mirror of https://github.com/ArduPilot/ardupilot
99 lines
3.1 KiB
C++
99 lines
3.1 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_HAL/CAN.h>
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#include <AP_HAL/Semaphores.h>
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#define TOSHIBACAN_MAX_NUM_ESCS 12
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class AP_ToshibaCAN : public AP_HAL::CANProtocol {
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public:
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AP_ToshibaCAN();
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~AP_ToshibaCAN();
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/* Do not allow copies */
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AP_ToshibaCAN(const AP_ToshibaCAN &other) = delete;
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AP_ToshibaCAN &operator=(const AP_ToshibaCAN&) = delete;
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// Return ToshibaCAN from @driver_index or nullptr if it's not ready or doesn't exist
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static AP_ToshibaCAN *get_tcan(uint8_t driver_index);
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// initialise ToshibaCAN bus
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void init(uint8_t driver_index, bool enable_filters) override;
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// called from SRV_Channels
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void update();
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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(uavcan::CanFrame &out_frame, uavcan::MonotonicTime timeout);
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bool _initialized;
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char _thread_name[9];
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uint8_t _driver_index;
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uavcan::ICanDriver* _can_driver;
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const uavcan::CanFrame* _select_frames[uavcan::MaxCanIfaces] { };
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// PWM output
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HAL_Semaphore _rc_out_sem;
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uint16_t _scaled_output[TOSHIBACAN_MAX_NUM_ESCS];
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uint16_t update_count; // counter increments each time main thread updates outputs
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uint16_t update_count_buffered; // counter when outputs copied to buffer before before sending to ESCs
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uint16_t update_count_sent; // counter of outputs successfully sent
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uint8_t send_stage; // stage of sending algorithm (each stage sends one frame to ESCs)
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// structure for sending motor lock command to ESC
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union motor_lock_cmd_t {
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struct PACKED {
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uint8_t motor2:4;
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uint8_t motor1:4;
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uint8_t motor4:4;
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uint8_t motor3:4;
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uint8_t motor6:4;
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uint8_t motor5:4;
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uint8_t motor8:4;
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uint8_t motor7:4;
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uint8_t motor10:4;
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uint8_t motor9:4;
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uint8_t motor12:4;
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uint8_t motor11:4;
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};
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uint8_t data[6];
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};
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// structure for sending turn rate command to ESC
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union motor_rotation_cmd_t {
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struct PACKED {
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uint16_t motor4;
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uint16_t motor3;
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uint16_t motor2;
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uint16_t motor1;
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};
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uint8_t data[8];
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};
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// frames to be sent
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uavcan::CanFrame unlock_frame;
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uavcan::CanFrame mot_rot_frame1;
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uavcan::CanFrame mot_rot_frame2;
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uavcan::CanFrame mot_rot_frame3;
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};
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