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AP_ToshibaCAN: driver to support Toshiba CAN ESCs

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Randy Mackay 2019-01-15 12:17:47 +09:00 committed by Andrew Tridgell
parent bc438676ab
commit fdf51a6a51
2 changed files with 370 additions and 0 deletions
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272
libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp Normal file
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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_WITH_UAVCAN
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
#include <AP_Common/AP_Common.h>
#include <AP_Common/Semaphore.h>
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_HAL/utility/sparse-endian.h>
#include <SRV_Channel/SRV_Channel.h>
#include "AP_ToshibaCAN.h"
extern const AP_HAL::HAL& hal;
#define debug_can(level_debug, fmt, args...) do { if ((level_debug) <= AP::can().get_debug_level_driver(_driver_index)) { printf(fmt, ##args); }} while (0)
// data format for messages from flight controller
static const uint8_t COMMAND_STOP = 0x0;
static const uint8_t COMMAND_LOCK = 0x10;
static const uint8_t COMMAND_REQUEST_DATA = 0x20;
static const uint8_t COMMAND_MOTOR3 = 0x3B;
static const uint8_t COMMAND_MOTOR2 = 0x3D;
static const uint8_t COMMAND_MOTOR1 = 0x3F;
// data format for messages from ESC
static const uint8_t MOTOR_DATA1 = 0x40;
static const uint8_t MOTOR_DATA2 = 0x50;
static const uint8_t MOTOR_DATA3 = 0x60;
static const uint8_t MOTOR_DATA5 = 0x80;
// processing definitions
static const uint16_t TOSHIBACAN_OUTPUT_MIN = 6300;
static const uint16_t TOSHIBACAN_OUTPUT_MAX = 32000;
static const uint16_t TOSHIBACAN_SEND_TIMEOUT_US = 500;
static const uint8_t CAN_IFACE_INDEX = 0;
AP_ToshibaCAN::AP_ToshibaCAN()
{
debug_can(2, "ToshibaCAN: constructed\n\r");
}
AP_ToshibaCAN *AP_ToshibaCAN::get_tcan(uint8_t driver_index)
{
if (driver_index >= AP::can().get_num_drivers() ||
AP::can().get_protocol_type(driver_index) != AP_BoardConfig_CAN::Protocol_Type_ToshibaCAN) {
return nullptr;
}
return static_cast<AP_ToshibaCAN*>(AP::can().get_driver(driver_index));
}
// initialise ToshibaCAN bus
void AP_ToshibaCAN::init(uint8_t driver_index)
{
_driver_index = driver_index;
debug_can(2, "ToshibaCAN: starting init\n\r");
if (_initialized) {
debug_can(1, "ToshibaCAN: already initialized\n\r");
return;
}
AP_HAL::CANManager* can_mgr = hal.can_mgr[driver_index];
if (can_mgr == nullptr) {
debug_can(1, "ToshibaCAN: no mgr for this driver\n\r");
return;
}
if (!can_mgr->is_initialized()) {
debug_can(1, "ToshibaCAN: mgr not initialized\n\r");
return;
}
_can_driver = can_mgr->get_driver();
if (_can_driver == nullptr) {
debug_can(1, "ToshibaCAN: no CAN driver\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(1, "ToshibaCAN: couldn't create thread\n\r");
return;
}
_initialized = true;
debug_can(2, "ToshibaCAN: init done\n\r");
return;
}
// loop to send output to ESCs in background thread
void AP_ToshibaCAN::loop()
{
uavcan::MonotonicTime timeout;
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(2, "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 & uavcan::CanFrame::MaskStdID), mot_rot_cmd1.data, sizeof(mot_rot_cmd1.data)};
mot_rot_frame2 = {((uint8_t)COMMAND_MOTOR2 & uavcan::CanFrame::MaskStdID), mot_rot_cmd2.data, sizeof(mot_rot_cmd2.data)};
mot_rot_frame3 = {((uint8_t)COMMAND_MOTOR3 & uavcan::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 = uavcan::MonotonicTime::fromUSec(AP_HAL::micros64() + timeout_us);
if (!write_frame(unlock_frame, timeout)) {
continue;
}
send_stage++;
}
// send output to motor bank3
if (send_stage == 2) {
timeout = uavcan::MonotonicTime::fromUSec(AP_HAL::micros64() + timeout_us);
