mirror of https://github.com/ArduPilot/ardupilot
152 lines
3.5 KiB
C++
152 lines
3.5 KiB
C++
/*
|
|
SToRM32 mount using serial protocol backend class
|
|
*/
|
|
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_AHRS/AP_AHRS.h>
|
|
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <GCS_MAVLink/GCS_MAVLink.h>
|
|
#include "AP_Mount_Backend.h"
|
|
#if HAL_MOUNT_ENABLED
|
|
|
|
#define AP_MOUNT_STORM32_SERIAL_RESEND_MS 1000 // resend angle targets to gimbal once per second
|
|
|
|
class AP_Mount_SToRM32_serial : public AP_Mount_Backend
|
|
{
|
|
|
|
public:
|
|
// Constructor
|
|
AP_Mount_SToRM32_serial(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance);
|
|
|
|
// init - performs any required initialisation for this instance
|
|
void init() override;
|
|
|
|
// update mount position - should be called periodically
|
|
void update() override;
|
|
|
|
// has_pan_control - returns true if this mount can control it's pan (required for multicopters)
|
|
bool has_pan_control() const override;
|
|
|
|
// set_mode - sets mount's mode
|
|
void set_mode(enum MAV_MOUNT_MODE mode) override;
|
|
|
|
// send_mount_status - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
|
|
void send_mount_status(mavlink_channel_t chan) override;
|
|
|
|
private:
|
|
|
|
// send_target_angles
|
|
void send_target_angles(float pitch_deg, float roll_deg, float yaw_deg);
|
|
|
|
// send read data request
|
|
void get_angles();
|
|
|
|
// read_incoming
|
|
void read_incoming();
|
|
void parse_reply();
|
|
|
|
enum ReplyType {
|
|
ReplyType_UNKNOWN = 0,
|
|
ReplyType_DATA,
|
|
ReplyType_ACK
|
|
};
|
|
|
|
//void add_next_reply(ReplyType reply_type);
|
|
uint8_t get_reply_size(ReplyType reply_type);
|
|
bool can_send(bool with_control);
|
|
|
|
struct PACKED SToRM32_reply_data_struct {
|
|
uint16_t state;
|
|
uint16_t status;
|
|
uint16_t status2;
|
|
|
|
uint16_t i2c_errors;
|
|
uint16_t lipo_voltage;
|
|
uint16_t systicks;
|
|
uint16_t cycle_time;
|
|
|
|
int16_t imu1_gx;
|
|
int16_t imu1_gy;
|
|
int16_t imu1_gz;
|
|
|
|
int16_t imu1_ax;
|
|
int16_t imu1_ay;
|
|
int16_t imu1_az;
|
|
|
|
int16_t ahrs_x;
|
|
int16_t ahrs_y;
|
|
int16_t ahrs_z;
|
|
|
|
int16_t imu1_pitch;
|
|
int16_t imu1_roll;
|
|
int16_t imu1_yaw;
|
|
|
|
int16_t cpid_pitch;
|
|
int16_t cpid_roll;
|
|
int16_t cpid_yaw;
|
|
|
|
uint16_t input_pitch;
|
|
uint16_t input_roll;
|
|
uint16_t input_yaw;
|
|
|
|
int16_t imu2_pitch;
|
|
int16_t imu2_roll;
|
|
int16_t imu2_yaw;
|
|
|
|
int16_t mag2_yaw;
|
|
int16_t mag2_pitch;
|
|
|
|
int16_t ahrs_imu_confidence;
|
|
|
|
uint16_t function_input_values;
|
|
|
|
uint16_t crc;
|
|
uint8_t magic;
|
|
};
|
|
|
|
struct PACKED SToRM32_reply_ack_struct {
|
|
uint8_t byte1;
|
|
uint8_t byte2;
|
|
uint8_t byte3;
|
|
uint8_t data;
|
|
uint16_t crc;
|
|
};
|
|
|
|
struct PACKED cmd_set_angles_struct {
|
|
uint8_t byte1;
|
|
uint8_t byte2;
|
|
uint8_t byte3;
|
|
float pitch;
|
|
float roll;
|
|
float yaw;
|
|
uint8_t flags;
|
|
uint8_t type;
|
|
uint16_t crc;
|
|
};
|
|
|
|
|
|
// internal variables
|
|
AP_HAL::UARTDriver *_port;
|
|
|
|
bool _initialised; // true once the driver has been initialised
|
|
uint32_t _last_send; // system time of last do_mount_control sent to gimbal
|
|
|
|
uint8_t _reply_length;
|
|
uint8_t _reply_counter;
|
|
ReplyType _reply_type;
|
|
|
|
|
|
union PACKED SToRM32_reply {
|
|
DEFINE_BYTE_ARRAY_METHODS
|
|
SToRM32_reply_data_struct data;
|
|
SToRM32_reply_ack_struct ack;
|
|
} _buffer;
|
|
|
|
// keep the last _current_angle values
|
|
Vector3l _current_angle;
|
|
};
|
|
#endif // HAL_MOUNT_ENABLED
|