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112 lines
3.1 KiB
112 lines
3.1 KiB
#ifndef __AP_HAL_LINUX_RCOUTPUT_BEBOP_H__ |
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#define __AP_HAL_LINUX_RCOUTPUT_BEBOP_H__ |
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#include "AP_HAL_Linux.h" |
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enum bebop_bldc_motor { |
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BEBOP_BLDC_MOTOR_1 = 0, |
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BEBOP_BLDC_MOTOR_2, |
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BEBOP_BLDC_MOTOR_3, |
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BEBOP_BLDC_MOTOR_4, |
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BEBOP_BLDC_MOTORS_NUM, |
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}; |
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enum bebop_bldc_sound { |
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BEBOP_BLDC_SOUND_NONE = 0, |
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BEBOP_BLDC_SOUND_SHORT_BEEP, |
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BEBOP_BLDC_SOUND_BOOT_BEEP, |
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BEBOP_BLDC_SOUND_BEBOP, |
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}; |
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/* description of the bldc status */ |
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#define BEBOP_BLDC_STATUS_INIT 0 |
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#define BEBOP_BLDC_STATUS_IDLE 1 |
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#define BEBOP_BLDC_STATUS_RAMPING 2 |
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#define BEBOP_BLDC_STATUS_SPINNING_1 3 |
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#define BEBOP_BLDC_STATUS_SPINNING_2 4 |
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#define BEBOP_BLDC_STATUS_STOPPING 5 |
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#define BEBOP_BLDC_STATUS_CRITICAL 6 |
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/* description of the bldc errno */ |
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#define BEBOP_BLDC_ERRNO_EEPROM 1 |
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#define BEBOP_BLDC_ERRNO_MOTOR_STALLED 2 |
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#define BEBOP_BLDC_ERRNO_PROP_SECU 3 |
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#define BEBOP_BLDC_ERRNO_COM_LOST 4 |
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#define BEBOP_BLDC_ERRNO_BATT_LEVEL 9 |
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#define BEBOP_BLDC_ERRNO_LIPO 10 |
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#define BEBOP_BLDC_ERRNO_MOTOR_HW 11 |
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class BebopBLDC_ObsData { |
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public: |
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uint16_t rpm[BEBOP_BLDC_MOTORS_NUM]; |
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uint8_t rpm_saturated[BEBOP_BLDC_MOTORS_NUM]; |
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uint16_t batt_mv; |
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uint8_t status; |
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uint8_t error; |
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uint8_t motors_err; |
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uint8_t temperature; |
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}; |
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struct bldc_info { |
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uint8_t version_maj; |
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uint8_t version_min; |
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uint8_t type; |
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uint8_t n_motors; |
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uint16_t n_flights; |
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uint16_t last_flight_time; |
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uint32_t total_flight_time; |
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uint8_t last_error; |
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}__attribute__((packed)); |
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class Linux::RCOutput_Bebop : public AP_HAL::RCOutput { |
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public: |
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RCOutput_Bebop(); |
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static RCOutput_Bebop *from(AP_HAL::RCOutput *rcout) { |
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return static_cast<RCOutput_Bebop*>(rcout); |
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} |
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void init(); |
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void set_freq(uint32_t chmask, uint16_t freq_hz); |
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uint16_t get_freq(uint8_t ch); |
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void enable_ch(uint8_t ch); |
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void disable_ch(uint8_t ch); |
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void write(uint8_t ch, uint16_t period_us); |
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void cork() override; |
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void push() override; |
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uint16_t read(uint8_t ch); |
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void read(uint16_t* period_us, uint8_t len); |
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void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm); |
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int read_obs_data(BebopBLDC_ObsData &data); |
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private: |
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AP_HAL::Semaphore *_i2c_sem; |
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uint16_t _request_period_us[BEBOP_BLDC_MOTORS_NUM]; |
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uint16_t _period_us[BEBOP_BLDC_MOTORS_NUM]; |
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uint16_t _rpm[BEBOP_BLDC_MOTORS_NUM]; |
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uint16_t _frequency; |
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uint16_t _min_pwm; |
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uint16_t _max_pwm; |
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uint8_t _state; |
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bool _corking = false; |
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uint16_t _max_rpm; |
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uint8_t _checksum(uint8_t *data, unsigned int len); |
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void _start_prop(); |
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void _toggle_gpio(uint8_t mask); |
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void _set_ref_speed(uint16_t rpm[BEBOP_BLDC_MOTORS_NUM]); |
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bool _get_info(struct bldc_info *info); |
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void _stop_prop(); |
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void _clear_error(); |
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void _play_sound(uint8_t sound); |
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uint16_t _period_us_to_rpm(uint16_t period_us); |
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/* thread related members */ |
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pthread_t _thread; |
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pthread_mutex_t _mutex; |
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pthread_cond_t _cond; |
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void _run_rcout(); |
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static void *_control_thread(void *arg); |
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}; |
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#endif // __AP_HAL_LINUX_RCOUTPUT_BEBOP_H__
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