mirror of https://github.com/ArduPilot/ardupilot
152 lines
4.7 KiB
C++
152 lines
4.7 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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#include "AP_PiccoloCAN_ESC.h"
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#if HAL_PICCOLO_CAN_ENABLE
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/*
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* Decode a recevied CAN frame.
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* It is assumed at this point that the received frame is intended for *this* ESC
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*/
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bool AP_PiccoloCAN_ESC::handle_can_frame(AP_HAL::CANFrame &frame)
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{
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bool result = true;
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// The ESC address is the lower byte of the frame ID
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uint8_t addr = frame.id & 0xFF;
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// Ignore any ESC with node ID of zero
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if (addr == 0x00) {
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return false;
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}
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addr -= 1;
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uint8_t extended;
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if (decodeESC_StatusAPacketStructure(&frame, &status.statusA)) {
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newTelemetry = true;
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update_rpm(addr, rpm());
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} else if (decodeESC_StatusBPacketStructure(&frame, &status.statusB)) {
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AP_ESC_Telem_Backend::TelemetryData telem {};
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telem.voltage = voltage() * 10;
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telem.current = current() * 10;
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telem.motor_temp_cdeg = int16_t(motorTemperature() * 100);
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telem.temperature_cdeg = int16_t(temperature() * 100);
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update_telem_data(addr, telem,
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AP_ESC_Telem_Backend::TelemetryType::CURRENT |
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AP_ESC_Telem_Backend::TelemetryType::VOLTAGE |
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AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE |
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AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE);
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newTelemetry = true;
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} else if (decodeESC_StatusCPacketStructure(&frame, &status.statusC)) {
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AP_ESC_Telem_Backend::TelemetryData telem {};
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telem.temperature_cdeg = temperature() * 100;
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update_telem_data(addr, telem, AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE);
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newTelemetry = true;
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} else if (decodeESC_WarningErrorStatusPacket(&frame, &status.warnings, &status.errors, &extended, &status.warnings, &status.errors)) {
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newTelemetry = true;
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} else if (decodeESC_FirmwarePacketStructure(&frame, &settings.firmware)) {
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} else if (decodeESC_AddressPacketStructure(&frame, &settings.address)) {
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} else if (decodeESC_EEPROMSettingsPacketStructure(&frame, &settings.eeprom)) {
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} else {
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result = false;
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}
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if (result) {
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reset_rx_timestamp();
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}
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return result;
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}
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/* Piccolo Glue Logic
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* The following functions are required by the auto-generated protogen code.
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*/
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//! \return the packet data pointer from the packet
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uint8_t* getESCVelocityPacketData(void* pkt)
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{
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AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
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return (uint8_t*) frame->data;
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}
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//! \return the packet data pointer from the packet, const
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const uint8_t* getESCVelocityPacketDataConst(const void* pkt)
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{
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AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
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return (const uint8_t*) frame->data;
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}
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//! Complete a packet after the data have been encoded
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void finishESCVelocityPacket(void* pkt, int size, uint32_t packetID)
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{
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AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
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if (size > AP_HAL::CANFrame::MaxDataLen) {
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size = AP_HAL::CANFrame::MaxDataLen;
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}
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frame->dlc = size;
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/* Encode the CAN ID
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* 0x07mm20dd
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* - 07 = ACTUATOR group ID
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* - mm = Message ID
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* - 20 = ESC actuator type
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* - dd = Device ID
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*
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* Note: The Device ID (lower 8 bits of the frame ID) will have to be inserted later
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*/
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uint32_t id = (((uint8_t) PiccoloCAN_MessageGroup::ACTUATOR) << 24) | // CAN Group ID
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((packetID & 0xFF) << 16) | // Message ID
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(((uint8_t) PiccoloCAN_ActuatorType::ESC) << 8); // Actuator type
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// Extended frame format
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id |= AP_HAL::CANFrame::FlagEFF;
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frame->id = id;
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}
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//! \return the size of a packet from the packet header
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int getESCVelocityPacketSize(const void* pkt)
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{
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AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
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return (int) frame->dlc;
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}
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//! \return the ID of a packet from the packet header
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uint32_t getESCVelocityPacketID(const void* pkt)
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{
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AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
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// Extract the message ID field from the 29-bit ID
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return (uint32_t) ((frame->id >> 16) & 0xFF);
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}
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#endif // HAL_PICCOLO_CAN_ENABLE
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