ardupilot/libraries/AP_CANManager/AP_CANTester_KDECAN.h

83 lines
2.4 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/>.
*/
/*
* Author: Francisco Ferreira
* Modified for CANManager by Siddharth B Purohit
*/
#include "AP_CANDriver.h"
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_MAX_CAN_PROTOCOL_DRIVERS
#define NUM_ESCS 4
class AP_CANTester_KDECAN
{
public:
AP_CANTester_KDECAN()
{
for (uint8_t i = 0; i < NUM_ESCS; i++) {
_esc_info[i].mcu_id = 0xA5961824E7BD3C00 | i;
}
}
bool init(AP_HAL::CANIface* can_iface);
void loop(void);
void print_stats(void);
bool send_enumeration(uint8_t num);
private:
uint8_t _driver_index = 0;
uint8_t _interface = 0;
AP_HAL::CANIface* _can_iface;
uint8_t _mask_received_pwm = 0;
struct esc_info {
uint8_t node_id;
uint64_t mcu_id;
uint64_t enum_timeout;
esc_info() : node_id(1), mcu_id(0), enum_timeout(0) {}
} _esc_info[NUM_ESCS];
uint8_t _max_node_id = 0;
static const uint8_t BROADCAST_NODE_ID = 1;
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 START_ENUM_OBJ_ADDR = 10;
static const uint8_t TELEMETRY_OBJ_ADDR = 11;
struct {
uint32_t frame_id;
uint32_t count;
} counters[100];
void count_msg(uint32_t frame_id);
HAL_EventHandle _event_handle;
};
#endif