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ardupilot/libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL/AP_HAL.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
#include <AP_HAL/utility/sparse-endian.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_CANManager/AP_CANManager.h>
#include <AP_Common/AP_Common.h>
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_HAL/utility/sparse-endian.h>
#include <SRV_Channel/SRV_Channel.h>
#include <GCS_MAVLink/GCS.h>
#include "AP_ToshibaCAN.h"
#include <AP_Logger/AP_Logger.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal;
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#define debug_can(level_debug, fmt, args...) do { AP::can().log_text(level_debug, "ToshibaCAN", fmt, #args); } while (0)
#else
#define debug_can(level_debug, fmt, args...)
#endif
// stupid compiler is not able to optimise this under gnu++11
// move this back when moving to gnu++17
const uint16_t AP_ToshibaCAN::TOSHIBACAN_SEND_TIMEOUT_US = 500;
AP_ToshibaCAN::AP_ToshibaCAN()
{
debug_can(AP_CANManager::LOG_INFO, "ToshibaCAN: constructed\n\r");
(void)COMMAND_STOP;
(void)MOTOR_DATA5;
}
AP_ToshibaCAN *AP_ToshibaCAN::get_tcan(uint8_t driver_index)
{
if (driver_index >= AP::can().get_num_drivers() ||
AP::can().get_driver_type(driver_index) != AP_CANManager::Driver_Type_ToshibaCAN) {
return nullptr;
}
return static_cast<AP_ToshibaCAN*>(AP::can().get_driver(driver_index));
}
bool AP_ToshibaCAN::add_interface(AP_HAL::CANIface* can_iface) {
if (_can_iface != nullptr) {
debug_can(AP_CANManager::LOG_ERROR, "ToshibaCAN: Multiple Interface not supported\n\r");
return false;
}
_can_iface = can_iface;
if (_can_iface == nullptr) {
debug_can(AP_CANManager::LOG_ERROR, "ToshibaCAN: CAN driver not found\n\r");
return false;
}
if (!_can_iface->is_initialized()) {
debug_can(AP_CANManager::LOG_ERROR, "ToshibaCAN: Driver not initialized\n\r");
return false;
}
if (!_can_iface->set_event_handle(&_event_handle)) {
debug_can(AP_CANManager::LOG_ERROR, "ToshibaCAN: Cannot add event handle\n\r");
return false;
}
return true;
}
// initialise ToshibaCAN bus
void AP_ToshibaCAN::init(uint8_t driver_index, bool enable_filters)
{
_driver_index = driver_index;
debug_can(AP_CANManager::LOG_DEBUG, "ToshibaCAN: starting init\n\r");
if (_initialized) {
debug_can(AP_CANManager::LOG_ERROR, "ToshibaCAN: already initialized\n\r");
return;
}
if (_can_iface == nullptr) {
debug_can(AP_CANManager::LOG_ERROR, "ToshibaCAN: Interface not found\n\r");
return;
}
// start calls to loop in separate thread
if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_ToshibaCAN::loop, void), _thread_name, 4096, AP_HAL::Scheduler::PRIORITY_MAIN, 1)) {
debug_can(AP_CANManager::LOG_ERROR, "ToshibaCAN: couldn't create thread\n\r");
return;
}
_initialized = true;
debug_can(AP_CANManager::LOG_DEBUG, "ToshibaCAN: init done\n\r");
return;
}
// loop to send output to ESCs in background thread
void AP_ToshibaCAN::loop()
{
uint64_t timeout = 0;
const uint32_t timeout_us = MIN(AP::scheduler().get_loop_period_us(), TOSHIBACAN_SEND_TIMEOUT_US);
