mirror of https://github.com/ArduPilot/ardupilot
141 lines
4.3 KiB
C++
141 lines
4.3 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Author: Oliver Walters / Currawong Engineering Pty Ltd
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_CANManager/AP_CANDriver.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_ESC_Telem/AP_ESC_Telem_Backend.h>
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#include "AP_PiccoloCAN_Device.h"
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#include "AP_PiccoloCAN_ESC.h"
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#include "AP_PiccoloCAN_ECU.h"
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#include "AP_PiccoloCAN_Servo.h"
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#include <AP_EFI/AP_EFI_Currawong_ECU.h>
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#if HAL_PICCOLO_CAN_ENABLE
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#define PICCOLO_MSG_RATE_HZ_MIN 1
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#define PICCOLO_MSG_RATE_HZ_MAX 500
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#define PICCOLO_MSG_RATE_HZ_DEFAULT 50
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class AP_PiccoloCAN : public AP_CANDriver, public AP_ESC_Telem_Backend
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{
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public:
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AP_PiccoloCAN();
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~AP_PiccoloCAN();
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/* Do not allow copies */
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CLASS_NO_COPY(AP_PiccoloCAN);
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static const struct AP_Param::GroupInfo var_info[];
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// Return PiccoloCAN from @driver_index or nullptr if it's not ready or doesn't exist
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static AP_PiccoloCAN *get_pcan(uint8_t driver_index);
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// initialize PiccoloCAN bus
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void init(uint8_t driver_index, bool enable_filters) override;
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bool add_interface(AP_HAL::CANIface* can_iface) override;
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// called from SRV_Channels
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void update();
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// send ESC telemetry messages over MAVLink
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void send_esc_telemetry_mavlink(uint8_t mav_chan);
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// return true if a particular servo is 'active' on the Piccolo interface
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bool is_servo_channel_active(uint8_t chan);
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// return true if a particular ESC is 'active' on the Piccolo interface
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bool is_esc_channel_active(uint8_t chan);
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// return true if a particular servo has been detected on the CAN interface
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bool is_servo_present(uint8_t chan, uint64_t timeout_ms = 2000);
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// return true if a particular ESC has been detected on the CAN interface
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bool is_esc_present(uint8_t chan, uint64_t timeout_ms = 2000);
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// return true if a particular servo is enabled
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bool is_servo_enabled(uint8_t chan);
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// return true if a particular ESC is enabled
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bool is_esc_enabled(uint8_t chan);
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// test if the Piccolo CAN driver is ready to be armed
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bool pre_arm_check(char* reason, uint8_t reason_len);
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private:
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// loop to send output to ESCs in background thread
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void loop();
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// write frame on CAN bus, returns true on success
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bool write_frame(AP_HAL::CANFrame &out_frame, uint64_t timeout);
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// read frame on CAN bus, returns true on succses
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bool read_frame(AP_HAL::CANFrame &recv_frame, uint64_t timeout);
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// send ESC commands over CAN
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void send_esc_messages(void);
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// interpret an ESC message received over CAN
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bool handle_esc_message(AP_HAL::CANFrame &frame);
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// send servo commands over CAN
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void send_servo_messages(void);
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// interpret a servo message received over CAN
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bool handle_servo_message(AP_HAL::CANFrame &frame);
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#if AP_EFI_CURRAWONG_ECU_ENABLED
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void send_ecu_messages(void);
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// interpret an ECU message received over CAN
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bool handle_ecu_message(AP_HAL::CANFrame &frame);
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#endif
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bool _initialized;
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char _thread_name[16];
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uint8_t _driver_index;
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AP_HAL::CANIface* _can_iface;
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HAL_BinarySemaphore sem_handle;
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AP_PiccoloCAN_Servo _servos[PICCOLO_CAN_MAX_NUM_SERVO];
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AP_PiccoloCAN_ESC _escs[PICCOLO_CAN_MAX_NUM_ESC];
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struct CurrawongECU_Info_t {
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float command;
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bool newCommand;
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} _ecu_info;
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// Piccolo CAN parameters
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AP_Int32 _esc_bm; //! ESC selection bitmask
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AP_Int16 _esc_hz; //! ESC update rate (Hz)
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AP_Int32 _srv_bm; //! Servo selection bitmask
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AP_Int16 _srv_hz; //! Servo update rate (Hz)
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AP_Int16 _ecu_id; //! ECU Node ID
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AP_Int16 _ecu_hz; //! ECU update rate (Hz)
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HAL_Semaphore _telem_sem;
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};
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#endif // HAL_PICCOLO_CAN_ENABLE
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