Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : /*
      16             :  * AP_KDECAN.h
      17             :  *
      18             :  *      Author: Francisco Ferreira and Tom Pittenger
      19             :  */
      20             :  
      21             : #pragma once
      22             : 
      23             : #include <AP_KDECAN/AP_KDECAN_config.h>
      24             : 
      25             : #if AP_KDECAN_ENABLED
      26             : #include <AP_HAL/AP_HAL.h>
      27             : 
      28             : #include <AP_CANManager/AP_CANSensor.h>
      29             : #include <AP_Param/AP_Param.h>
      30             : #include <AP_ESC_Telem/AP_ESC_Telem_Backend.h>
      31             : 
      32             : #define AP_KDECAN_USE_EVENTS (defined(CH_CFG_USE_EVENTS) && CH_CFG_USE_EVENTS == TRUE)
      33             : 
      34             : #if AP_KDECAN_USE_EVENTS
      35             : #include <ch.h>
      36             : #endif
      37             : 
      38             : #define DEFAULT_NUM_POLES 14
      39             : 
      40             : #define KDECAN_MAX_NUM_ESCS 8
      41             : 
      42             : class AP_KDECAN_Driver : public CANSensor
      43             : #if HAL_WITH_ESC_TELEM
      44             : , public AP_ESC_Telem_Backend
      45             : #endif
      46             : {
      47             : public:
      48             :     
      49             :     AP_KDECAN_Driver();
      50             : 
      51             :     // called from SRV_Channels
      52             :     void update(const uint8_t num_poles);
      53             : 
      54             : private:
      55             : 
      56             :     // handler for incoming frames
      57             :     void handle_frame(AP_HAL::CANFrame &frame) override;
      58             :     
      59             :     bool send_packet_uint16(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_us, const uint16_t data);
      60             :     bool send_packet(const uint8_t address, const uint8_t dest_id, const uint32_t timeout_us, const uint8_t *data = nullptr, const uint8_t data_len = 0);
      61             : 
      62             :     void loop();
      63             : 
      64             :     struct {
      65             :         uint32_t detected_bitmask;
      66             :         uint32_t detected_bitmask_ms;
      67             :     } _init;
      68             : 
      69             :     struct {
      70             :         HAL_Semaphore sem;
      71             :         bool is_new;
      72             :         uint32_t last_new_ms;
      73             :         uint16_t pwm[NUM_SERVO_CHANNELS];
      74             : #if AP_KDECAN_USE_EVENTS
      75             :         thread_t *thread_ctx;
      76             : #endif
      77             :     } _output;
      78             : 
      79             : #if HAL_WITH_ESC_TELEM
      80             :     struct {
      81             :         uint8_t num_poles;
      82             :         uint32_t timer_ms;
      83             :     } _telemetry;
      84             : #endif
      85             : 
      86             :     union frame_id_t {
      87             :         struct PACKED {
      88             :             uint8_t object_address;
      89             :             uint8_t destination_id;
      90             :             uint8_t source_id;
      91             :             uint8_t priority:5;
      92             :             uint8_t unused:3;
      93             :         };
      94             :         uint32_t value;
      95             :     };
      96             :     
      97             :     static const uint8_t AUTOPILOT_NODE_ID = 0;
      98             :     static const uint8_t BROADCAST_NODE_ID = 1;
      99             :     static const uint8_t ESC_NODE_ID_FIRST = 2;
     100             : 
     101             :     static const uint8_t ESC_INFO_OBJ_ADDR = 0;
     102             :     static const uint8_t SET_PWM_OBJ_ADDR = 1;
     103             :     static const uint8_t VOLTAGE_OBJ_ADDR = 2;
     104             :     static const uint8_t CURRENT_OBJ_ADDR = 3;
     105             :     static const uint8_t RPM_OBJ_ADDR = 4;
     106             :     static const uint8_t TEMPERATURE_OBJ_ADDR = 5;
     107             :     static const uint8_t GET_PWM_INPUT_OBJ_ADDR = 6;
     108             :     static const uint8_t GET_PWM_OUTPUT_OBJ_ADDR = 7;
     109             :     static const uint8_t MCU_ID_OBJ_ADDR = 8;
     110             :     static const uint8_t UPDATE_NODE_ID_OBJ_ADDR = 9;
     111             :     static const uint8_t ENUM_OBJ_ADDR = 10;
     112             :     static const uint8_t TELEMETRY_OBJ_ADDR = 11;
     113             : 
     114             : 
     115             :     static const uint32_t TELEMETRY_INTERVAL_MS = 100;
     116             : 
     117             : };
     118             : 
     119             : class AP_KDECAN {
     120             : public:
     121             :     AP_KDECAN();
     122             : 
     123             :     /* Do not allow copies */
     124             :     CLASS_NO_COPY(AP_KDECAN);
     125             : 
     126             :     static const struct AP_Param::GroupInfo var_info[];
     127             : 
     128             :     void init();
     129             :     void update();
     130             : 
     131    83384328 :     static AP_KDECAN *get_singleton() { return _singleton; }
     132             : 
     133             : private:
     134             :     static AP_KDECAN *_singleton;
     135             : 
     136             :     AP_Int8 _num_poles;
     137             :     AP_KDECAN_Driver *_driver;
     138             : };
     139             : namespace AP {
     140             :     AP_KDECAN *kdecan();
     141             : };
     142             : 
     143             : #endif // AP_KDECAN_ENABLED