mirror of https://github.com/ArduPilot/ardupilot
70 lines
2.2 KiB
C++
70 lines
2.2 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Author: Oliver Walters / Currawong Engineering Pty Ltd
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*/
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#pragma once
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#include <AP_CANManager/AP_CANManager.h>
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#include "AP_PiccoloCAN_Device.h"
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#include "piccolo_protocol/ServoPackets.h"
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#if HAL_PICCOLO_CAN_ENABLE
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#define PICCOLO_CAN_MAX_NUM_SERVO 16
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#define PICCOLO_CAN_MAX_GROUP_SERVO (PICCOLO_CAN_MAX_NUM_SERVO / 4)
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/*
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* Class representing an individual PiccoloCAN servo
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*/
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class AP_PiccoloCAN_Servo : public AP_PiccoloCAN_Device
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{
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public:
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virtual bool handle_can_frame(AP_HAL::CANFrame &frame) override;
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virtual bool is_enabled(void) const override { return status.statusA.status.enabled; }
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// Helper functions for accessing servo status data
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float position() const { return (float) status.statusA.position; }
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float commandedPosition() const { return (float) status.statusA.command; }
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float current() const { return (float) status.statusB.current * 0.01f; }
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float voltage() const { return (float) status.statusB.voltage * 0.01f; }
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float speed() const { return (float) status.statusB.speed; }
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uint8_t dutyCycle() const { return abs(status.statusB.dutyCycle); }
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float temperature() const { return (float) status.statusB.temperature; }
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int16_t command = 0;
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bool newCommand = false;
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bool newTelemetry = false;
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// Status / telemetry data
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struct Status_t {
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Servo_StatusA_t statusA;
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Servo_StatusB_t statusB;
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} status;
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// Settings information
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struct Settings_t {
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Servo_Firmware_t firmware;
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Servo_Address_t address;
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Servo_SettingsInfo_t settings;
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} settings;
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};
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#endif // HAL_PICCOLO_CAN_ENABLE
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