if (!write_frame(mot_rot_frame3, timeout)) {
continue;
}
send_stage++;
}
// send output to motor bank2
if (send_stage == 3) {
timeout = uavcan::MonotonicTime::fromUSec(AP_HAL::micros64() + timeout_us);
if (!write_frame(mot_rot_frame2, timeout)) {
continue;
}
send_stage++;
}
// send output to motor bank1
if (send_stage == 4) {
timeout = uavcan::MonotonicTime::fromUSec(AP_HAL::micros64() + timeout_us);
if (!write_frame(mot_rot_frame1, timeout)) {
continue;
}
}
// 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(uavcan::CanFrame &out_frame, uavcan::MonotonicTime timeout)
{
// wait for space in buffer to send unlock command
uavcan::CanSelectMasks inout_mask;
do {
inout_mask.read = 0;
inout_mask.write = 1 << CAN_IFACE_INDEX;
_select_frames[CAN_IFACE_INDEX] = &out_frame;
_can_driver->select(inout_mask, _select_frames, timeout);
// delay if no space is available to send
if (!inout_mask.write) {
hal.scheduler->delay_microseconds(50);
}
} while (!inout_mask.write);
// send frame and return success
return (_can_driver->getIface(CAN_IFACE_INDEX)->send(out_frame, timeout, 0) == 1);
}
// called from SRV_Channels
void AP_ToshibaCAN::update()
{
// take semaphore and update outputs
WITH_SEMAPHORE(_rc_out_sem);
for (uint8_t i = 0; i < MIN(TOSHIBACAN_MAX_NUM_ESCS, 16); i++) {
SRV_Channel *c = SRV_Channels::srv_channel(i);
if (c == nullptr) {
_scaled_output[i] = 0;
} else {
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++;
}
#endif // HAL_WITH_UAVCAN

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libraries/AP_ToshibaCAN/AP_ToshibaCAN.h Normal file
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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/>.
*/
#pragma once
#include <AP_HAL/CAN.h>
#include <AP_HAL/Semaphores.h>
#define TOSHIBACAN_MAX_NUM_ESCS 12
class AP_ToshibaCAN : public AP_HAL::CANProtocol {
public:
AP_ToshibaCAN();
~AP_ToshibaCAN();
/* Do not allow copies */
AP_ToshibaCAN(const AP_ToshibaCAN &other) = delete;
AP_ToshibaCAN &operator=(const AP_ToshibaCAN&) = delete;
// Return ToshibaCAN from @driver_index or nullptr if it's not ready or doesn't exist
static AP_ToshibaCAN *get_tcan(uint8_t driver_index);
// initialise ToshibaCAN bus
void init(uint8_t driver_index) override;
// called from SRV_Channels
void update();
private:
// loop to send output to ESCs in background thread
void loop();
// write frame on CAN bus, returns true on success
bool write_frame(uavcan::CanFrame &out_frame, uavcan::MonotonicTime timeout);
bool _initialized;
char _thread_name[9];
uint8_t _driver_index;
uavcan::ICanDriver* _can_driver;
const uavcan::CanFrame* _select_frames[uavcan::MaxCanIfaces] { };
// PWM output
HAL_Semaphore _rc_out_sem;
uint16_t _scaled_output[TOSHIBACAN_MAX_NUM_ESCS];
uint16_t update_count; // counter increments each time main thread updates outputs
uint16_t update_count_buffered; // counter when outputs copied to buffer before before sending to ESCs
uint16_t update_count_sent; // counter of outputs successfully sent
uint8_t send_stage; // stage of sending algorithm (each stage sends one frame to ESCs)
// structure for sending motor lock command to ESC
union motor_lock_cmd_t {
struct PACKED {
uint8_t motor2:4;
uint8_t motor1:4;
uint8_t motor4:4;
uint8_t motor3:4;
uint8_t motor6:4;
uint8_t motor5:4;
uint8_t motor8:4;
uint8_t motor7:4;
uint8_t motor10:4;
uint8_t motor9:4;
uint8_t motor12:4;
uint8_t motor11:4;
};
uint8_t data[6];
};
// structure for sending turn rate command to ESC
union motor_rotation_cmd_t {
struct PACKED {
uint16_t motor4;
uint16_t motor3;
uint16_t motor2;
uint16_t motor1;
};
uint8_t data[8];
};
// frames to be sent
uavcan::CanFrame unlock_frame;
uavcan::CanFrame mot_rot_frame1;
uavcan::CanFrame mot_rot_frame2;
uavcan::CanFrame mot_rot_frame3;
};