mirror of https://github.com/ArduPilot/ardupilot
233 lines
8.3 KiB
C++
233 lines
8.3 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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* Author: Francisco Ferreira
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* Modified for CANManager by Siddharth B Purohit
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Common/AP_Common.h>
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_MAX_CAN_PROTOCOL_DRIVERS
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#include "AP_CANTester_KDECAN.h"
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#include "AP_CANManager.h"
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#include <AP_Math/AP_Math.h>
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#include <AP_HAL/utility/sparse-endian.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#define debug_can(level_debug, fmt, args...) do { AP::can().log_text(level_debug, "TestKDECAN", fmt, #args); } while (0)
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extern const AP_HAL::HAL& hal;
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void AP_CANTester_KDECAN::count_msg(uint32_t frame_id)
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{
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for (uint16_t i=0; i<ARRAY_SIZE(counters); i++) {
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if (counters[i].frame_id == frame_id) {
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counters[i].count++;
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break;
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}
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if (counters[i].frame_id == 0) {
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counters[i].frame_id = frame_id;
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counters[i].count++;
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break;
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}
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}
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}
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bool AP_CANTester_KDECAN::init(AP_HAL::CANIface* can_iface)
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{
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_can_iface = can_iface;
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if (_can_iface == nullptr) {
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debug_can(AP_CANManager::LOG_ERROR, "CANIface is null, abort!");
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return false;
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}
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if (!_can_iface->is_initialized()) {
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debug_can(AP_CANManager::LOG_ERROR, "Can not initialised");
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return false;
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}
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if (!_can_iface->set_event_handle(&_event_handle)) {
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debug_can(AP_CANManager::LOG_ERROR, "Failed to set Event Handle");
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return false;
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}
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debug_can(AP_CANManager::LOG_ERROR, "init done");
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return true;
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}
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void AP_CANTester_KDECAN::loop(void)
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{
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if (_can_iface == nullptr) {
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return;
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}
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AP_HAL::CANFrame empty_frame { (0 | AP_HAL::CANFrame::FlagEFF), nullptr, 0 };
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bool read_select = true;
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bool write_select = false;
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bool select_ret = _can_iface->select(read_select, write_select, nullptr, AP_HAL::micros64() + 1000);
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if (select_ret && read_select) {
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AP_HAL::CANFrame recv_frame;
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uint64_t rx_time;
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AP_HAL::CANIface::CanIOFlags flags {};
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int16_t res = _can_iface->receive(recv_frame, rx_time, flags);
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if (res == 1) {
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uint32_t id = recv_frame.id & AP_HAL::CANFrame::MaskExtID;
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uint8_t object_address = id & 0xFF;
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uint8_t esc_num = uint8_t((id >> 8) & 0xFF);
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count_msg(id);
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uint8_t i = 0;
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uint8_t n = NUM_ESCS;
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if (esc_num != BROADCAST_NODE_ID) {
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for (; i < NUM_ESCS; i++) {
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if (object_address == UPDATE_NODE_ID_OBJ_ADDR) {
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if (_esc_info[i].mcu_id == be64toh(*((be64_t*) &(recv_frame.data[0])))) {
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n = i + 1;
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break;
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}
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} else if (_esc_info[i].node_id == esc_num) {
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n = i + 1;
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break;
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}
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}
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}
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while (i < n) {
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AP_HAL::CANFrame res_frame;
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switch (object_address) {
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case ESC_INFO_OBJ_ADDR: {
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uint8_t info[5] { 1, 2, 3, 4, 0 };
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res_frame.dlc = 5;
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memcpy(res_frame.data, info, 5);
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break;
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}
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case SET_PWM_OBJ_ADDR: {
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if ((1 << (esc_num - 2) & _mask_received_pwm) && _mask_received_pwm != ((1 << _max_node_id) - 1)) {
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count_msg(0xFFFFFFF0);
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_mask_received_pwm = 0;
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}
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_mask_received_pwm |= 1 << (esc_num - 2);
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if (_mask_received_pwm == ((1 << _max_node_id) - 1)) {
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count_msg(0xFFFFFFFF);
