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14 Commits

Author SHA1 Message Date
Oliver Walters 8aeec6c4d1 AP_PiccoloCAN: Constrain ESC command message rate 
Use constain_int16 rather than using primitive checks
 2020-09-09 15:31:21 +10:00
Oliver Walters 09d38f8729 AP_PiccoloCAN: Fix logic to improve readability 2020-09-09 15:31:21 +10:00
Oliver Walters 818e7f2cdf AP_PiccoloCAN: ESC message rate is now in Hz 2020-09-09 15:31:21 +10:00
Oliver Walters 5c53c17076 Remove parameters related to CAN servo operation 2020-09-09 15:31:21 +10:00
Oliver Walters 66812c72da AP_PiccoloCAN: Specify which ESC channels are used 
- Uses the CAN_Dx_PC_ESC_BM bitmask to determine which ESC (motor) channels are controlled over PiccoloCAN
- Only transmits messages relevent to the selected motor channels
 2020-09-09 15:31:21 +10:00
Oliver Walters 17932e3d1d AP_PiccoloCAN: ESC command rate now configurable 
Uses CAN_Dx_PC_ESC_MS parameter to set the ESC data rate (in ms)
 2020-09-09 15:31:21 +10:00
Oliver Walters a98babc02c AP_PiccoloCAN: Add user configurable operations to adjust Piccolo CAN ESC behaviour 2020-09-09 15:31:21 +10:00
Siddharth Purohit 0fcf0b4564 AP_PiccoloCAN: modify to use uavcan agnostic CAN drivers and manager 2020-08-19 17:31:09 +10:00
Peter Barker 245b962d92 AP_PiccoloCAN: regularise CAN pre-arm failure messages 
AP_Arming tacks on the sub-system bit.

Remove PiccoloCAN's silly nullptr check

Require the library to supply the failure message (no default message)

Remove default cases so authors know to think about places they should
add things.
 2020-05-05 11:27:53 +10:00
Andrew Tridgell e1f89c2c0d AP_PiccoloCAN: fixed build error on Linux 
_thread_name too short
 2019-12-31 11:38:30 +11:00
Oliver Walters 9229efbf81 AP_PiccoloCAN: Always use bulk ESC commands 2019-12-22 09:48:40 +11:00
Oliver Walters fadc968b38 AP_PiccoloCAN: Improve arm/disarm ESC behaviour 
- 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
 2019-12-22 09:48:40 +11:00
Andrew Tridgell 9821d52b72 AP_PiccoloCAN: added selective build of PiccoloCAN 2019-12-22 09:48:40 +11:00
Oliver Walters ace0006a4e AP_PiccoloCAN: added support for Piccolo CAN ESCs 2019-12-22 09:48:40 +11:00