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ardupilot/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp

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/*
* 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
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_AHRS/AP_AHRS.h>
#include "AP_PiccoloCAN.h"
#if HAL_PICCOLO_CAN_ENABLE
#include <AP_Param/AP_Param.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_CANManager/AP_CANManager.h>
#include <AP_Common/AP_Common.h>
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_HAL/utility/sparse-endian.h>
#include <SRV_Channel/SRV_Channel.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_Logger/AP_Logger.h>
#include <stdio.h>
#include <AP_PiccoloCAN/piccolo_protocol/ESCVelocityProtocol.h>
#include <AP_PiccoloCAN/piccolo_protocol/ESCPackets.h>
extern const AP_HAL::HAL& hal;
#define debug_can(level_debug, fmt, args...) do { AP::can().log_text(level_debug, "PiccoloCAN", fmt, ##args); } while (0)
// table of user-configurable Piccolo CAN bus parameters
const AP_Param::GroupInfo AP_PiccoloCAN::var_info[] = {
// @Param: ESC_BM
// @DisplayName: ESC channels
// @Description: Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
// @Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16
// @User: Advanced
AP_GROUPINFO("ESC_BM", 1, AP_PiccoloCAN, _esc_bm, 0xFFFF),
// @Param: ESC_RT
// @DisplayName: ESC output rate
// @Description: Output rate of ESC command messages
// @Units: Hz
// @User: Advanced
// @Range: 1 500
AP_GROUPINFO("ESC_RT", 2, AP_PiccoloCAN, _esc_hz, PICCOLO_MSG_RATE_HZ_DEFAULT),
AP_GROUPEND
};
AP_PiccoloCAN::AP_PiccoloCAN()
{
AP_Param::setup_object_defaults(this, var_info);
debug_can(AP_CANManager::LOG_INFO, "PiccoloCAN: constructed\n\r");
}
AP_PiccoloCAN *AP_PiccoloCAN::get_pcan(uint8_t driver_index)
{
if (driver_index >= AP::can().get_num_drivers() ||
AP::can().get_driver_type(driver_index) != AP_CANManager::Driver_Type_PiccoloCAN) {
return nullptr;
}
return static_cast<AP_PiccoloCAN*>(AP::can().get_driver(driver_index));
}
bool AP_PiccoloCAN::add_interface(AP_HAL::CANIface* can_iface) {
if (_can_iface != nullptr) {
debug_can(AP_CANManager::LOG_ERROR, "PiccoloCAN: Multiple Interface not supported\n\r");
return false;
}
_can_iface = can_iface;
if (_can_iface == nullptr) {
debug_can(AP_CANManager::LOG_ERROR, "PiccoloCAN: CAN driver not found\n\r");
return false;
}
if (!_can_iface->is_initialized()) {
debug_can(AP_CANManager::LOG_ERROR, "PiccoloCAN: Driver not initialized\n\r");
return false;
}
if (!_can_iface->set_event_handle(&_event_handle)) {
debug_can(AP_CANManager::LOG_ERROR, "PiccoloCAN: Cannot add event handle\n\r");
return false;
}
return true;
}
// initialize PiccoloCAN bus
void AP_PiccoloCAN::init(uint8_t driver_index, bool enable_filters)
{
_driver_index = driver_index;
debug_can(AP_CANManager::LOG_DEBUG, "PiccoloCAN: starting init\n\r");
if (_initialized) {
debug_can(AP_CANManager::LOG_ERROR, "PiccoloCAN: already initialized\n\r");
return;
}
// start calls to loop in separate thread
if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_PiccoloCAN::loop, void), _thread_name, 4096, AP_HAL::Scheduler::PRIORITY_MAIN, 1)) {
debug_can(AP_CANManager::LOG_ERROR, "PiccoloCAN: couldn't create thread\n\r");
return;
}
_initialized = true;
snprintf(_thread_name, sizeof(_thread_name), "PiccoloCAN_%u", driver_index);
debug_can(AP_CANManager::LOG_DEBUG, "PiccoloCAN: init done\n\r");
}
// loop to send output to CAN devices in background thread
void AP_PiccoloCAN::loop()
{
AP_HAL::CANFrame txFrame;
AP_HAL::CANFrame rxFrame;
uint16_t esc_tx_counter = 0;
// CAN Frame ID components
uint8_t frame_id_group; // Piccolo message group
uint16_t frame_id_device; // Device identifier
uint64_t timeout;
uint16_t escCmdRateMs;
while (true) {
_esc_hz = constrain_int16(_esc_hz, PICCOLO_MSG_RATE_HZ_MIN, PICCOLO_MSG_RATE_HZ_MAX);
