diff --git a/libraries/AP_HAL_PX4/RCOutput_Tap.cpp b/libraries/AP_HAL_PX4/RCOutput_Tap.cpp index 4557337473..8fef2e4a6e 100644 --- a/libraries/AP_HAL_PX4/RCOutput_Tap.cpp +++ b/libraries/AP_HAL_PX4/RCOutput_Tap.cpp @@ -1,22 +1,437 @@ +/* + * Copyright (c) 2016 PX4 Development Team. All rights reserved. + * Copyright (C) 2017 Intel Corporation. All rights reserved. + * + * This file is free software: you can redistribute it and/or modify it + * under the terms of the GNU General Public License as published by the + * Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This file is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program. If not, see . + */ + +/* + * Implementation of TAP UART ESCs. Used the implementation from PX4 as a base + * which is BSD-licensed: + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + #include -#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && \ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_AEROFC_V1 +#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_AEROFC_V1 #include "RCOutput_Tap.h" #include +#include #include #include +#include #include +#include + +#include + +#define DEBUG 0 +#if DEBUG +#define debug(fmt, args...) ::printf(fmt "\n", ##args) +#else +#define debug(fmt, args...) +#endif + +#define UART_DEVICE_PATH "/dev/ttyS0" + extern const AP_HAL::HAL &hal; +/****** ESC data types ******/ + +#define ESC_HAVE_CURRENT_SENSOR +#define MIN_BOOT_TIME_USEC (550 * USEC_PER_MSEC) + +static const uint8_t crcTable[256] = { + 0x00, 0xE7, 0x29, 0xCE, 0x52, 0xB5, 0x7B, 0x9C, 0xA4, 0x43, 0x8D, 0x6A, + 0xF6, 0x11, 0xDF, 0x38, 0xAF, 0x48, 0x86, 0x61, 0xFD, 0x1A, 0xD4, 0x33, + 0x0B, 0xEC, 0x22, 0xC5, 0x59, 0xBE, 0x70, 0x97, 0xB9, 0x5E, 0x90, 0x77, + 0xEB, 0x0C, 0xC2, 0x25, 0x1D, 0xFA, 0x34, 0xD3, 0x4F, 0xA8, 0x66, 0x81, + 0x16, 0xF1, 0x3F, 0xD8, 0x44, 0xA3, 0x6D, 0x8A, 0xB2, 0x55, 0x9B, 0x7C, + 0xE0, 0x07, 0xC9, 0x2E, 0x95, 0x72, 0xBC, 0x5B, 0xC7, 0x20, 0xEE, 0x09, + 0x31, 0xD6, 0x18, 0xFF, 0x63, 0x84, 0x4A, 0xAD, 0x3A, 0xDD, 0x13, 0xF4, + 0x68, 0x8F, 0x41, 0xA6, 0x9E, 0x79, 0xB7, 0x50, 0xCC, 0x2B, 0xE5, 0x02, + 0x2C, 0xCB, 0x05, 0xE2, 0x7E, 0x99, 0x57, 0xB0, 0x88, 0x6F, 0xA1, 0x46, + 0xDA, 0x3D, 0xF3, 0x14, 0x83, 0x64, 0xAA, 0x4D, 0xD1, 0x36, 0xF8, 0x1F, + 0x27, 0xC0, 0x0E, 0xE9, 0x75, 0x92, 0x5C, 0xBB, 0xCD, 0x2A, 0xE4, 0x03, + 0x9F, 0x78, 0xB6, 0x51, 0x69, 0x8E, 0x40, 0xA7, 0x3B, 0xDC, 0x12, 0xF5, + 0x62, 0x85, 0x4B, 0xAC, 0x30, 0xD7, 0x19, 0xFE, 0xC6, 0x21, 0xEF, 0x08, + 0x94, 0x73, 0xBD, 0x5A, 0x74, 0x93, 0x5D, 0xBA, 0x26, 0xC1, 0x0F, 0xE8, + 0xD0, 0x37, 0xF9, 0x1E, 0x82, 0x65, 0xAB, 0x4C, 0xDB, 0x3C, 0xF2, 0x15, + 0x89, 0x6E, 0xA0, 0x47, 0x7F, 0x98, 0x56, 0xB1, 0x2D, 0xCA, 0x04, 0xE3, + 0x58, 0xBF, 0x71, 