Support Valenok hardware

Zubax / sapog

Sapog - advanced multiplatform ESC firmware

https://kb.zubax.com/x/cYAh

BSD 3-Clause "New" or "Revised" License

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Support Valenok hardware #39

Closed pavel-kirienko closed 2 years ago

pavel-kirienko commented 2 years ago

[x] Initialize CAN2 only if available in hardware.
[x] Read temperature from all three LM75, report the maximum.
[x] Deduce the DC and phase voltage gain from HW ID: SENSE_*, SENSE_VIN.
[x] Deduce DC current gain from HW ID.
[x] If HW ID indicates Valenok, the health reported via reg.drone.service.actuator.common.Feedback is a function of OVERCURRENT_FAULT.

pavel-kirienko commented 2 years ago

Formula for computing the resistor divider gain, where hi is the high-side resistance and lo is the low-side resistance:

static const auto compute_resistor_divider_gain = [](auto hi, auto lo) { return Scalar(lo + hi) / Scalar(lo); };

pavel-kirienko commented 2 years ago

I am going to close it as it appears to be finished although not yet fully tested due to lack of hardware. Shall any issues be discovered later, we will document and address them separately.