ESC behaviour

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- When disarmed, broadcast a "software disable" command to all ESC on the bus
- This means that ESC will reject any PWM commands
- When armed, ensure each ESC is enabled before sending PWM commands
This commit is contained in:
Oliver Walters 2019-12-20 15:13:44 +11:00 committed by Andrew Tridgell
parent 9a7b78d49d
commit fadc968b38
2 changed files with 44 additions and 15 deletions
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56
libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
View File

@ -368,29 +368,38 @@ void AP_PiccoloCAN::send_esc_messages(void)
#ifdef BULK_ESC_COMMANDS
bool esc_present = false;
bool send_cmd = false;
int16_t cmd[4];
uint8_t idx;
// Transmit bulk command packets to 4x ESC simultaneously
for (uint8_t ii = 0; ii < PICCOLO_CAN_MAX_GROUP_ESC; ii++) {
esc_present = false;
send_cmd = false;
for (uint8_t jj = 0; jj < 4; jj++) {
idx = (ii * 4) + jj;
if (_esc_info[idx].newCommand) {
esc_present = true;
/* Check if the ESC is software-inhibited.
* If so, send a message to enable it.
*/
if (is_esc_present(idx) && !is_esc_enabled(idx)) {
encodeESC_EnablePacket(&txFrame);
txFrame.id |= (idx + 1);
write_frame(txFrame, timeout);
}
else if (_esc_info[idx].newCommand) {
send_cmd = true;
cmd[jj] = _esc_info[idx].command;
_esc_info[idx].newCommand = false;
} else {
// A command of 0xFFFF is 'out of range' and will be ignored by the corresponding ESC
cmd[jj] = 0xFFFF;
}
}
if (esc_present) {
if (send_cmd) {
encodeESC_CommandMultipleESCsPacket(
&txFrame,
cmd[0],
@ -429,10 +438,12 @@ void AP_PiccoloCAN::send_esc_messages(void)
#endif //BULK_ESC_COMMANDS
} else {
// System is NOT armed - send a "disable" message to all ESCs on the bus
// TODO - Change this behavior but for now broadcast a 0% command
encodeESC_PWMCommandPacket(&txFrame, 900);
// Command all ESC into software disable mode
encodeESC_DisablePacket(&txFrame);
// Set the ESC address to the broadcast ID (0xFF)
txFrame.id |= 0xFF;
write_frame(txFrame, timeout);
@ -516,6 +527,29 @@ bool AP_PiccoloCAN::is_esc_present(uint8_t chan, uint64_t timeout_ms)
}
bool AP_PiccoloCAN::is_esc_enabled(uint8_t chan)
{
if (chan >= PICCOLO_CAN_MAX_NUM_ESC) {
return false;
}
// If the ESC is not present, we cannot determine if it is enabled or not
if (!is_esc_present(chan)) {
return false;
}
PiccoloESC_Info_t &esc = _esc_info[chan];
if (esc.statusA.status.hwInhibit || esc.statusA.status.swInhibit) {
return false;
}
// ESC is present, and enabled
return true;
}
bool AP_PiccoloCAN::pre_arm_check(char* reason, uint8_t reason_len)
{
// Check that each required ESC is present on the bus
@ -537,14 +571,6 @@ bool AP_PiccoloCAN::pre_arm_check(char* reason, uint8_t reason_len)
snprintf(reason, reason_len, "PiccoloCAN: ESC %u is hardware inhibited", (ii + 1));
return false;
}
if (esc.statusA.status.swInhibit) {
snprintf(reason, reason_len, "PiccoloCAN: ESC %u is software inhibited", (ii + 1));
return false;
}
// TODO - Check each ESC for further error information
}
}

3
libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
View File

@ -75,6 +75,9 @@ public:
// return true if a particular ESC has been detected
bool is_esc_present(uint8_t chan, uint64_t timeout_ms = 2000);
// return true if a particular ESC is enabled
bool is_esc_enabled(uint8_t chan);
// test if the Piccolo CAN driver is ready to be armed
bool pre_arm_check(char* reason, uint8_t reason_len);