0x96, 0x0A, 0xED, 0x23, 0xC4, 0xFC, 0x1B, 0xD5, 0x32, + 0xAE, 0x49, 0x87, 0x60, 0xF7, 0x10, 0xDE, 0x39, 0xA5, 0x42, 0x8C, 0x6B, + 0x53, 0xB4, 0x7A, 0x9D, 0x01, 0xE6, 0x28, 0xCF, 0xE1, 0x06, 0xC8, 0x2F, + 0xB3, 0x54, 0x9A, 0x7D, 0x45, 0xA2, 0x6C, 0x8B, 0x17, 0xF0, 0x3E, 0xD9, + 0x4E, 0xA9, 0x67, 0x80, 0x1C, 0xFB, 0x35, 0xD2, 0xEA, 0x0D, 0xC3, 0x24, + 0xB8, 0x5F, 0x91, 0x76 +}; + +// Circular from back right in CCW direction +static const uint8_t device_mux_map[] = {0, 1, 4, 3, 2, 5, 7, 8}; +// 0 is CW, 1 is CCW +static const uint8_t device_dir_map[] = {0, 1, 0, 1, 0, 1, 0, 1}; + +#define TAP_ESC_MAX_PACKET_LEN 20 +#define TAP_ESC_MAX_MOTOR_NUM 8 + +/* + * ESC_POS maps the values stored in the channelMapTable to reorder the ESC's + * id so that that match the mux setting, so that the ressonder's data + * will be read. + * The index on channelMapTable[p] p is the physical ESC + * The value it is set to is the logical value from ESC_POS[p] + * Phy Log + * 0 0 + * 1 1 + * 2 4 + * 3 3 + * 4 2 + * 5 5 + * .... + * + */ + +#define RPMMAX 1900 +#define RPMMIN 1200 +#define RPMSTOPPED (RPMMIN - 10) + +#define MIN_BOOT_TIME_MSEC (550) // Minimum time to wait after Power on before sending commands + +namespace PX4 { + +/****** Run ***********/ + +#define RUN_CHANNEL_VALUE_MASK (uint16_t)0x07ff +#define RUN_RED_LED_ON_MASK (uint16_t)0x0800 +#define RUN_GREEN_LED_ON_MASK (uint16_t)0x1000 +#define RUN_BLUE_LED_ON_MASK (uint16_t)0x2000 +#define RUN_LED_ON_MASK (uint16_t)0x3800 +#define RUN_FEEDBACK_ENABLE_MASK (uint16_t)0x4000 +#define RUN_REVERSE_MASK (uint16_t)0x8000 + +struct PACKED RunReq { + uint16_t value[TAP_ESC_MAX_MOTOR_NUM]; +}; + +struct PACKED RunInfoRepsonse { + uint8_t channelID; + uint8_t ESCStatus; + int16_t speed; // -32767 - 32768 +#if defined(ESC_HAVE_VOLTAGE_SENSOR) + uint16_t voltage; // 0.00 - 100.00 V +#endif +#if defined(ESC_HAVE_CURRENT_SENSOR) + uint16_t current; // 0.0 - 200.0 A +#endif +#if defined(ESC_HAVE_TEMPERATURE_SENSOR) + uint8_t temperature; // 0 - 256 degree celsius +#endif +}; +/****** Run ***********/ + +/****** ConFigInfoBasic ***********/ +struct PACKED ConfigInfoBasicRequest { + uint8_t maxChannelInUse; + uint8_t channelMapTable[TAP_ESC_MAX_MOTOR_NUM]; + uint8_t monitorMsgType; + uint8_t controlMode; + uint16_t minChannelValue; + uint16_t maxChannelValue; +}; + +struct PACKED ConfigInfoBasicResponse { + uint8_t channelID; + ConfigInfoBasicRequest resp; +}; + +#define ESC_CHANNEL_MAP_CHANNEL 0x0f +#define ESC_CHANNEL_MAP_RUNNING_DIRECTION 0xf0 +/****** ConFigInfoBasicResponse ***********/ + +/****** InfoRequest ***********/ +enum InfoTypes { + REQUEST_INFO_BASIC = 0, + REQUEST_INFO_FUll, + REQUEST_INFO_RUN, + REQUEST_INFO_STUDY, + REQUEST_INFO_COMM, + REQUEST_INFO_DEVICE, +}; + +struct