escCmdRateMs = (uint16_t) ((float) 1000 / _esc_hz);
if (!_initialized) {
debug_can(AP_CANManager::LOG_ERROR, "PiccoloCAN: not initialized\n\r");
hal.scheduler->delay_microseconds(10000);
continue;
}
timeout = AP_HAL::micros64() + 250;
// 1ms loop delay
hal.scheduler->delay_microseconds(1 * 1000);
// Transmit ESC commands at regular intervals
if (esc_tx_counter++ > escCmdRateMs) {
esc_tx_counter = 0;
send_esc_messages();
}
// Look for any message responses on the CAN bus
while (read_frame(rxFrame, timeout)) {
frame_id_group = (rxFrame.id >> 24) & 0x1F;
frame_id_device = (rxFrame.id >> 8) & 0xFF;
// Only accept extended messages
if ((rxFrame.id & AP_HAL::CANFrame::FlagEFF) == 0) {
continue;
}
switch (MessageGroup(frame_id_group)) {
// ESC messages exist in the ACTUATOR group
case MessageGroup::ACTUATOR:
switch (ActuatorType(frame_id_device)) {
case ActuatorType::ESC:
if (handle_esc_message(rxFrame)) {
// Returns true if the message was successfully decoded
}
break;
default:
// Unknown actuator type
break;
}
break;
default:
break;
}
}
}
}
// write frame on CAN bus, returns true on success
bool AP_PiccoloCAN::write_frame(AP_HAL::CANFrame &out_frame, uint64_t timeout)
{
if (!_initialized) {
debug_can(AP_CANManager::LOG_ERROR, "PiccoloCAN: Driver not initialized for write_frame\n\r");
return false;
}
bool read_select = false;
bool write_select = true;
bool ret;
do {
ret = _can_iface->select(read_select, write_select, &out_frame, timeout);
if (!ret || !write_select) {
hal.scheduler->delay_microseconds(50);
}
} while (!ret || !write_select);
return (_can_iface->send(out_frame, timeout, AP_HAL::CANIface::AbortOnError) == 1);
}
// read frame on CAN bus, returns true on succses
bool AP_PiccoloCAN::read_frame(AP_HAL::CANFrame &recv_frame, uint64_t timeout)
{
if (!_initialized) {
debug_can(AP_CANManager::LOG_ERROR, "PiccoloCAN: Driver not initialized for read_frame\n\r");
return false;
}
bool read_select = true;
bool write_select = false;
bool ret = _can_iface->select(read_select, write_select, nullptr, timeout);
if (!ret || !read_select) {
// No frame available
return false;
}
uint64_t time;
AP_HAL::CANIface::CanIOFlags flags {};
return (_can_iface->receive(recv_frame, time, flags) == 1);
}
// called from SRV_Channels
void AP_PiccoloCAN::update()
{
uint64_t timestamp = AP_HAL::micros64();
/* Read out the ESC commands from the channel mixer */
for (uint8_t i = 0; i < PICCOLO_CAN_MAX_NUM_ESC; i++) {
if (is_esc_channel_active(i)) {
uint16_t output = 0;
SRV_Channel::Aux_servo_function_t motor_function = SRV_Channels::get_motor_function(i);
if (SRV_Channels::get_output_pwm(motor_function, output)) {
_esc_info[i].command = output;
_esc_info[i].newCommand = true;
}
}
}
AP_Logger *logger = AP_Logger::get_singleton();
// Push received telemtry data into the logging system
if (logger && logger->logging_enabled()) {
WITH_SEMAPHORE(_telem_sem);
for (uint8_t i = 0; i < PICCOLO_CAN_MAX_NUM_ESC; i++) {
PiccoloESC_Info_t &esc = _esc_info[i];
if (esc.newTelemetry) {
logger->Write_ESC(i, timestamp,
(int32_t) esc.statusA.rpm * 100,
esc.statusB.voltage,
esc.statusB.current,
(int16_t) esc.statusB.escTemperature,
0, // TODO - Accumulated current
(int16_t) esc.statusB.motorTemperature);
esc.newTelemetry = false;
}
}
}
}
// send ESC telemetry messages over MAVLink
void AP_PiccoloCAN::send_esc_telemetry_mavlink(uint8_t mav_chan)
{
// Arrays to store ESC telemetry data
uint8_t temperature[4] {};
uint16_t voltage[4] {};
uint16_t rpm[4] {};
uint16_t count[4] {};
uint16_t current[4] {};
uint16_t totalcurrent[4] {};
bool dataAvailable = false;
uint8_t idx = 0;
WITH_SEMAPHORE(_telem_sem);
for (uint8_t ii = 0; ii < PICCOLO_CAN_MAX_NUM_ESC; ii++) {
// Calculate index within storage array
idx = (ii % 4);
PiccoloESC_Info_t &esc = _esc_info[idx];
// Has the ESC been heard from recently?
