mirror of https://github.com/ArduPilot/ardupilot
138 lines
3.9 KiB
C++
138 lines
3.9 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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* AP_KDECAN.h
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*
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* Author: Francisco Ferreira
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*/
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#pragma once
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#include <AP_HAL/CAN.h>
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#include <AP_HAL/Semaphores.h>
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#include <AP_Param/AP_Param.h>
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#include <atomic>
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// there are 12 motor functions in SRV_Channel but CAN driver can't keep up
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#define KDECAN_MAX_NUM_ESCS 8
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class AP_KDECAN : public AP_HAL::CANProtocol {
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public:
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AP_KDECAN();
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/* Do not allow copies */
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AP_KDECAN(const AP_KDECAN &other) = delete;
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AP_KDECAN &operator=(const AP_KDECAN&) = delete;
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static const struct AP_Param::GroupInfo var_info[];
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// Return KDECAN from @driver_index or nullptr if it's not ready or doesn't exist
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static AP_KDECAN *get_kdecan(uint8_t driver_index);
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void init(uint8_t driver_index, bool enable_filters) override;
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// called from SRV_Channels
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void update();
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// check that arming can happen
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bool pre_arm_check(char* reason, uint8_t reason_len);
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// send MAVLink telemetry packets
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void send_mavlink(uint8_t chan);
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// caller checks that vehicle isn't armed
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// start_stop: true to start, false to stop
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bool run_enumeration(bool start_stop);
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private:
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void loop();
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bool _initialized;
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char _thread_name[11];
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uint8_t _driver_index;
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uavcan::ICanDriver* _can_driver;
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AP_Int8 _num_poles;
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// ESC detected information
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uint16_t _esc_present_bitmask;
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uint8_t _esc_max_node_id;
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// enumeration
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HAL_Semaphore _enum_sem;
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enum enumeration_state_t : uint8_t {
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ENUMERATION_STOPPED,
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ENUMERATION_START,
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ENUMERATION_STOP,
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ENUMERATION_RUNNING
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} _enumeration_state = ENUMERATION_STOPPED;
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// PWM output
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HAL_Semaphore _rc_out_sem;
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std::atomic<bool> _new_output;
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uint16_t _scaled_output[KDECAN_MAX_NUM_ESCS];
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// telemetry input
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HAL_Semaphore _telem_sem;
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struct telemetry_info_t {
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uint64_t time;
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uint16_t voltage;
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uint16_t current;
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uint16_t rpm;
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uint8_t temp;
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bool new_data;
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} _telemetry[KDECAN_MAX_NUM_ESCS];
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union frame_id_t {
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struct {
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uint8_t object_address;
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uint8_t destination_id;
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uint8_t source_id;
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uint8_t priority:5;
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uint8_t unused:3;
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};
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uint32_t value;
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};
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static const uint8_t AUTOPILOT_NODE_ID = 0;
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static const uint8_t BROADCAST_NODE_ID = 1;
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static const uint8_t ESC_NODE_ID_FIRST = 2;
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static const uint8_t ESC_INFO_OBJ_ADDR = 0;
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static const uint8_t SET_PWM_OBJ_ADDR = 1;
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static const uint8_t VOLTAGE_OBJ_ADDR = 2;
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static const uint8_t CURRENT_OBJ_ADDR = 3;
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static const uint8_t RPM_OBJ_ADDR = 4;
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static const uint8_t TEMPERATURE_OBJ_ADDR = 5;
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static const uint8_t GET_PWM_INPUT_OBJ_ADDR = 6;
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static const uint8_t GET_PWM_OUTPUT_OBJ_ADDR = 7;
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static const uint8_t MCU_ID_OBJ_ADDR = 8;
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static const uint8_t UPDATE_NODE_ID_OBJ_ADDR = 9;
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static const uint8_t ENUM_OBJ_ADDR = 10;
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static const uint8_t TELEMETRY_OBJ_ADDR = 11;
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static const uint16_t SET_PWM_MIN_INTERVAL_US = 2500;
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static const uint32_t TELEMETRY_INTERVAL_US = 100000;
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static const uint32_t SET_PWM_TIMEOUT_US = 2000;
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static const uint16_t TELEMETRY_TIMEOUT_US = 500;
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static const uint16_t ENUMERATION_TIMEOUT_MS = 30000;
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static const uint8_t CAN_IFACE_INDEX = 0;
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};
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