mirror of https://github.com/ArduPilot/ardupilot
77 lines
2.3 KiB
C++
77 lines
2.3 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 <stdint.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_CANManager/AP_CANManager.h>
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#ifndef HAL_PICCOLO_CAN_ENABLE
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#define HAL_PICCOLO_CAN_ENABLE HAL_NUM_CAN_IFACES
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#endif
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#if HAL_PICCOLO_CAN_ENABLE
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//! Piccolo message groups form part of the CAN ID of each frame
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enum class PiccoloCAN_MessageGroup : uint8_t {
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SIMULATOR = 0x00, //!< Simulator messages
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SENSOR = 0x04, //!< External sensors
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ACTUATOR = 0x07, //!< Actuators (e.g. ESC / servo)
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ECU_OUT = 0x08, //!< Messages *from* an ECU
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ECU_IN = 0x09, //!< Message *to* an ECU
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SYSTEM = 0x19, //!< System messages (e.g. bootloader)
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};
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//! Piccolo actuator types differentiate between actuator frames
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enum class PiccoloCAN_ActuatorType : uint8_t {
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SERVO = 0x00,
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ESC = 0x20,
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};
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/*
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* Generic PiccoloCAN device class implementation
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*/
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class AP_PiccoloCAN_Device
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{
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public:
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virtual bool handle_can_frame(AP_HAL::CANFrame &frame) = 0;
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// Determine if this device is "enabled" (default implementation returns false)
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virtual bool is_enabled(void) const { return false; }
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// Determine if this device has been seen within a specified timeframe
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virtual bool is_connected(int64_t timeout_ms) const {
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uint64_t now = AP_HAL::micros64();
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return now < (last_msg_timestamp + (1000ULL * timeout_ms));
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}
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// Reset the received message timestamp
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void reset_rx_timestamp() {
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last_msg_timestamp = AP_HAL::micros64();
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}
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//! Timestamp of most recently received CAN message
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uint64_t last_msg_timestamp = 0;
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};
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#endif // HAL_PICCOLO_CAN_ENABLE
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