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AP_PiccoloCAN: Add user configurable operations to adjust Piccolo CAN ESC behaviour

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This commit is contained in:
Oliver Walters 2020-09-02 13:52:19 +10:00 committed by Andrew Tridgell
parent c78dcb15a1
commit a98babc02c
3 changed files with 58 additions and 1 deletions
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6
libraries/AP_CANManager/AP_CANDriver.cpp
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@ -54,6 +54,12 @@ const AP_Param::GroupInfo AP_CANManager::CANDriver_Params::var_info[] = {
AP_SUBGROUPPTR(_testcan, "TST_", 4, AP_CANManager::CANDriver_Params, CANTester),
#endif
#if (APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_ArduSub))
// @Group: PC_
// @Path: ../AP_PiccoloCAN/AP_PiccoloCAN.cpp
AP_SUBGROUPPTR(_pcan, "PC_", 5, AP_BoardConfig_CAN::Driver, AP_PiccoloCAN),
#endif
AP_GROUPEND
};
#endif

38
libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
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@ -23,6 +23,7 @@
#if HAL_PICCOLO_CAN_ENABLE
#include <AP_Param/AP_Param.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_CANManager/AP_CANManager.h>
#include <AP_Common/AP_Common.h>
@ -37,13 +38,48 @@
#include <AP_PiccoloCAN/piccolo_protocol/ESCVelocityProtocol.h>
#include <AP_PiccoloCAN/piccolo_protocol/ESCPackets.h>
extern const AP_HAL::HAL& hal;
#define debug_can(level_debug, fmt, args...) do { AP::can().log_text(level_debug, "PiccoloCAN", fmt, ##args); } while (0)
// table of user-configurable Piccolo CAN bus parameters
const AP_Param::GroupInfo AP_PiccoloCAN::var_info[] = {
// @Param: ESC_BM
// @DisplayName: ESC channels
// @Description: Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
// @Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16
// @User: Advanced
AP_GROUPINFO("ESC_BM", 1, AP_PiccoloCAN, _esc_bm, 0),
// @Param: ESC_MS
// @DisplayName: ESC command rate
// @Description: Output rate of ESC command messages
// @Units: ms
// @Range: 2 100
AP_GROUPINFO("ESC_MS", 2, AP_PiccoloCAN, _esc_ms, PICCOLO_MSG_RATE_MS_DEFAULT),
// @Param: SRV_BM
// @DisplayName: Servo channels
// @Description: Bitmask defining which servo channels are to be transmitted over PiccoloCAN
// @Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16
// @User: Advanced
AP_GROUPINFO("SRV_BM", 3, AP_PiccoloCAN, _srv_bm, 0),
// @Param: SRV_MS
// @DisplayName: Servo command rate
// @Description: Output rate of servo command messages
// @Units: ms
// @Range: 2 100
AP_GROUPINFO("SRV_MS", 4, AP_PiccoloCAN, _srv_ms, PICCOLO_MSG_RATE_MS_DEFAULT),
AP_GROUPEND
};
AP_PiccoloCAN::AP_PiccoloCAN()
{
AP_Param::setup_object_defaults(this, var_info);
debug_can(AP_CANManager::LOG_INFO, "PiccoloCAN: constructed\n\r");
}

15
libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
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@ -21,6 +21,8 @@
#include <AP_CANManager/AP_CANDriver.h>
#include <AP_HAL/Semaphores.h>
#include <AP_Param/AP_Param.h>
#include "piccolo_protocol/ESCPackets.h"
// maximum number of ESC allowed on CAN bus simultaneously
@ -33,6 +35,10 @@
#if HAL_PICCOLO_CAN_ENABLE
#define PICCOLO_MSG_RATE_MS_MIN 2
#define PICCOLO_MSG_RATE_MS_MAX 100
#define PICCOLO_MSG_RATE_MS_DEFAULT 20
class AP_PiccoloCAN : public AP_CANDriver
{
public:
@ -60,6 +66,8 @@ public:
AP_PiccoloCAN(const AP_PiccoloCAN &other) = delete;
AP_PiccoloCAN &operator=(const AP_PiccoloCAN&) = delete;
static const struct AP_Param::GroupInfo var_info[];
// Return PiccoloCAN from @driver_index or nullptr if it's not ready or doesn't exist
static AP_PiccoloCAN *get_pcan(uint8_t driver_index);
@ -125,6 +133,13 @@ private:
} _esc_info[PICCOLO_CAN_MAX_NUM_ESC];
// Piccolo CAN parameters
AP_Int32 _srv_bm; //! Servo selection bitmask
AP_Int32 _srv_ms; //! Servo update rate (ms)
AP_Int32 _esc_bm; //! ESC selection bitmask
AP_Int32 _esc_ms; //! ESC update rate (ms)
};
#endif // HAL_PICCOLO_CAN_ENABLE