ardupilot/libraries/AP_KDECAN/AP_KDECAN.h

127 lines
3.7 KiB
C++

/*
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/>.
*/
/*
* AP_KDECAN.h
*
* Author: Francisco Ferreira
*/
#pragma once
#include <AP_CANManager/AP_CANDriver.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
#include <AP_HAL/Semaphores.h>
#include <AP_Param/AP_Param.h>
#include <AP_ESC_Telem/AP_ESC_Telem_Backend.h>
#include <atomic>
// there are 12 motor functions in SRV_Channel but CAN driver can't keep up
#define KDECAN_MAX_NUM_ESCS 8
class AP_KDECAN : public AP_CANDriver, public AP_ESC_Telem_Backend {
public:
AP_KDECAN();
/* Do not allow copies */
CLASS_NO_COPY(AP_KDECAN);
static const struct AP_Param::GroupInfo var_info[];
// Return KDECAN from @driver_index or nullptr if it's not ready or doesn't exist
static AP_KDECAN *get_kdecan(uint8_t driver_index);
void init(uint8_t driver_index, bool enable_filters) override;
bool add_interface(AP_HAL::CANIface* can_iface) override;
// called from SRV_Channels
void update();
// check that arming can happen
bool pre_arm_check(char* reason, uint8_t reason_len);
// caller checks that vehicle isn't armed
// start_stop: true to start, false to stop
bool run_enumeration(bool start_stop);
private:
void loop();
bool _initialized;
char _thread_name[11];
uint8_t _driver_index;
AP_HAL::CANIface* _can_iface;
HAL_EventHandle _event_handle;
AP_Int8 _num_poles;
// ESC detected information
uint32_t _esc_present_bitmask;
uint8_t _esc_max_node_id;
// enumeration
HAL_Semaphore _enum_sem;
enum enumeration_state_t : uint8_t {
ENUMERATION_STOPPED,
ENUMERATION_START,
ENUMERATION_STOP,
ENUMERATION_RUNNING
} _enumeration_state = ENUMERATION_STOPPED;
// PWM output
HAL_Semaphore _rc_out_sem;
std::atomic<bool> _new_output;
uint16_t _scaled_output[KDECAN_MAX_NUM_ESCS];
union frame_id_t {
struct PACKED {
uint8_t object_address;
uint8_t destination_id;
uint8_t source_id;
uint8_t priority:5;
uint8_t unused:3;
};
uint32_t value;
};
static const uint8_t AUTOPILOT_NODE_ID = 0;
static const uint8_t BROADCAST_NODE_ID = 1;
static const uint8_t ESC_NODE_ID_FIRST = 2;
static const uint8_t ESC_INFO_OBJ_ADDR = 0;
static const uint8_t SET_PWM_OBJ_ADDR = 1;
static const uint8_t VOLTAGE_OBJ_ADDR = 2;
static const uint8_t CURRENT_OBJ_ADDR = 3;
static const uint8_t RPM_OBJ_ADDR = 4;
static const uint8_t TEMPERATURE_OBJ_ADDR = 5;
static const uint8_t GET_PWM_INPUT_OBJ_ADDR = 6;
static const uint8_t GET_PWM_OUTPUT_OBJ_ADDR = 7;
static const uint8_t MCU_ID_OBJ_ADDR = 8;
static const uint8_t UPDATE_NODE_ID_OBJ_ADDR = 9;
static const uint8_t ENUM_OBJ_ADDR = 10;
static const uint8_t TELEMETRY_OBJ_ADDR = 11;
static const uint16_t SET_PWM_MIN_INTERVAL_US = 2500;
static const uint32_t TELEMETRY_INTERVAL_US = 100000;
static const uint32_t SET_PWM_TIMEOUT_US = 2000;
static const uint16_t TELEMETRY_TIMEOUT_US = 500;
static const uint16_t ENUMERATION_TIMEOUT_MS = 30000;
};
#endif //HAL_NUM_CAN_IFACES