mirror of https://github.com/ArduPilot/ardupilot
85 lines
3.6 KiB
C++
85 lines
3.6 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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/*
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This driver supports communicating with Torqeedo motors that implement the "TQ Bus" protocol
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which includes the Ultralight, Cruise 2.0 R, Cruise 4.0 R, Travel 503, Travel 1003 and Cruise 10kW
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The autopilot should be connected either to the battery's tiller connector or directly to the motor
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as described on the ArduPilot wiki. https://ardupilot.org/rover/docs/common-torqeedo.html
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TQ Bus is a serial protocol over RS-485 meaning that a serial to RS-485 converter is required.
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Tiller connection: Autopilot <-> Battery (master) <-> Motor
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Motor connection: Autopilot (master) <-> Motor
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Communication between the components is always initiated by the master with replies sent within 25ms
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Example "Remote (0x01)" reply message to allow tiller to control motor speed
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Byte Field Definition Example Value Comments
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---------------------------------------------------------------------------------
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byte 0 Header 0xAC
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byte 1 TargetAddress 0x00 see MsgAddress enum
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byte 2 Message ID 0x00 only master populates this. replies have this set to zero
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byte 3 Flags 0x05 bit0=pin present, bit2=motor speed valid
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byte 4 Status 0x00 0x20 if byte3=4, 0x0 is byte3=5
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byte 5 Motor Speed MSB ---- Motor Speed MSB (-1000 to +1000)
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byte 6 Motor Speed LSB ---- Motor Speed LSB (-1000 to +1000)
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byte 7 CRC-Maxim ---- CRC-Maxim value
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byte 8 Footer 0xAD
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More details of the TQ Bus protocol are available from Torqeedo after signing an NDA.
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*/
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#pragma once
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#include "AP_Torqeedo_config.h"
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#if HAL_TORQEEDO_ENABLED
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#include "AP_Torqeedo.h"
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#include <AP_ESC_Telem/AP_ESC_Telem_Backend.h>
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class AP_Torqeedo_Backend : public AP_ESC_Telem_Backend {
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public:
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AP_Torqeedo_Backend(AP_Torqeedo_Params ¶ms, uint8_t instance);
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// do not allow copies
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CLASS_NO_COPY(AP_Torqeedo_Backend);
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// initialise driver
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virtual void init() = 0;
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// returns true if communicating with the motor
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virtual bool healthy() = 0;
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// clear motor errors
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virtual void clear_motor_error() = 0;
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// get latest battery status info. returns true on success and populates arguments
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virtual bool get_batt_info(float &voltage, float ¤t_amps, float &temp_C, uint8_t &pct_remaining) const WARN_IF_UNUSED = 0;
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virtual bool get_batt_capacity_Ah(uint16_t &_hours) const = 0;
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protected:
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// parameter helper functions
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AP_Torqeedo::ConnectionType get_type() const { return (AP_Torqeedo::ConnectionType)_params.type.get(); }
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bool option_enabled(AP_Torqeedo::options opt) const { return ((uint16_t)_params.options.get() & (uint16_t)opt) != 0; }
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AP_Torqeedo_Params &_params; // parameters for this backend
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uint8_t _instance; // this instance's number
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};
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#endif // HAL_TORQEEDO_ENABLED
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