while (true) {
if (!_initialized) {
// if not initialised wait 2ms
debug_can(AP_CANManager::LOG_DEBUG, "ToshibaCAN: not initialized\n\r");
hal.scheduler->delay_microseconds(2000);
continue;
}
// check for updates
if (update_count == update_count_sent) {
hal.scheduler->delay_microseconds(50);
continue;
}
// prepare commands and frames
if (send_stage == 0) {
motor_lock_cmd_t unlock_cmd = {};
motor_rotation_cmd_t mot_rot_cmd1;
motor_rotation_cmd_t mot_rot_cmd2;
motor_rotation_cmd_t mot_rot_cmd3;
{
// take semaphore to read scaled motor outputs
WITH_SEMAPHORE(_rc_out_sem);
// prepare command to lock or unlock motors
unlock_cmd.motor1 = (_scaled_output[0] == 0) ? 2 : 1;
unlock_cmd.motor2 = (_scaled_output[1] == 0) ? 2 : 1;
unlock_cmd.motor3 = (_scaled_output[2] == 0) ? 2 : 1;
unlock_cmd.motor4 = (_scaled_output[3] == 0) ? 2 : 1;
unlock_cmd.motor5 = (_scaled_output[4] == 0) ? 2 : 1;
unlock_cmd.motor6 = (_scaled_output[5] == 0) ? 2 : 1;
unlock_cmd.motor7 = (_scaled_output[6] == 0) ? 2 : 1;
unlock_cmd.motor8 = (_scaled_output[7] == 0) ? 2 : 1;
unlock_cmd.motor9 = (_scaled_output[8] == 0) ? 2 : 1;
unlock_cmd.motor10 = (_scaled_output[9] == 0) ? 2 : 1;
unlock_cmd.motor11 = (_scaled_output[10] == 0) ? 2 : 1;
unlock_cmd.motor12 = (_scaled_output[11] == 0) ? 2 : 1;
// prepare command to spin motors in bank1
mot_rot_cmd1.motor1 = htobe16(_scaled_output[0]);
mot_rot_cmd1.motor2 = htobe16(_scaled_output[1]);
mot_rot_cmd1.motor3 = htobe16(_scaled_output[2]);
mot_rot_cmd1.motor4 = htobe16(_scaled_output[3]);
// prepare message to spin motors in bank2
mot_rot_cmd2.motor1 = htobe16(_scaled_output[4]);
mot_rot_cmd2.motor2 = htobe16(_scaled_output[5]);
mot_rot_cmd2.motor3 = htobe16(_scaled_output[6]);
mot_rot_cmd2.motor4 = htobe16(_scaled_output[7]);
// prepare message to spin motors in bank3
mot_rot_cmd3.motor1 = htobe16(_scaled_output[8]);
mot_rot_cmd3.motor2 = htobe16(_scaled_output[9]);
mot_rot_cmd3.motor3 = htobe16(_scaled_output[10]);
mot_rot_cmd3.motor4 = htobe16(_scaled_output[11]);
// copy update time
update_count_buffered = update_count;
}
unlock_frame = {(uint8_t)COMMAND_LOCK, unlock_cmd.data, sizeof(unlock_cmd.data)};
mot_rot_frame1 = {((uint8_t)COMMAND_MOTOR1 & AP_HAL::CANFrame::MaskStdID), mot_rot_cmd1.data, sizeof(mot_rot_cmd1.data)};
mot_rot_frame2 = {((uint8_t)COMMAND_MOTOR2 & AP_HAL::CANFrame::MaskStdID), mot_rot_cmd2.data, sizeof(mot_rot_cmd2.data)};
mot_rot_frame3 = {((uint8_t)COMMAND_MOTOR3 & AP_HAL::CANFrame::MaskStdID), mot_rot_cmd3.data, sizeof(mot_rot_cmd3.data)};
// advance to next stage
send_stage++;
}
// send unlock command
if (send_stage == 1) {
timeout = AP_HAL::native_micros64() + timeout_us;
if (!write_frame(unlock_frame, timeout)) {
continue;
}
send_stage++;
}
// send output to motor bank3
if (send_stage == 2) {
timeout = AP_HAL::native_micros64() + timeout_us;
if (!write_frame(mot_rot_frame3, timeout)) {
continue;
}
send_stage++;
}
// send output to motor bank2
if (send_stage == 3) {
timeout = AP_HAL::native_micros64() + timeout_us;
if (!write_frame(mot_rot_frame2, timeout)) {
