tap::motor::DjiMotorTxHandler Class Reference

#include <dji_motor_tx_handler.hpp>

Collaboration diagram for tap::motor::DjiMotorTxHandler:

Public Member Functions
	DjiMotorTxHandler (Drivers *drivers)
mockable	~DjiMotorTxHandler ()=default
mockable void	addMotorToManager (DjiMotor *motor)
mockable void	encodeAndSendCanData ()
mockable void	removeFromMotorManager (const DjiMotor &motor)
mockable DjiMotor const *	getCan1Motor (MotorId motorId)
mockable DjiMotor const *	getCan2Motor (MotorId motorId)

Static Public Attributes
static constexpr int	DJI_MOTORS_PER_CAN = 8
static constexpr int	CAN_DJI_MESSAGE_SEND_LENGTH = 8
static constexpr uint32_t	CAN_DJI_LOW_IDENTIFIER = 0X200
static constexpr uint32_t	CAN_DJI_HIGH_IDENTIFIER = 0X1FF
static constexpr uint32_t	CAN_DJI_6020_CURRENT_IDENTIFIER = 0x1FE

Protected Member Functions
void	addMotorToManager (DjiMotor **canMotorStore, DjiMotor *const motor)
void	serializeMotorStoreSendData (DjiMotor **canMotorStore, modm::can::Message *messageLow, modm::can::Message *messageHigh, modm::can::Message *message6020Current, bool *validMotorMessageLow, bool *validMotorMessageHigh, bool *validMotorMessage6020Current)
void	removeFromMotorManager (const DjiMotor &motor, DjiMotor **motorStore)

Protected Attributes
Drivers *	drivers
DjiMotor *	can1MotorStore [DJI_MOTORS_PER_CAN] = {0}
DjiMotor *	can2MotorStore [DJI_MOTORS_PER_CAN] = {0}

Detailed Description

Uses modm can interface to send CAN packets to DjiMotor's connected to the two CAN buses.

To use this class properly, declare a motor somewhere, then call the initialize method, which allows one to start interacting with a motor connected via CAN bus. When the motor's initialize function is called, this object's addMotorToManager function is called and the motor is ready to have its control information sent to the motor on the bus.

To send messages, call this class's encodeAndSendCanData function.

Constructor & Destructor Documentation

DjiMotorTxHandler()

tap::motor::DjiMotorTxHandler::DjiMotorTxHandler ( Drivers *  drivers )

inline

~DjiMotorTxHandler()

mockable tap::motor::DjiMotorTxHandler::~DjiMotorTxHandler ( )

default

Member Function Documentation

addMotorToManager() [1/2]

void tap::motor::DjiMotorTxHandler::addMotorToManager ( DjiMotor **  canMotorStore, DjiMotor *const  motor  )

protected

addMotorToManager() [2/2]

void tap::motor::DjiMotorTxHandler::addMotorToManager

(

DjiMotor *

motor

)

Adds the motor to the manager so that it can receive motor messages from the CAN bus. If there is already a motor with the same ID in the manager, the program will abort

encodeAndSendCanData()

void tap::motor::DjiMotorTxHandler::encodeAndSendCanData

(

)

Sends motor commands across the CAN bus. Sends up to 4 messages (2 per CAN bus), though it may send less depending on which motors have been registered with the motor manager. Each messages encodes motor controller command information for up to 4 motors.

getCan1Motor()

DjiMotor const * tap::motor::DjiMotorTxHandler::getCan1Motor

(

MotorId

motorId

)

getCan2Motor()

DjiMotor const * tap::motor::DjiMotorTxHandler::getCan2Motor

(

MotorId

motorId

)

removeFromMotorManager() [1/2]

void tap::motor::DjiMotorTxHandler::removeFromMotorManager

(

const DjiMotor &

motor

)

Removes the motor from the motor manager.

removeFromMotorManager() [2/2]

void tap::motor::DjiMotorTxHandler::removeFromMotorManager ( const DjiMotor &  motor, DjiMotor **  motorStore  )

protected

serializeMotorStoreSendData()

void tap::motor::DjiMotorTxHandler::serializeMotorStoreSendData ( DjiMotor **  canMotorStore, modm::can::Message *  messageLow, modm::can::Message *  messageHigh, modm::can::Message *  message6020Current, bool *  validMotorMessageLow, bool *  validMotorMessageHigh, bool *  validMotorMessage6020Current  )

protected

Member Data Documentation

can1MotorStore

DjiMotor* tap::motor::DjiMotorTxHandler::can1MotorStore[DJI_MOTORS_PER_CAN] = {0}

protected

can2MotorStore

DjiMotor* tap::motor::DjiMotorTxHandler::can2MotorStore[DJI_MOTORS_PER_CAN] = {0}

protected

CAN_DJI_6020_CURRENT_IDENTIFIER

constexpr uint32_t tap::motor::DjiMotorTxHandler::CAN_DJI_6020_CURRENT_IDENTIFIER = 0x1FE

staticconstexpr

CAN message identifier for 6020s in current mode of control message.

CAN_DJI_HIGH_IDENTIFIER

constexpr uint32_t tap::motor::DjiMotorTxHandler::CAN_DJI_HIGH_IDENTIFIER = 0X1FF

staticconstexpr

CAN message identifier for "high" segment (high 4 CAN motor IDs) of control message.

CAN_DJI_LOW_IDENTIFIER

constexpr uint32_t tap::motor::DjiMotorTxHandler::CAN_DJI_LOW_IDENTIFIER = 0X200

staticconstexpr

CAN message identifier for "low" segment (low 4 CAN motor IDs) of control message.

CAN_DJI_MESSAGE_SEND_LENGTH

constexpr int tap::motor::DjiMotorTxHandler::CAN_DJI_MESSAGE_SEND_LENGTH = 8

staticconstexpr

CAN message length of each motor control message.

DJI_MOTORS_PER_CAN

constexpr int tap::motor::DjiMotorTxHandler::DJI_MOTORS_PER_CAN = 8

staticconstexpr

Number of motors on each CAN bus.

drivers

Drivers* tap::motor::DjiMotorTxHandler::drivers

protected

---

The documentation for this class was generated from the following files:

• fang-mcb-project/taproot/src/tap/motor/dji_motor_tx_handler.hpp
• fang-mcb-project/taproot/src/tap/motor/dji_motor_tx_handler.cpp