mirror of https://github.com/ArduPilot/ardupilot
160 lines
3.7 KiB
C++
160 lines
3.7 KiB
C++
/*
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SToRM32 mount using serial protocol backend class
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*/
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#pragma once
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#include "AP_Mount_Backend.h"
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#ifndef HAL_MOUNT_STORM32SERIAL_ENABLED
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#define HAL_MOUNT_STORM32SERIAL_ENABLED HAL_MOUNT_ENABLED
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#endif
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#if HAL_MOUNT_STORM32SERIAL_ENABLED
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#include <AP_HAL/AP_HAL.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Common/AP_Common.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#define AP_MOUNT_STORM32_SERIAL_RESEND_MS 1000 // resend angle targets to gimbal once per second
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class AP_Mount_SToRM32_serial : public AP_Mount_Backend
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{
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public:
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// Constructor
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AP_Mount_SToRM32_serial(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance);
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// init - performs any required initialisation for this instance
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void init() override;
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// update mount position - should be called periodically
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void update() override;
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// has_pan_control - returns true if this mount can control it's pan (required for multicopters)
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bool has_pan_control() const override;
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// set_mode - sets mount's mode
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void set_mode(enum MAV_MOUNT_MODE mode) override;
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protected:
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// get attitude as a quaternion. returns true on success
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bool get_attitude_quaternion(Quaternion& att_quat) override;
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private:
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// send_target_angles
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void send_target_angles(const MountTarget& angle_target_rad);
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// send read data request
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void get_angles();
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// read_incoming
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void read_incoming();
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void parse_reply();
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enum ReplyType {
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ReplyType_UNKNOWN = 0,
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ReplyType_DATA,
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ReplyType_ACK
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};
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//void add_next_reply(ReplyType reply_type);
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uint8_t get_reply_size(ReplyType reply_type);
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bool can_send(bool with_control);
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struct PACKED SToRM32_reply_data_struct {
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uint16_t state;
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uint16_t status;
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uint16_t status2;
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uint16_t i2c_errors;
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uint16_t lipo_voltage;
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uint16_t systicks;
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uint16_t cycle_time;
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int16_t imu1_gx;
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int16_t imu1_gy;
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int16_t imu1_gz;
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int16_t imu1_ax;
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int16_t imu1_ay;
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int16_t imu1_az;
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int16_t ahrs_x;
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int16_t ahrs_y;
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int16_t ahrs_z;
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int16_t imu1_pitch;
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int16_t imu1_roll;
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int16_t imu1_yaw;
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int16_t cpid_pitch;
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int16_t cpid_roll;
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int16_t cpid_yaw;
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uint16_t input_pitch;
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uint16_t input_roll;
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uint16_t input_yaw;
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int16_t imu2_pitch;
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int16_t imu2_roll;
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int16_t imu2_yaw;
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int16_t mag2_yaw;
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int16_t mag2_pitch;
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int16_t ahrs_imu_confidence;
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uint16_t function_input_values;
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uint16_t crc;
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uint8_t magic;
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};
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struct PACKED SToRM32_reply_ack_struct {
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uint8_t byte1;
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uint8_t byte2;
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uint8_t byte3;
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uint8_t data;
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uint16_t crc;
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};
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struct PACKED cmd_set_angles_struct {
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uint8_t byte1;
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uint8_t byte2;
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uint8_t byte3;
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float pitch;
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float roll;
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float yaw;
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uint8_t flags;
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uint8_t type;
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uint16_t crc;
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};
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// internal variables
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AP_HAL::UARTDriver *_port;
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bool _initialised; // true once the driver has been initialised
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MountTarget _angle_rad; // latest angle target
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uint32_t _last_send; // system time of last do_mount_control sent to gimbal
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uint8_t _reply_length;
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uint8_t _reply_counter;
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ReplyType _reply_type;
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union PACKED SToRM32_reply {
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DEFINE_BYTE_ARRAY_METHODS
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SToRM32_reply_data_struct data;
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SToRM32_reply_ack_struct ack;
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} _buffer;
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// keep the last _current_angle values
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Vector3l _current_angle;
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};
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#endif // HAL_MOUNT_STORM32SERIAL_ENABLED
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