From 5ebe76207dbdc05ac6e780425b835c919c5d8de1 Mon Sep 17 00:00:00 2001 From: alessandro Date: Tue, 17 Apr 2018 15:53:49 +0200 Subject: [PATCH] tap_esc: formatting and renaming --- src/drivers/tap_esc/drv_tap_esc.h | 18 ++++++++++-------- src/drivers/tap_esc/tap_esc.cpp | 29 +++++++++++------------------ 2 files changed, 21 insertions(+), 26 deletions(-) diff --git a/src/drivers/tap_esc/drv_tap_esc.h b/src/drivers/tap_esc/drv_tap_esc.h index e2e99bbc37..37aa5cdaf5 100644 --- a/src/drivers/tap_esc/drv_tap_esc.h +++ b/src/drivers/tap_esc/drv_tap_esc.h @@ -35,6 +35,8 @@ #include +#include + /* At the moment the only known use is with a current sensor */ #define ESC_HAVE_CURRENT_SENSOR @@ -119,18 +121,18 @@ typedef struct { ConfigInfoBasicRequest resp; } ConfigInfoBasicResponse; -#define ESC_CHANNEL_MAP_CHANNEL 0x0f -#define ESC_CHANNEL_MAP_RUNNING_DIRECTION 0xf0 +#define ESC_MASK_MAP_CHANNEL 0x0f +#define ESC_MASK_MAP_RUNNING_DIRECTION 0xf0 /****** ConFigInfoBasicResponse ***********/ /****** InfoRequest ***********/ typedef enum { - REQEST_INFO_BASIC = 0, - REQEST_INFO_FUll, - REQEST_INFO_RUN, - REQEST_INFO_STUDY, - REQEST_INFO_COMM, - REQEST_INFO_DEVICE, + REQUEST_INFO_BASIC = 0, + REQUEST_INFO_FUll, + REQUEST_INFO_RUN, + REQUEST_INFO_STUDY, + REQUEST_INFO_COMM, + REQUEST_INFO_DEVICE, } InfoTypes; typedef struct { diff --git a/src/drivers/tap_esc/tap_esc.cpp b/src/drivers/tap_esc/tap_esc.cpp index 1957c02a55..b3ad6b2acf 100644 --- a/src/drivers/tap_esc/tap_esc.cpp +++ b/src/drivers/tap_esc/tap_esc.cpp @@ -109,11 +109,9 @@ public: private: char _device[DEVICE_ARGUMENT_MAX_LENGTH]; int _uart_fd = -1; - static const uint8_t device_mux_map[TAP_ESC_MAX_MOTOR_NUM]; - static const uint8_t device_dir_map[TAP_ESC_MAX_MOTOR_NUM]; - bool _is_armed = false; - - // subscriptions + static const uint8_t _device_mux_map[TAP_ESC_MAX_MOTOR_NUM]; + static const uint8_t _device_dir_map[TAP_ESC_MAX_MOTOR_NUM]; + bool _is_armed = false; int _armed_sub = -1; int _test_motor_sub = -1; int _params_sub = -1; @@ -121,8 +119,6 @@ private: actuator_outputs_s _outputs = {}; actuator_armed_s _armed = {}; - //todo:refactor dynamic based on _channels_count - // It needs to support the number of ESC int _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; orb_id_t _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; @@ -130,7 +126,7 @@ private: unsigned _poll_fds_num = 0; orb_advert_t _esc_feedback_pub = nullptr; - orb_advert_t _to_mixer_status = nullptr; ///< mixer status flags + orb_advert_t _to_mixer_status = nullptr; ///< mixer status flags esc_status_s _esc_feedback = {}; uint8_t _channels_count = 0; ///< nnumber of ESC channels uint8_t _responding_esc = 0; @@ -152,8 +148,8 @@ private: inline int control_callback(uint8_t control_group, uint8_t control_index, float &input); }; -const uint8_t TAP_ESC::device_mux_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_POS; -const uint8_t TAP_ESC::device_dir_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_DIR; +const uint8_t TAP_ESC::_device_mux_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_POS; +const uint8_t TAP_ESC::_device_dir_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_DIR; TAP_ESC::TAP_ESC(char const *const device, uint8_t channels_count): CDev("tap_esc", TAP_ESC_DEVICE_PATH), @@ -276,7 +272,6 @@ int TAP_ESC::init() } /* Respect boot time required by the ESC FW */ - hrt_abstime uptime_us = hrt_absolute_time(); if (uptime_us < MAX_BOOT_TIME_MS * 1000) { @@ -284,7 +279,6 @@ int TAP_ESC::init() } /* Issue Basic Config */ - EscPacket packet = {PACKET_HEAD, sizeof(ConfigInfoBasicRequest), ESCBUS_MSG_ID_CONFIG_BASIC}; ConfigInfoBasicRequest &config = packet.d.reqConfigInfoBasic; memset(&config, 0, sizeof(ConfigInfoBasicRequest)); @@ -294,10 +288,10 @@ int TAP_ESC::init() /* Asign 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.channelMapTable[phy_chan_index] = _device_mux_map[phy_chan_index] & + ESC_MASK_MAP_CHANNEL; + config.channelMapTable[phy_chan_index] |= (_device_dir_map[phy_chan_index] << 4) & + ESC_MASK_MAP_RUNNING_DIRECTION; } config.maxChannelValue = RPMMAX; @@ -776,8 +770,7 @@ tap_esc start -d /dev/ttyS2 -n <1-8> extern "C" __EXPORT int tap_esc_main(int argc, char *argv[]); -int -tap_esc_main(int argc, char *argv[]) +int tap_esc_main(int argc, char *argv[]) { return TAP_ESC::main(argc, argv); }