/*
* This file 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 file 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 <http://www.gnu.org/licenses/>.
*
* Author: Oliver Walters
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_CANManager/AP_CANDriver.h>
#include <AP_Param/AP_Param.h>
#include <AP_ESC_Telem/AP_ESC_Telem_Backend.h>
#include "piccolo_protocol/ESCPackets.h"
#include "piccolo_protocol/LegacyESCPackets.h"
#include "piccolo_protocol/ServoPackets.h"
// maximum number of ESC allowed on CAN bus simultaneously
#define PICCOLO_CAN_MAX_NUM_ESC 16
#define PICCOLO_CAN_MAX_GROUP_ESC (PICCOLO_CAN_MAX_NUM_ESC / 4)
#define PICCOLO_CAN_MAX_NUM_SERVO 16
#define PICCOLO_CAN_MAX_GROUP_SERVO (PICCOLO_CAN_MAX_NUM_SERVO / 4)
#ifndef HAL_PICCOLO_CAN_ENABLE
#define HAL_PICCOLO_CAN_ENABLE (HAL_NUM_CAN_IFACES && !HAL_MINIMIZE_FEATURES)
#endif
#if HAL_PICCOLO_CAN_ENABLE
#define PICCOLO_MSG_RATE_HZ_MIN 1
#define PICCOLO_MSG_RATE_HZ_MAX 500
#define PICCOLO_MSG_RATE_HZ_DEFAULT 50
class AP_PiccoloCAN : public AP_CANDriver, public AP_ESC_Telem_Backend
{
public:
AP_PiccoloCAN();
~AP_PiccoloCAN();
// Piccolo message groups form part of the CAN ID of each frame
enum class MessageGroup : uint8_t {
SIMULATOR = 0x00, // Simulator messages
SENSOR = 0x04, // External sensors
ACTUATOR = 0x07, // Actuators (e.g. ESC / servo)
ECU_OUT = 0x08, // Messages *from* an ECU
ECU_IN = 0x09, // Message *to* an ECU
SYSTEM = 0x19, // System messages (e.g. bootloader)
};
// Piccolo actuator types differentiate between actuator frames
enum class ActuatorType : uint8_t {
SERVO = 0x00,
ESC = 0x20,
};
/* Do not allow copies */
AP_PiccoloCAN(const AP_PiccoloCAN &other) = delete;
AP_PiccoloCAN &operator=(const AP_PiccoloCAN&) = delete;
static const struct AP_Param::GroupInfo var_info[];
// Return PiccoloCAN from @driver_index or nullptr if it's not ready or doesn't exist
static AP_PiccoloCAN *get_pcan(uint8_t driver_index);
// initialize PiccoloCAN 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();
// send ESC telemetry messages over MAVLink
void send_esc_telemetry_mavlink(uint8_t mav_chan);
// return true if a particular servo is 'active' on the Piccolo interface
bool is_servo_channel_active(uint8_t chan);
// return true if a particular ESC is 'active' on the Piccolo interface
bool is_esc_channel_active(uint8_t chan);
// return true if a particular servo has been detected on the CAN interface
bool is_servo_present(uint8_t chan, uint64_t timeout_ms = 2000);
// return true if a particular ESC has been detected on the CAN interface
bool is_esc_present(uint8_t chan, uint64_t timeout_ms = 2000);
// return true if a particular servo is enabled
bool is_servo_enabled(uint8_t chan);
// 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);
private:
// 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 succses
bool read_frame(AP_HAL::CANFrame &recv_frame, uint64_t timeout);
// send ESC commands over CAN
void send_esc_messages(void);
// interpret an ESC message received over CAN
bool handle_esc_message(AP_HAL::CANFrame &frame);
// send servo commands over CAN
void send_servo_messages(void);
// interpret a servo message received over CAN
bool handle_servo_message(AP_HAL::CANFrame &frame);
bool _initialized;
char _thread_name[16];
uint8_t _driver_index;
AP_HAL::CANIface* _can_iface;
HAL_EventHandle _event_handle;
// Data structure for representing the state of a CBS servo
struct CBSServo_Info_t {
/* Telemetry data provided across multiple packets */
Servo_StatusA_t statusA;
Servo_StatusB_t statusB;
/* Servo configuration information */
Servo_Firmware_t firmware;
Servo_Address_t address;
Servo_SettingsInfo_t settings;
Servo_SystemInfo_t systemInfo;
Servo_TelemetryConfig_t telemetry;
/* Internal state information */
int16_t command; //! Raw command to send to each servo
bool newCommand; //! Is the command "new"?
bool newTelemetry; //! Is there new telemetry data available?
uint64_t last_rx_msg_timestamp = 0; //! Time of most recently received message
} _servo_info[PICCOLO_CAN_MAX_NUM_SERVO];
// Data structure for representing the state of a Velocity ESC
struct VelocityESC_Info_t {
/* Telemetry data provided in the PKT_ESC_STATUS_A packet */
uint8_t mode; //! ESC operational mode
ESC_StatusBits_t status; //! ESC status information
uint16_t setpoint; //!< ESC operational command - value depends on 'mode' available in this packet. If the ESC is disabled, data reads 0x0000. If the ESC is in open-loop PWM mode, this value is the PWM command in units of 1us, in the range 1000us to 2000us. If the ESC is in closed-loop RPM mode, this value is the RPM command in units of 1RPM
uint16_t rpm; //!< Motor speed
/* Telemetry data provided in the PKT_ESC_STATUS_B packet */
uint16_t voltage; //!< ESC Rail Voltage
int16_t current; //!< ESC Current. Current IN to the ESC is positive. Current OUT of the ESC is negative
uint16_t dutyCycle; //!< ESC Motor Duty Cycle
int8_t escTemperature; //!< ESC Logic Board Temperature
uint8_t motorTemperature; //!< ESC Motor Temperature
/* Telemetry data provided in the PKT_ESC_STATUS_C packet */
float fetTemperature; //!< ESC Phase Board Temperature
uint16_t pwmFrequency; //!< Current motor PWM frequency (10 Hz per bit)
uint16_t timingAdvance; //!< Current timing advance (0.1 degree per bit)
/* ESC status information provided in the PKT_ESC_WARNINGS_ERRORS packet */
ESC_WarningBits_t warnings; //! ESC warning information
ESC_ErrorBits_t errors; //! ESC error information
ESC_Firmware_t firmware; //! Firmware / checksum information
ESC_Address_t address; //! Serial number
ESC_EEPROMSettings_t eeprom; //! Non-volatile settings info
// Output information
int16_t command; //! Raw command to send to each ESC
bool newCommand; //! Is the command "new"?
bool newTelemetry; //! Is there new telemetry data available?
uint64_t last_rx_msg_timestamp = 0; //! Time of most recently received message
} _esc_info[PICCOLO_CAN_MAX_NUM_ESC];
// Piccolo CAN parameters
AP_Int32 _esc_bm; //! ESC selection bitmask
AP_Int16 _esc_hz; //! ESC update rate (Hz)
AP_Int32 _srv_bm; //! Servo selection bitmask
AP_Int16 _srv_hz; //! Servo update rate (Hz)
HAL_Semaphore _telem_sem;
};
#endif // HAL_PICCOLO_CAN_ENABLE