PACKED InfoRequest { + uint8_t channelID; + uint8_t requestInfoType; +}; + +/****** InfoRequest ***********/ + +struct PACKED EscPacket { + uint8_t head; + uint8_t len; + uint8_t msg_id; + union { + InfoRequest reqInfo; + ConfigInfoBasicRequest reqConfigInfoBasic; + RunReq reqRun; + + ConfigInfoBasicResponse rspConfigInfoBasic; + RunInfoRepsonse rspRunInfo; + uint8_t bytes[100]; + } d; + uint8_t crc_data; +}; + +//static const unsigned ESC_PACKET_DATA_OFFSET = offsetof(EscPacket, d); +static const unsigned ESC_PACKET_DATA_OFFSET = 3; + +/****************************************************************************************** + * ESCBUS_MSG_ID_RUN_INFO packet + * + * Monitor message of ESCs while motor is running + * + * channelID: assigned channel number + * + * ESCStatus: status of ESC + * Num Health status + * 0 HEALTHY + * 1 WARNING_LOW_VOLTAGE + * 2 WARNING_OVER_CURRENT + * 3 WARNING_OVER_HEAT + * 4 ERROR_MOTOR_LOW_SPEED_LOSE_STEP + * 5 ERROR_MOTOR_STALL + * 6 ERROR_HARDWARE + * 7 ERROR_LOSE_PROPELLER + * 8 ERROR_OVER_CURRENT + * + * speed: -32767 - 32767 rpm + * + * temperature: 0 - 256 celsius degree (if available) + * voltage: 0.00 - 100.00 V (if available) + * current: 0.0 - 200.0 A (if available) + */ + +enum ESCBUS_ENUM_ESC_STATUS { + ESC_STATUS_HEALTHY, + ESC_STATUS_WARNING_LOW_VOLTAGE, + ESC_STATUS_WARNING_OVER_HEAT, + ESC_STATUS_ERROR_MOTOR_LOW_SPEED_LOSE_STEP, + ESC_STATUS_ERROR_MOTOR_STALL, + ESC_STATUS_ERROR_HARDWARE, + ESC_STATUS_ERROR_LOSE_PROPELLER, + ESC_STATUS_ERROR_OVER_CURRENT, + ESC_STATUS_ERROR_MOTOR_HIGH_SPEED_LOSE_STEP, + ESC_STATUS_ERROR_LOSE_CMD, +}; + +enum ESCBUS_ENUM_MESSAGE_ID { + // messages or command to ESC + ESCBUS_MSG_ID_CONFIG_BASIC = 0, + ESCBUS_MSG_ID_CONFIG_FULL, + ESCBUS_MSG_ID_RUN, + ESCBUS_MSG_ID_TUNE, + ESCBUS_MSG_ID_DO_CMD, + // messages from ESC + ESCBUS_MSG_ID_REQUEST_INFO, + ESCBUS_MSG_ID_CONFIG_INFO_BASIC, // simple configuration info for request from flight controller + ESCBUS_MSG_ID_CONFIG_INFO_FULL, // full configuration info for request from host such as computer + ESCBUS_MSG_ID_RUN_INFO, // feedback message in RUN mode + ESCBUS_MSG_ID_STUDY_INFO, // studied parameters in STUDY mode + ESCBUS_MSG_ID_COMM_INFO, // communication method info + ESCBUS_MSG_ID_DEVICE_INFO, // ESC device info + ESCBUS_MSG_ID_ASSIGNED_ID, // never touch ESCBUS_MSG_ID_MAX_NUM + //boot loader used + PROTO_OK = 0x10, // INSYNC/OK - 'ok' response + PROTO_FAILED = 0x11, // INSYNC/FAILED - 'fail' response + + ESCBUS_MSG_ID_BOOT_SYNC = 0x21, // boot loader used + PROTO_GET_DEVICE = 0x22, // get device ID bytes + PROTO_CHIP_ERASE = 0x23, // erase program area and reset program address + PROTO_PROG_MULTI = 0x27, // write bytes at program address and increment + PROTO_GET_CRC = 0x29, // compute & return a CRC + PROTO_BOOT = 0x30, // boot the application + PROTO_GET_SOFTWARE_VERSION = 0x40, + ESCBUS_MSG_ID_MAX_NUM, +}; + +enum PARSR_ESC_STATE { + HEAD, + LEN, + ID, + DATA, + CRC, +}; + +/****************************/ +} + using namespace PX4; +void RCOutput_Tap::_uart_close() +{ + if (_uart_fd < 0) { + return; + } + ::close(_uart_fd); + _uart_fd = -1; +} + +bool RCOutput_Tap::_uart_open() +{ + // open uart + _uart_fd = open(UART_DEVICE_PATH, O_RDWR | O_NOCTTY | O_NONBLOCK); + int termios_state = -1; + + if (_uart_fd < 0) { + PX4_ERR("failed to open uart device!"); + return -1; + } + + // set baud rate + int speed = 250000; + struct termios uart_config; + tcgetattr(_uart_fd, &uart_config); + + // clear ONLCR flag (which appends a CR for every LF) + uart_config.c_oflag &= ~ONLCR; + + // set baud rate + if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { + ::fprintf(stderr, "failed to set baudrate for %s: %d\n", + UART_DEVICE_PATH, termios_state); + _uart_close(); + return false; + } + + if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) { + fprintf(stderr, "tcsetattr failed for %s\n", UART_DEVICE_PATH); + _uart_close(); + return false; + } + + return true; +} + void RCOutput_Tap::init() { _perf_rcout = perf_alloc(PC_ELAPSED, "APM_rcout"); + + if (!_uart_open()) { + AP_HAL::panic("Unable to open " UART_DEVICE_PATH); + return; + } + + hrt_abstime uptime_usec = hrt_absolute_time(); + if (uptime_usec < MIN_BOOT_TIME_USEC) { + hal.scheduler->delay((MIN_BOOT_TIME_USEC - uptime_usec) / USEC_PER_MSEC); + } + + /* Issue Basic Config */ + + EscPacket packet = {0xfe, sizeof(ConfigInfoBasicRequest), ESCBUS_MSG_ID_CONFIG_BASIC}; + ConfigInfoBasicRequest &config = packet.d.reqConfigInfoBasic; + memset(&config, 0, sizeof(ConfigInfoBasicRequest)); + config.maxChannelInUse = _channels_count; + config.controlMode = 1; + + /* Assign the id's to the ESCs to match the mux */ + for (uint8_t phy_chan_index = 0; phy_chan_index < _channels_count; phy_chan_index++) { + config.channelMapTable[phy_chan_index] = device_mux_map[phy_chan_index] & ESC_CHANNEL_MAP_CHANNEL; + config.channelMapTable[phy_chan_index] |= (device_dir_map[phy_chan_index] << 4) & ESC_CHANNEL_MAP_RUNNING_DIRECTION; + } + + config.maxChannelValue = RPMMAX; + config.minChannelValue = RPMMIN; + + int ret = _send_packet(packet); + if (ret < 0) { + _uart_close(); + AP_HAL::panic("Unable to send configuration to " UART_DEVICE_PATH); + return; + } + + /* + * To Unlock the ESC from the Power up state we need to issue 10 + * ESCBUS_MSG_ID_RUN request with all the values 0; + */ + EscPacket unlock_packet = {0xfe, _channels_count, ESCBUS_MSG_ID_RUN}; + unlock_packet.len *= sizeof(unlock_packet.d.reqRun.value[0]); + memset(unlock_packet.d.bytes, 0, sizeof(packet.d.bytes)); + + for (uint8_t i = 0; i < 10; i++) { + _send_packet(unlock_packet); + /* Min Packet to Packet time is 1 Ms so use 2 */ + hal.scheduler->delay(2); + } +} + +int RCOutput_Tap::_send_packet(EscPacket &packet) +{ + int packet_len = _crc_packet(packet); + int ret = ::write(_uart_fd, &packet.head, packet_len); + + if (ret != packet_len) { + debug("TX ERROR: ret: %d, errno: %d", ret, errno); + } + + return ret; +} + +uint8_t RCOutput_Tap::_crc8_esc(uint8_t *p, uint8_t len) +{ + uint8_t crc = 0; + + for (uint8_t i = 0; i < len; i++) { + crc = crcTable[crc ^ *p++]; + } + + return crc; +} + +uint8_t RCOutput_Tap::_crc_packet(EscPacket &p) +{ + /* Calculate the crc over Len,ID,data */ + p.d.bytes[p.len] = _crc8_esc(&p.len, p.len + 2); + return p.len + ESC_PACKET_DATA_OFFSET + 1; } /* @@ -37,9 +452,6 @@ void RCOutput_Tap::enable_ch(uint8_t ch) return; } _enabled_channels |= (1U << ch); - if (_period[ch] == UINT16_MAX) { - _period[ch] = 0; - } } void RCOutput_Tap::disable_ch(uint8_t ch) @@ -49,7 +461,6 @@ void RCOutput_Tap::disable_ch(uint8_t ch) } _enabled_channels &= ~(1U << ch); - _period[ch] = UINT16_MAX; } void RCOutput_Tap::write(uint8_t ch, uint16_t period_us) @@ -63,6 +474,10 @@ void RCOutput_Tap::write(uint8_t ch, uint16_t period_us) } _period[ch] = period_us; + + if (!_corking) { + push(); + } } uint16_t RCOutput_Tap::read(uint8_t ch) @@ -80,15 +495,6 @@ void RCOutput_Tap::read(uint16_t *period_us, uint8_t len) } } -void RCOutput_Tap::_send_outputs(void) -{ - uint32_t __attribute__((unused)) now = AP_HAL::micros(); - - perf_begin(_perf_rcout); - - perf_end(_perf_rcout); -} - void RCOutput_Tap::cork() { _corking = true; @@ -97,7 +503,72 @@ void RCOutput_Tap::cork() void RCOutput_Tap::push() { _corking = false; - _send_outputs(); + + perf_begin(_perf_rcout); + + uint16_t out[TAP_ESC_MAX_MOTOR_NUM]; + uint8_t motor_cnt = _channels_count; + + uint8_t motor_mapping[] = { + [0] = 2, + [1] = 1, + [2] = 0, + [3] = 3, + }; + + // map from the RPM range to 0 - 100% duty cycle for the ESCs + for (uint8_t i = 0; i < motor_cnt; i++) { + uint16_t *val = &out[motor_mapping[i]]; + if (!(_enabled_channels & (1U << i))) { + *val = RPMSTOPPED; + } else if (_period[i] < _esc_pwm_min) { + *val = RPMSTOPPED; + } else if (_period[i] >= _esc_pwm_max) { + *val = RPMMAX; + } else { + uint32_t pdiff = (_period[i] - _esc_pwm_min) * (RPMMAX - RPMMIN); + *val = (pdiff / (_esc_pwm_max - _esc_pwm_min)) + RPMMIN; + } + } + for (uint8_t i = motor_cnt; i < TAP_ESC_MAX_MOTOR_NUM; i++) { + out[i] = RPMSTOPPED; + } + +/* + * Value packet format, little endian + * + * | 15 | 14 | 13 | 12 | 11 | 10 | 11 | 12 | 11 | 10 ...... 