if (is_esc_present(ii)) {
dataAvailable = true;
temperature[idx] = esc.statusB.escTemperature;
voltage[idx] = esc.statusB.voltage;
current[idx] = esc.statusB.current;
totalcurrent[idx] = 0;
rpm[idx] = esc.statusA.rpm;
count[idx] = 0;
} else {
temperature[idx] = 0;
voltage[idx] = 0;
current[idx] = 0;
totalcurrent[idx] = 0;
rpm[idx] = 0;
count[idx] = 0;
}
// Send ESC telemetry in groups of 4
if ((ii % 4) == 3) {
if (dataAvailable) {
if (!HAVE_PAYLOAD_SPACE((mavlink_channel_t) mav_chan, ESC_TELEMETRY_1_TO_4)) {
continue;
}
switch (ii) {
case 3:
mavlink_msg_esc_telemetry_1_to_4_send((mavlink_channel_t) mav_chan, temperature, voltage, current, totalcurrent, rpm, count);
break;
case 7:
mavlink_msg_esc_telemetry_5_to_8_send((mavlink_channel_t) mav_chan, temperature, voltage, current, totalcurrent, rpm, count);
break;
case 11:
mavlink_msg_esc_telemetry_9_to_12_send((mavlink_channel_t) mav_chan, temperature, voltage, current, totalcurrent, rpm, count);
break;
default:
break;
}
}
dataAvailable = false;
}
}
}
// send ESC messages over CAN
void AP_PiccoloCAN::send_esc_messages(void)
{
AP_HAL::CANFrame txFrame;
uint64_t timeout = AP_HAL::micros64() + 250;
// TODO - How to buffer CAN messages properly?
// Sending more than 2 messages at each loop instance means that sometimes messages are dropped
// No ESCs are selected? Don't send anything
if (_esc_bm == 0x00) {
return;
}
// System is armed - send out ESC commands
if (hal.util->get_soft_armed()) {
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++) {
send_cmd = false;
for (uint8_t jj = 0; jj < 4; jj++) {
idx = (ii * 4) + jj;
// Skip an ESC if the motor channel is not enabled
if (!is_esc_channel_active(idx)) {
continue;
}
/* 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 (send_cmd) {
encodeESC_CommandMultipleESCsPacket(
&txFrame,
cmd[0],
cmd[1],
cmd[2],
cmd[3],
(PKT_ESC_SETPOINT_1 + ii)
);
// Broadcast the command to all ESCs
txFrame.id |= 0xFF;
write_frame(txFrame, timeout);
}
}
} else {
// System is NOT armed - send a "disable" message to all ESCs on the bus
// 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);
}
}
// interpret an ESC message received over CAN
bool AP_PiccoloCAN::handle_esc_message(AP_HAL::CANFrame &frame)
{
uint64_t timestamp = AP_HAL::micros64();
// The ESC address is the lower byte of the address
uint8_t addr = frame.id & 0xFF;
// Ignore any ESC with node ID of zero
if (addr == 0x00) {
return false;
}
// Subtract to get the address in memory
addr -= 1;
// Maximum number of ESCs allowed
if (addr >= PICCOLO_CAN_MAX_NUM_ESC) {
return false;
}
PiccoloESC_Info_t &esc = _esc_info[addr];
bool result = true;
// Throw the packet against each decoding routine
if (decodeESC_StatusAPacketStructure(&frame, &esc.statusA)) {
esc.newTelemetry = true;
} else if (decodeESC_StatusBPacketStructure(&frame, &esc.statusB)) {
esc.newTelemetry = true;
} else if (decodeESC_FirmwarePacketStructure(&frame, &esc.firmware)) {
// TODO
} else if (decodeESC_AddressPacketStructure(&frame, &esc.address)) {
// TODO
} else if (decodeESC_EEPROMSettingsPacketStructure(&frame, &esc.eeprom)) {
// TODO
} else {
result = false;
}
if (result) {
// Reset the Rx timestamp
esc.last_rx_msg_timestamp = timestamp;
}
return result;
}
/**
* Check if a given ESC channel is "active" (has been configured correctly)
*/
