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AP_PiccoloCAN: Remove duplicated code #17971

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Feb 24, 2024
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AP_PiccoloCAN: Remove duplicated code #17971

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76 changes: 0 additions & 76 deletions libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -403,82 +403,6 @@ void AP_PiccoloCAN::update()
#endif // HAL_LOGGING_ENABLED
}

#if HAL_GCS_ENABLED
// send ESC telemetry messages over MAVLink
void AP_PiccoloCAN::send_esc_telemetry_mavlink(uint8_t mav_chan)
{
// Arrays to store ESC telemetry data
uint8_t temperature[4] {};
uint16_t voltage[4] {};
uint16_t rpm[4] {};
uint16_t count[4] {};
uint16_t current[4] {};
uint16_t totalcurrent[4] {};

bool dataAvailable = false;

uint8_t idx = 0;

WITH_SEMAPHORE(_telem_sem);

for (uint8_t ii = 0; ii < PICCOLO_CAN_MAX_NUM_ESC; ii++) {

// Calculate index within storage array
idx = (ii % 4);

AP_PiccoloCAN_ESC &esc = _escs[idx];

// Has the ESC been heard from recently?
if (is_esc_present(ii)) {
dataAvailable = true;

// Provide the maximum ESC temperature in the telemetry stream
temperature[idx] = esc.temperature(); // Convert to C
voltage[idx] = esc.voltage() * 10; // Convert to cV
current[idx] = esc.current() * 10; // Convert to cA
totalcurrent[idx] = 0;
rpm[idx] = esc.rpm();
count[idx] = 0;
} else {
temperature[idx] = 0;
voltage[idx] = 0;
current[idx] = 0;
totalcurrent[idx] = 0;
rpm[idx] = 0;
count[idx] = 0;
}

// Send ESC telemetry in groups of 4
if ((ii % 4) == 3) {

if (dataAvailable) {
if (!HAVE_PAYLOAD_SPACE((mavlink_channel_t) mav_chan, ESC_TELEMETRY_1_TO_4)) {
continue;
}

switch (ii) {
case 3:
mavlink_msg_esc_telemetry_1_to_4_send((mavlink_channel_t) mav_chan, temperature, voltage, current, totalcurrent, rpm, count);
break;
case 7:
mavlink_msg_esc_telemetry_5_to_8_send((mavlink_channel_t) mav_chan, temperature, voltage, current, totalcurrent, rpm, count);
break;
case 11:
mavlink_msg_esc_telemetry_9_to_12_send((mavlink_channel_t) mav_chan, temperature, voltage, current, totalcurrent, rpm, count);
break;
case 15:
mavlink_msg_esc_telemetry_13_to_16_send((mavlink_channel_t) mav_chan, temperature, voltage, current, totalcurrent, rpm, count);
break;
default:
break;
}
}

dataAvailable = false;
}
}
}
#endif

// send servo messages over CAN
void AP_PiccoloCAN::send_servo_messages(void)
Expand Down
15 changes: 6 additions & 9 deletions libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
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Expand Up @@ -56,9 +56,6 @@ class AP_PiccoloCAN : public AP_CANDriver, public AP_ESC_Telem_Backend
// called from SRV_Channels
void update();

// send ESC telemetry messages over MAVLink
void send_esc_telemetry_mavlink(uint8_t mav_chan);

// return true if a particular servo is 'active' on the Piccolo interface
bool is_servo_channel_active(uint8_t chan);

Expand Down Expand Up @@ -125,14 +122,14 @@ class AP_PiccoloCAN : public AP_CANDriver, public AP_ESC_Telem_Backend
} _ecu_info;

// Piccolo CAN parameters
AP_Int32 _esc_bm; //! ESC selection bitmask
AP_Int16 _esc_hz; //! ESC update rate (Hz)
AP_Int32 _esc_bm; //!< ESC selection bitmask
AP_Int16 _esc_hz; //!< ESC update rate (Hz)

AP_Int32 _srv_bm; //! Servo selection bitmask
AP_Int16 _srv_hz; //! Servo update rate (Hz)
AP_Int32 _srv_bm; //!< Servo selection bitmask
AP_Int16 _srv_hz; //!< Servo update rate (Hz)

AP_Int16 _ecu_id; //! ECU Node ID
AP_Int16 _ecu_hz; //! ECU update rate (Hz)
AP_Int16 _ecu_id; //!< ECU Node ID
AP_Int16 _ecu_hz; //!< ECU update rate (Hz)

HAL_Semaphore _telem_sem;
};
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16 changes: 8 additions & 8 deletions libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h
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Original file line number Diff line number Diff line change
Expand Up @@ -27,18 +27,18 @@

#if HAL_PICCOLO_CAN_ENABLE

// Piccolo message groups form part of the CAN ID of each frame
//! Piccolo message groups form part of the CAN ID of each frame
enum class PiccoloCAN_MessageGroup : uint8_t {
SIMULATOR = 0x00, // Simulator messages
SENSOR = 0x04, // External sensors
ACTUATOR = 0x07, // Actuators (e.g. ESC / servo)
ECU_OUT = 0x08, // Messages *from* an ECU
ECU_IN = 0x09, // Message *to* an ECU
SIMULATOR = 0x00, //!< Simulator messages
SENSOR = 0x04, //!< External sensors
ACTUATOR = 0x07, //!< Actuators (e.g. ESC / servo)
ECU_OUT = 0x08, //!< Messages *from* an ECU
ECU_IN = 0x09, //!< Message *to* an ECU

SYSTEM = 0x19, // System messages (e.g. bootloader)
SYSTEM = 0x19, //!< System messages (e.g. bootloader)
};

// Piccolo actuator types differentiate between actuator frames
//! Piccolo actuator types differentiate between actuator frames
enum class PiccoloCAN_ActuatorType : uint8_t {
SERVO = 0x00,
ESC = 0x20,
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_PiccoloCAN/AP_PiccoloCAN_ESC.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@
#if HAL_PICCOLO_CAN_ENABLE

/*
* Decode a recevied CAN frame.
* Decode a received CAN frame.
* It is assumed at this point that the received frame is intended for *this* ESC
*/
bool AP_PiccoloCAN_ESC::handle_can_frame(AP_HAL::CANFrame &frame)
Expand Down
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