continue;
}
send_stage++;
}
// send output to motor bank1
if (send_stage == 4) {
timeout = AP_HAL::native_micros64() + timeout_us;
if (!write_frame(mot_rot_frame1, timeout)) {
continue;
}
send_stage++;
}
// check if we should request update from ESCs
if (send_stage == 5) {
uint32_t now_ms = AP_HAL::native_millis();
uint32_t diff_ms = now_ms - _telemetry_req_ms;
// check if 100ms has passed since last update request
if (diff_ms >= TOSHIBA_CAN_ESC_UPDATE_MS) {
// set _telem_req_ms to time we ideally should have requested update
if (diff_ms >= 2 * TOSHIBA_CAN_ESC_UPDATE_MS) {
_telemetry_req_ms = now_ms;
} else {
_telemetry_req_ms += TOSHIBA_CAN_ESC_UPDATE_MS;
}
// prepare command to request data1 (rpm and voltage) from all ESCs
motor_request_data_cmd_t request_data_cmd = get_motor_request_data_cmd(1);
AP_HAL::CANFrame request_data_frame;
request_data_frame = {(uint8_t)COMMAND_REQUEST_DATA, request_data_cmd.data, sizeof(request_data_cmd.data)};
// send request data command
timeout = AP_HAL::native_micros64() + timeout_us;
if (!write_frame(request_data_frame, timeout)) {
continue;
}
// increment count to request temperature and usage
_telemetry_temp_req_counter++;
_telemetry_usage_req_counter++;
}
send_stage++;
}
// check if we should request temperature from ESCs
if (send_stage == 6) {
if (_telemetry_temp_req_counter > 10) {
_telemetry_temp_req_counter = 0;
// prepare command to request data2 (temperature) from all ESCs
motor_request_data_cmd_t request_data_cmd = get_motor_request_data_cmd(2);
AP_HAL::CANFrame request_data_frame;
request_data_frame = {(uint8_t)COMMAND_REQUEST_DATA, request_data_cmd.data, sizeof(request_data_cmd.data)};
// send request data command
timeout = AP_HAL::native_micros64() + timeout_us;
if (!write_frame(request_data_frame, timeout)) {
continue;
}
}
send_stage++;
}
// check if we should request usage from ESCs
if (send_stage == 7) {
if (_telemetry_usage_req_counter > 100) {
_telemetry_usage_req_counter = 0;
// prepare command to request data2 (temperature) from all ESCs
motor_request_data_cmd_t request_data_cmd = get_motor_request_data_cmd(3);
AP_HAL::CANFrame request_data_frame;
request_data_frame = {(uint8_t)COMMAND_REQUEST_DATA, request_data_cmd.data, sizeof(request_data_cmd.data)};
// send request data command
timeout = AP_HAL::native_micros64() + timeout_us;
if (!write_frame(request_data_frame, timeout)) {
continue;
}
}
send_stage++;
}
// check for replies from ESCs
if (send_stage == 8) {
AP_HAL::CANFrame recv_frame;
while (read_frame(recv_frame, timeout)) {
#if HAL_WITH_ESC_TELEM
// decode rpm and voltage data
if ((recv_frame.id >= MOTOR_DATA1) && (recv_frame.id <= MOTOR_DATA1 + TOSHIBACAN_MAX_NUM_ESCS)) {
// copy contents to our structure
motor_reply_data1_t reply_data;
memcpy(reply_data.data, recv_frame.data, sizeof(reply_data.data));
// store response in telemetry array
const uint8_t esc_id = recv_frame.id - MOTOR_DATA1;
if (esc_id < TOSHIBACAN_MAX_NUM_ESCS) {
update_rpm(esc_id, (int16_t)be16toh(reply_data.rpm));
// update total current
const uint32_t now_ms = AP_HAL::native_millis();