bool AP_PiccoloCAN::is_esc_channel_active(uint8_t chan)
{
// First check if the particular ESC channel is enabled in the channel mask
if (((_esc_bm >> chan) & 0x01) == 0x00) {
return false;
}
// Check if a motor function is assigned for this motor channel
SRV_Channel::Aux_servo_function_t motor_function = SRV_Channels::get_motor_function(chan);
if (SRV_Channels::function_assigned(motor_function)) {
return true;
}
return false;
}
/**
* Determine if an ESC is present on the CAN bus (has telemetry data been received)
*/
bool AP_PiccoloCAN::is_esc_present(uint8_t chan, uint64_t timeout_ms)
{
if (chan >= PICCOLO_CAN_MAX_NUM_ESC) {
return false;
}
PiccoloESC_Info_t &esc = _esc_info[chan];
// No messages received from this ESC
if (esc.last_rx_msg_timestamp == 0) {
return false;
}
uint64_t now = AP_HAL::micros64();
uint64_t timeout_us = timeout_ms * 1000;
if (now > (esc.last_rx_msg_timestamp + timeout_us)) {
return false;
}
return true;
}
/**
* Check if a given ESC is enabled (both hardware and software enable flags)
*/
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
for (uint8_t ii = 0; ii < PICCOLO_CAN_MAX_NUM_ESC; ii++) {
// Skip any ESC channels where the motor channel is not enabled
if (is_esc_channel_active(ii)) {
if (!is_esc_present(ii)) {
snprintf(reason, reason_len, "ESC %u not detected", ii + 1);
return false;
}
PiccoloESC_Info_t &esc = _esc_info[ii];
if (esc.statusA.status.hwInhibit) {
snprintf(reason, reason_len, "ESC %u is hardware inhibited", (ii + 1));
return false;
}
}
}
return true;
}
/* Piccolo Glue Logic
* The following functions are required by the auto-generated protogen code.
*/
//! \return the packet data pointer from the packet
uint8_t* getESCVelocityPacketData(void* pkt)
{
AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
return (uint8_t*) frame->data;
}
//! \return the packet data pointer from the packet, const
const uint8_t* getESCVelocityPacketDataConst(const void* pkt)
{
AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
return (const uint8_t*) frame->data;
}
//! Complete a packet after the data have been encoded
void finishESCVelocityPacket(void* pkt, int size, uint32_t packetID)
{
AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
if (size > AP_HAL::CANFrame::MaxDataLen) {
size = AP_HAL::CANFrame::MaxDataLen;
}
frame->dlc = size;
/* Encode the CAN ID
* 0x07mm20dd
* - 07 = ACTUATOR group ID
* - mm = Message ID
* - 20 = ESC actuator type
* - dd = Device ID
*
* Note: The Device ID (lower 8 bits of the frame ID) will have to be inserted later
*/
uint32_t id = (((uint8_t) AP_PiccoloCAN::MessageGroup::ACTUATOR) << 24) | // CAN Group ID
((packetID & 0xFF) << 16) | // Message ID
(((uint8_t) AP_PiccoloCAN::ActuatorType::ESC) << 8); // Actuator type
// Extended frame format
id |= AP_HAL::CANFrame::FlagEFF;
frame->id = id;
}
//! \return the size of a packet from the packet header
int getESCVelocityPacketSize(const void* pkt)
{
AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
return (int) frame->dlc;
}
//! \return the ID of a packet from the packet header
uint32_t getESCVelocityPacketID(const void* pkt)
{
AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
// Extract the message ID field from the 29-bit ID
return (uint32_t) ((frame->id >> 16) & 0xFF);
}
#endif // HAL_PICCOLO_CAN_ENABLE
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