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_mask_received_pwm = 0;
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}
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res_frame.dlc = 0;
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break;
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}
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case UPDATE_NODE_ID_OBJ_ADDR: {
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if (_esc_info[i].enum_timeout_ms != 0
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&& _esc_info[i].enum_timeout_ms >= AP_HAL::millis()) {
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_esc_info[i].node_id = esc_num;
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_max_node_id = MAX(_max_node_id, esc_num - 2 + 1);
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gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Set node ID %d for ESC %d\n", esc_num, i);
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}
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_esc_info[i].enum_timeout_ms = 0;
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res_frame.dlc = 1;
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memcpy(res_frame.data, &(_esc_info[i].node_id), 1);
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break;
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}
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case START_ENUM_OBJ_ADDR: {
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_esc_info[i].enum_timeout_ms = AP_HAL::millis() + be16toh(*((be16_t*) &(recv_frame.data[0])));
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gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Starting enumeration for ESC %d, timeout %u", i, (unsigned)_esc_info[i].enum_timeout_ms);
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i++;
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continue;
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}
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case TELEMETRY_OBJ_ADDR: {
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uint8_t data[8] {};
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*((be16_t*) &data[0]) = htobe16(get_random16());
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*((be16_t*) &data[2]) = htobe16(get_random16());
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*((be16_t*) &data[4]) = htobe16(get_random16());
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data[6] = uint8_t(float(rand()) / RAND_MAX * 40.0f + 15);
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res_frame.dlc = 8;
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memcpy(res_frame.data, data, 8);
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break;
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}
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case VOLTAGE_OBJ_ADDR:
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case CURRENT_OBJ_ADDR:
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case RPM_OBJ_ADDR:
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case TEMPERATURE_OBJ_ADDR:
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case GET_PWM_INPUT_OBJ_ADDR:
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case GET_PWM_OUTPUT_OBJ_ADDR:
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case MCU_ID_OBJ_ADDR:
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default:
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// discard frame
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return;
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}
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res_frame.id = (_esc_info[i].node_id << 16) | object_address | AP_HAL::CANFrame::FlagEFF;
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read_select = false;
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write_select = true;
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select_ret = _can_iface->select(read_select, write_select, &res_frame, AP_HAL::micros64() + 1000);
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if (!select_ret) {
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break;
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}
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int16_t res2 = _can_iface->send(res_frame, AP_HAL::micros64() + 500000, 0);
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if (res2 == 1) {
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i++;
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} else {
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gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Failed to transmit frame Err: %d 0x%lx", res2, (long unsigned)res_frame.id);
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}
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}
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}
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}
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}
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void AP_CANTester_KDECAN::print_stats(void)
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{
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hal.console->printf("KDECANTester: TimeStamp: %u\n", (unsigned)AP_HAL::micros());
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for (uint16_t i=0; i<100; i++) {
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if (counters[i].frame_id == 0) {
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break;
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}
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hal.console->printf("0x%08x: %u\n", (unsigned)counters[i].frame_id, (unsigned)counters[i].count);
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counters[i].count = 0;
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}
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}
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bool AP_CANTester_KDECAN::send_enumeration(uint8_t num)
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{
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if (_esc_info[num].enum_timeout_ms == 0 ||
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AP_HAL::millis() > _esc_info[num].enum_timeout_ms) {
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_esc_info[num].enum_timeout_ms = 0;
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gcs().send_text(MAV_SEVERITY_ALERT, "KDECANTester: Not running enumeration for ESC %d\n", num);
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return false;
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}
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while (true) {
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uint8_t mcu[8] {};
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*((be64_t*) mcu) = htobe64(_esc_info[num].mcu_id);
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AP_HAL::CANFrame res_frame { (_esc_info[num].node_id << 16) | START_ENUM_OBJ_ADDR | AP_HAL::CANFrame::FlagEFF,
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mcu,
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8 };
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int16_t res = _can_iface->send(res_frame, AP_HAL::micros64() + 1000, 0);
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if (res == 1) {
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return true;
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}
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}
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}
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#endif
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