const uint32_t diff_ms = now_ms - _telemetry[esc_id].last_update_ms;
TelemetryData t {};
t.voltage = float(be16toh(reply_data.voltage_mv)) * 0.001f; // millivolts to volts
t.current = MAX((int16_t)be16toh(reply_data.current_ma), 0) * (4.0f * 0.001f); // milli-amps to amps
if (diff_ms <= 1000) {
// convert centi-amps miliseconds to mAh
_telemetry[esc_id].current_tot_mah += t.current * diff_ms * amp_ms_to_mah;
}
t.consumption_mah = _telemetry[esc_id].current_tot_mah;
update_telem_data(esc_id, t,
AP_ESC_Telem_Backend::TelemetryType::CURRENT
| AP_ESC_Telem_Backend::TelemetryType::VOLTAGE
| AP_ESC_Telem_Backend::TelemetryType::CONSUMPTION);
_telemetry[esc_id].last_update_ms = now_ms;
_esc_present_bitmask_recent |= ((uint32_t)1 << esc_id);
}
}
// decode temperature data
if ((recv_frame.id >= MOTOR_DATA2) && (recv_frame.id <= MOTOR_DATA2 + TOSHIBACAN_MAX_NUM_ESCS)) {
// motor data2 data format is 8 bytes (64 bits)
// 10 bits: U temperature
// 10 bits: V temperature
// 10 bits: W temperature
// 10 bits: motor temperature
// remaining 24 bits: reserved
const uint16_t u_temp = ((uint16_t)recv_frame.data[0] << 2) | ((uint16_t)recv_frame.data[1] >> 6);
const uint16_t v_temp = (((uint16_t)recv_frame.data[1] & (uint16_t)0x3F) << 4) | (((uint16_t)recv_frame.data[2] & (uint16_t)0xF0) >> 4);
const uint16_t w_temp = (((uint16_t)recv_frame.data[2] & (uint16_t)0x0F) << 6) | (((uint16_t)recv_frame.data[3] & (uint16_t)0xFC) >> 2);
const uint16_t motor_temp = (((uint16_t)recv_frame.data[3] & (uint16_t)0x03) << 8) | ((uint16_t)recv_frame.data[4]);
const uint16_t temp_max = MAX(u_temp, MAX(v_temp, w_temp));
// store response in telemetry array
uint8_t esc_id = recv_frame.id - MOTOR_DATA2;
if (esc_id < TOSHIBACAN_MAX_NUM_ESCS) {
const int16_t esc_temp_deg = temp_max < 100 ? 0 : temp_max / 5 - 20;
const int16_t motor_temp_deg = motor_temp < 100 ? 0 : motor_temp / 5 - 20;
_esc_present_bitmask_recent |= ((uint32_t)1 << esc_id);
TelemetryData t {
.temperature_cdeg = int16_t(esc_temp_deg * 100)
};
t.motor_temp_cdeg = int16_t(motor_temp_deg * 100);
update_telem_data(esc_id, t, AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE |
AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE);
}
}
// decode cumulative usage data
if ((recv_frame.id >= MOTOR_DATA3) && (recv_frame.id <= MOTOR_DATA3 + TOSHIBACAN_MAX_NUM_ESCS)) {
// motor data3 data format is 8 bytes (64 bits)
// 3 bytes: usage in seconds
// 2 bytes: number of times rotors started and stopped
// 3 bytes: reserved
const uint32_t usage_sec = ((uint32_t)recv_frame.data[0] << 16) | ((uint32_t)recv_frame.data[1] << 8) | (uint32_t)recv_frame.data[2];
// store response in telemetry array
uint8_t esc_id = recv_frame.id - MOTOR_DATA3;
if (esc_id < TOSHIBACAN_MAX_NUM_ESCS) {
_esc_present_bitmask_recent |= ((uint32_t)1 << esc_id);
TelemetryData t {};
t.usage_s = usage_sec;
update_telem_data(esc_id, t, AP_ESC_Telem_Backend::TelemetryType::USAGE);
}
}
#endif // HAL_WITH_ESC_TELEM
}
// update bitmask of escs that replied
update_esc_present_bitmask();
}
// success!
