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- #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();
-
- AP_ToshibaCAN(const AP_ToshibaCAN &other) = delete;
- AP_ToshibaCAN &operator=(const AP_ToshibaCAN&) = delete;
-
- static AP_ToshibaCAN *get_tcan(uint8_t driver_index);
-
- void init(uint8_t driver_index, bool enable_filters) override;
-
- void update();
-
- void send_esc_telemetry_mavlink(uint8_t mav_chan);
- private:
-
- void loop();
-
- bool write_frame(uavcan::CanFrame &out_frame, uavcan::MonotonicTime timeout);
-
- bool read_frame(uavcan::CanFrame &recv_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] { };
-
- HAL_Semaphore _rc_out_sem;
- uint16_t _scaled_output[TOSHIBACAN_MAX_NUM_ESCS];
- uint16_t update_count;
- uint16_t update_count_buffered;
- uint16_t update_count_sent;
- uint8_t send_stage;
-
- HAL_Semaphore _telem_sem;
- struct telemetry_info_t {
- uint16_t rpm;
- uint16_t millivolts;
- uint16_t temperature;
- uint16_t count;
- bool new_data;
- } _telemetry[TOSHIBACAN_MAX_NUM_ESCS];
- uint32_t _telemetry_req_ms;
- uint8_t _telemetry_temp_req_counter;
-
- uint16_t _esc_present_bitmask;
-
- 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];
- };
-
- union motor_rotation_cmd_t {
- struct PACKED {
- uint16_t motor4;
- uint16_t motor3;
- uint16_t motor2;
- uint16_t motor1;
- };
- uint8_t data[8];
- };
-
- union motor_request_data_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];
- };
-
- union motor_reply_data1_t {
- struct PACKED {
- uint8_t rxng:1;
- uint8_t state:7;
- uint16_t rpm;
- uint16_t reserved;
- uint16_t millivolts;
- uint8_t position_est_error;
- };
- uint8_t data[8];
- };
-
- uavcan::CanFrame unlock_frame;
- uavcan::CanFrame mot_rot_frame1;
- uavcan::CanFrame mot_rot_frame2;
- uavcan::CanFrame mot_rot_frame3;
- };
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