AP_PiccoloCAN: Remove duplicated code

Fix doxygen markup for consistency Fix typos
ArduPilot · Feb 24, 2024 · 957b05e · 957b05e
1 parent 0ede7f5
commit 957b05e
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Showing 4 changed files with 15 additions and 94 deletions.
diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
@@ -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)

diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
@@ -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);
 
@@ -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;
 };

diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h
@@ -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,

diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ESC.cpp b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ESC.cpp
@@ -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)