send_stage = 0;
// record success so we don't send this frame again
update_count_sent = update_count_buffered;
}
}
// write frame on CAN bus
bool AP_ToshibaCAN::write_frame(AP_HAL::CANFrame &out_frame, uint64_t timeout)
{
// wait for space in buffer to send command
bool read_select = false;
bool write_select = true;
bool ret;
do {
ret = _can_iface->select(read_select, write_select, &out_frame, timeout);
if (!ret || !write_select) {
// delay if no space is available to send
hal.scheduler->delay_microseconds(50);
}
} while (!ret || !write_select);
// send frame and return success
return (_can_iface->send(out_frame, timeout, AP_HAL::CANIface::AbortOnError) == 1);
}
// read frame on CAN bus, returns true on success
bool AP_ToshibaCAN::read_frame(AP_HAL::CANFrame &recv_frame, uint64_t timeout)
{
// wait for space in buffer to read
bool read_select = true;
bool write_select = false;
int ret = _can_iface->select(read_select, write_select, nullptr, timeout);
if (!ret || !read_select) {
// return false if no data is available to read
return false;
}
uint64_t time;
AP_HAL::CANIface::CanIOFlags flags {};
// read frame and return success
return (_can_iface->receive(recv_frame, time, flags) == 1);
}
// update esc_present_bitmask
void AP_ToshibaCAN::update_esc_present_bitmask()
{
// recently detected escs are immediately considered present
_esc_present_bitmask |= _esc_present_bitmask_recent;
// escs that don't respond disappear in 1 to 2 seconds
// set the _esc_present_bitmask to the "recent" bitmask and
// clear the "recent" bitmask every second
uint32_t now_ms = AP_HAL::native_millis();
if (now_ms - _esc_present_update_ms > 1000) {
_esc_present_bitmask = _esc_present_bitmask_recent;
_esc_present_bitmask_recent = 0;
_esc_present_update_ms = now_ms;
}
}
// called from SRV_Channels
void AP_ToshibaCAN::update()
{
// take semaphore and update outputs
{
WITH_SEMAPHORE(_rc_out_sem);
const bool armed = hal.util->get_soft_armed();
for (uint8_t i = 0; i < MIN(TOSHIBACAN_MAX_NUM_ESCS, 16); i++) {
const SRV_Channel *c = SRV_Channels::srv_channel(i);
if (!armed || (c == nullptr)) {
_scaled_output[i] = 0;
} else {
const uint16_t pwm_out = c->get_output_pwm();
if (pwm_out <= 1000) {
_scaled_output[i] = 0;
} else if (pwm_out >= 2000) {
_scaled_output[i] = TOSHIBACAN_OUTPUT_MAX;
} else {
_scaled_output[i] = TOSHIBACAN_OUTPUT_MIN + (pwm_out - 1000) * 0.001f * (TOSHIBACAN_OUTPUT_MAX - TOSHIBACAN_OUTPUT_MIN);
}
}
}
update_count++;
}
}
// helper function to create motor_request_data_cmd_t
AP_ToshibaCAN::motor_request_data_cmd_t AP_ToshibaCAN::get_motor_request_data_cmd(uint8_t request_id) const
{
motor_request_data_cmd_t req_data_cmd = {};
req_data_cmd.motor1 = request_id;
req_data_cmd.motor2 = request_id;
req_data_cmd.motor3 = request_id;
req_data_cmd.motor4 = request_id;
req_data_cmd.motor5 = request_id;
req_data_cmd.motor6 = request_id;
req_data_cmd.motor7 = request_id;
req_data_cmd.motor8 = request_id;
req_data_cmd.motor9 = request_id;
req_data_cmd.motor10 = request_id;
req_data_cmd.motor11 = request_id;
req_data_cmd.motor12 = request_id;
return req_data_cmd;
}
#endif // HAL_NUM_CAN_IFACES
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