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103 lines
3.6 KiB
103 lines
3.6 KiB
/* |
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* Copyright (c) 2016 PX4 Development Team. All rights reserved. |
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* Copyright (C) 2017 Intel Corporation. All rights reserved. |
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* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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* Implementation of TAP UART ESCs. Used the implementation from PX4 as a base |
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* which is BSD-licensed: |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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#pragma once |
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#include <AP_HAL/Util.h> |
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namespace ap { |
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struct EscPacket; |
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class RCOutput_Tap : public AP_HAL::RCOutput { |
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public: |
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void init() override; |
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void set_freq(uint32_t chmask, uint16_t freq_hz) override; |
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uint16_t get_freq(uint8_t ch) override; |
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void enable_ch(uint8_t ch) override; |
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void disable_ch(uint8_t ch) override; |
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void write(uint8_t ch, uint16_t period_us) override; |
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uint16_t read(uint8_t ch) override; |
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void read(uint16_t *period_us, uint8_t len) override; |
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void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override { |
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_esc_pwm_min = min_pwm; |
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_esc_pwm_max = max_pwm; |
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} |
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void cork() override; |
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void push() override; |
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private: |
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static uint8_t _crc8_esc(uint8_t *p, uint8_t len); |
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static uint8_t _crc_packet(EscPacket &p); |
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static const uint8_t MAX_MOTORS = 4; |
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int _send_packet(EscPacket &p); |
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bool _uart_open(); |
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bool _uart_set_speed(int speed); |
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void _uart_close(); |
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AP_HAL::Util::perf_counter_t _perf_rcout; |
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uint8_t _enabled_channels; |
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bool _corking; |
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bool _led_on; |
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uint8_t _channels_count = MAX_MOTORS; |
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uint16_t _period[MAX_MOTORS]; |
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uint16_t _esc_pwm_min; |
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uint16_t _esc_pwm_max; |
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uint32_t _last_led_update_msec; |
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int _uart_fd = -1; |
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}; |
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}
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