0 | + * -------------------------------------------------------------- + * | -- | -- | -- | -- | REV | FEN | BL | GL | RL | RPM value | + * + * RPM value: [ RPMMIN, RPMMAX ] + * RL: LED1 + * GL: LED2 (ESC may have only one LED that works, independent of the color) + * BL: LED3 + * FEN: Feedback enable + * REV: Reverse direction + */ + +// TODO: enable feedback from 1 ESC and read data back +#if 0 + out[_next_channel_reply] |= RUN_FEEDBACK_ENABLE_MASK; +#endif + + EscPacket packet = {0xfe, _channels_count, ESCBUS_MSG_ID_RUN}; + packet.len *= sizeof(packet.d.reqRun.value[0]); + + for (uint8_t i = 0; i < _channels_count; i++) { + packet.d.reqRun.value[i] = out[i] & RUN_CHANNEL_VALUE_MASK; + } + + int ret = _send_packet(packet); + if (ret < 1) { + debug("TX ERROR: ret: %d, errno: %d", ret, errno); + } + + _next_channel_reply = (_next_channel_reply + 1) % _channels_count; + + perf_end(_perf_rcout); } #endif diff --git a/libraries/AP_HAL_PX4/RCOutput_Tap.h b/libraries/AP_HAL_PX4/RCOutput_Tap.h index b96e203398..e2bd71e290 100644 --- a/libraries/AP_HAL_PX4/RCOutput_Tap.h +++ b/libraries/AP_HAL_PX4/RCOutput_Tap.h @@ -1,3 +1,52 @@ +/* + * Copyright (c) 2016 PX4 Development Team. All rights reserved. + * Copyright (C) 2017 Intel Corporation. All rights reserved. + * + * This file is free software: you can redistribute it and/or modify it + * under the terms of the GNU General Public License as published by the + * Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This file is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program. If not, see . + */ + +/* + * Implementation of TAP UART ESCs. Used the implementation from PX4 as a base + * which is BSD-licensed: + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ #pragma once #include "AP_HAL_PX4.h" @@ -7,6 +56,8 @@ namespace PX4 { +struct EscPacket; + class RCOutput_Tap : public AP_HAL::RCOutput { public: void init() override; @@ -27,17 +78,27 @@ public: void push() override; private: + static uint8_t _crc8_esc(uint8_t *p, uint8_t len); + static uint8_t _crc_packet(EscPacket &p); + static const uint8_t MAX_MOTORS = 4; - void _send_outputs(void); + int _send_packet(EscPacket &p); + bool _uart_open(); + void _uart_close(); - uint8_t _enabled_channels = 0; - bool _corking = false; + perf_counter_t _perf_rcout; + + uint8_t _enabled_channels; + bool _corking; + + uint8_t _channels_count = MAX_MOTORS; + uint8_t _next_channel_reply; uint16_t _period[MAX_MOTORS]; - uint16_t _esc_pwm_min = 0; - uint16_t _esc_pwm_max = 0; - perf_counter_t _perf_rcout; + uint16_t _esc_pwm_min; + uint16_t _esc_pwm_max; + int _uart_fd = -1; }; }