/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see .
*/
#pragma once
#include
#include
#include
#define TOSHIBACAN_MAX_NUM_ESCS 12
class CANTester;
class AP_ToshibaCAN : public AP_CANDriver, public AP_ESC_Telem_Backend {
friend class CANTester;
public:
AP_ToshibaCAN();
~AP_ToshibaCAN();
/* Do not allow copies */
AP_ToshibaCAN(const AP_ToshibaCAN &other) = delete;
AP_ToshibaCAN &operator=(const AP_ToshibaCAN&) = delete;
// Return ToshibaCAN from @driver_index or nullptr if it's not ready or doesn't exist
static AP_ToshibaCAN *get_tcan(uint8_t driver_index);
// initialise ToshibaCAN bus
void init(uint8_t driver_index, bool enable_filters) override;
bool add_interface(AP_HAL::CANIface* can_iface) override;
// called from SRV_Channels
void update();
// return a bitmask of escs that are "present" which means they are responding to requests. Bitmask matches RC outputs
uint16_t get_present_mask() const { return _esc_present_bitmask; }
private:
// data format for messages from flight controller
static constexpr uint8_t COMMAND_STOP = 0x0;
static constexpr uint8_t COMMAND_LOCK = 0x10;
static constexpr uint8_t COMMAND_REQUEST_DATA = 0x20;
static constexpr uint8_t COMMAND_MOTOR3 = 0x3B;
static constexpr uint8_t COMMAND_MOTOR2 = 0x3D;
static constexpr uint8_t COMMAND_MOTOR1 = 0x3F;
// data format for messages from ESC
static constexpr uint8_t MOTOR_DATA1 = 0x40;
static constexpr uint8_t MOTOR_DATA2 = 0x50;
static constexpr uint8_t MOTOR_DATA3 = 0x60;
static constexpr uint8_t MOTOR_DATA5 = 0x80;
// processing definitions
static constexpr uint16_t TOSHIBACAN_OUTPUT_MIN = 6300;
static constexpr uint16_t TOSHIBACAN_OUTPUT_MAX = 32000;
static const uint16_t TOSHIBACAN_SEND_TIMEOUT_US;
static constexpr uint8_t CAN_IFACE_INDEX = 0;
// telemetry definitions
static constexpr uint32_t TOSHIBA_CAN_ESC_UPDATE_MS = 100;
// loop to send output to ESCs in background thread
void loop();
// write frame on CAN bus, returns true on success
bool write_frame(AP_HAL::CANFrame &out_frame, uint64_t timeout);
// read frame on CAN bus, returns true on success
bool read_frame(AP_HAL::CANFrame &recv_frame, uint64_t timeout);
// update esc_present_bitmask
void update_esc_present_bitmask();
bool _initialized;
char _thread_name[9];
uint8_t _driver_index;
AP_HAL::CANIface* _can_iface;
HAL_EventHandle _event_handle;
// PWM output
HAL_Semaphore _rc_out_sem;
uint16_t _scaled_output[TOSHIBACAN_MAX_NUM_ESCS];
uint16_t update_count; // counter increments each time main thread updates outputs
uint16_t update_count_buffered; // counter when outputs copied to buffer before before sending to ESCs
uint16_t update_count_sent; // counter of outputs successfully sent
uint8_t send_stage; // stage of sending algorithm (each stage sends one frame to ESCs)
struct telemetry_info_t {
uint32_t last_update_ms; // system time telemetry was last update (used to calc total current)
float current_tot_mah; // total current in mAh
} _telemetry[TOSHIBACAN_MAX_NUM_ESCS];
uint32_t _telemetry_req_ms; // system time (in milliseconds) to request data from escs (updated at 10hz)
uint8_t _telemetry_temp_req_counter; // counter used to trigger temp data requests from ESCs (10x slower than other telem data)
uint8_t _telemetry_usage_req_counter; // counter used to trigger usage data requests from ESCs (100x slower than other telem data)
const float amp_ms_to_mah = 1.0f / 3600.0f; // for converting amp milliseconds to mAh
// variables for updating bitmask of responsive escs
uint16_t _esc_present_bitmask; // bitmask of which escs seem to be present
uint16_t _esc_present_bitmask_recent; // bitmask of escs that have responded in the last second
uint32_t _esc_present_update_ms; // system time _esc_present_bitmask was last updated
// structure for sending motor lock command to ESC
union motor_lock_cmd_t {
struct PACKED {
uint8_t motor2:4;
uint8_t motor1:4;
uint8_t motor4:4;
uint8_t motor3:4;
uint8_t motor6:4;
uint8_t motor5:4;
uint8_t motor8:4;
uint8_t motor7:4;
uint8_t motor10:4;
uint8_t motor9:4;
uint8_t motor12:4;
uint8_t motor11:4;
};
uint8_t data[6];
};
// structure for sending turn rate command to ESC
union motor_rotation_cmd_t {
struct PACKED {
uint16_t motor4;
uint16_t motor3;
uint16_t motor2;
uint16_t motor1;
};
uint8_t data[8];
};
// structure for requesting data from ESC
union motor_request_data_cmd_t {
struct PACKED {
uint8_t motor2:4;
uint8_t motor1:4;
uint8_t motor4:4;
uint8_t motor3:4;
uint8_t motor6:4;
uint8_t motor5:4;
uint8_t motor8:4;
uint8_t motor7:4;
uint8_t motor10:4;
uint8_t motor9:4;
uint8_t motor12:4;
uint8_t motor11:4;
};
uint8_t data[6];
};
// helper function to create motor_request_data_cmd_t
motor_request_data_cmd_t get_motor_request_data_cmd(uint8_t request_id) const;
// structure for replies from ESC of data1 (rpm and voltage)
union motor_reply_data1_t {
struct PACKED {
uint8_t rxng:1; // RX No Good. "1" if ESC encountered error receiving a message since MOTOR_DATA1 was last sent
uint8_t stepout:1; // "1" if a "step out" has occured since MOTOR_DATA1 was last sent
uint8_t state:6;
int16_t rpm;
uint16_t current_ma; // current in milliamps
uint16_t voltage_mv; // voltage in millivolts
uint8_t position_est_error;
};
uint8_t data[8];
};
// frames to be sent
AP_HAL::CANFrame unlock_frame;
AP_HAL::CANFrame mot_rot_frame1;
AP_HAL::CANFrame mot_rot_frame2;
AP_HAL::CANFrame mot_rot_frame3;
};