Line data    Source code

       1             : /*
       2             :  * This file is free software: you can redistribute it and/or modify it
       3             :  * under the terms of the GNU General Public License as published by the
       4             :  * Free Software Foundation, either version 3 of the License, or
       5             :  * (at your option) any later version.
       6             :  *
       7             :  * This file is distributed in the hope that it will be useful, but
       8             :  * WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
      10             :  * See the GNU General Public License for more details.
      11             :  *
      12             :  * You should have received a copy of the GNU General Public License along
      13             :  * with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  *
      15             :  * Author: Oliver Walters / Currawong Engineering Pty Ltd
      16             :  */
      17             : 
      18             : #pragma once
      19             : 
      20             : #include "AP_PiccoloCAN_config.h"
      21             : 
      22             : #if AP_PICCOLOCAN_ENABLED
      23             : 
      24             : #include <AP_Math/AP_Math.h>
      25             : #include <AP_CANManager/AP_CANManager.h>
      26             : #include <AP_ESC_Telem/AP_ESC_Telem_Backend.h>
      27             : 
      28             : #include "AP_PiccoloCAN_config.h"
      29             : #include "AP_PiccoloCAN_Device.h"
      30             : #include "piccolo_protocol/ESCPackets.h"
      31             : 
      32             : #define PICCOLO_CAN_MAX_NUM_ESC 16
      33             : #define PICCOLO_CAN_MAX_GROUP_ESC (PICCOLO_CAN_MAX_NUM_ESC / 4)
      34             : 
      35             : 
      36             : /*
      37             :  * Class representing an individual PiccoloCAN ESC
      38             :  */
      39             : class AP_PiccoloCAN_ESC : public AP_PiccoloCAN_Device, public AP_ESC_Telem_Backend
      40             : {
      41             : public:
      42             : 
      43             :     virtual bool handle_can_frame(AP_HAL::CANFrame &frame) override;
      44             : 
      45           0 :     bool is_sw_inhibited(void) const { return status.statusA.status.swInhibit; }
      46           0 :     bool is_hw_inhibited(void) const { return status.statusA.status.hwInhibit; }
      47             : 
      48           0 :     virtual bool is_enabled(void) const override { return !is_sw_inhibited() && !is_hw_inhibited(); }
      49             : 
      50           0 :     float voltage() { return (float) status.statusB.voltage * 0.01f; }      // Convert to V
      51           0 :     float current() { return (float) status.statusB.current * 0.01f; }      // Convert to A
      52           0 :     uint16_t rpm() { return status.statusA.rpm; }
      53           0 :     float temperature() { return MAX(status.statusB.escTemperature, status.statusC.fetTemperature); }
      54           0 :     float motorTemperature() { return status.statusB.motorTemperature; }
      55             : 
      56             :     int16_t command;    //! Raw command to send to each ESC
      57             :     bool newCommand;    //! Is the command "new"?
      58             :     bool newTelemetry;  //! Is there new telemetry data available?
      59             : 
      60             :     // Status / telemetry data
      61             :     struct Status_t {
      62             :         ESC_StatusA_t statusA;
      63             :         ESC_StatusB_t statusB;
      64             :         ESC_StatusC_t statusC;
      65             : 
      66             :         ESC_WarningBits_t warnings;
      67             :         ESC_ErrorBits_t errors;
      68             :     } status;
      69             : 
      70             :     // Settings information
      71             :     struct Settings_t {
      72             :         ESC_Firmware_t firmware;
      73             :         ESC_Address_t address;
      74             :         ESC_EEPROMSettings_t eeprom;
      75             :     } settings;
      76             : };
      77             : 
      78             : #endif // AP_PICCOLOCAN_ENABLED