mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
tap_esc: more cleanup
- removing unused variables - removing unused code blocks - improving code readability - initialising members at definition
This commit is contained in:
alessandro
Beat Küng
parent
1ab2d22e42
commit
4f5644c0ef
@ -72,10 +72,15 @@
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# define DEVICE_ARGUMENT_MAX_LENGTH 32
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#endif
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#if !defined(PWM_DEFAULT_UPDATE_RATE)
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# define PWM_DEFAULT_UPDATE_RATE 400
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#endif
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#define TAP_ESC_DEVICE_PATH "/dev/tap_esc"
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/*
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* This driver connects to TAP ESCs via serial.
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*/
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class TAP_ESC : public device::CDev, public ModuleBase<TAP_ESC>, public ModuleParams
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{
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public:
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@ -97,59 +102,50 @@ public:
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/** @see ModuleBase::run() */
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void run() override;
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virtual int init();
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virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
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virtual int init();
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virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
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void cycle();
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private:
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static char _device[DEVICE_ARGUMENT_MAX_LENGTH];
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int _uart_fd;
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static const uint8_t device_mux_map[TAP_ESC_MAX_MOTOR_NUM];
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static const uint8_t device_dir_map[TAP_ESC_MAX_MOTOR_NUM];
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static char _device[DEVICE_ARGUMENT_MAX_LENGTH];
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int _uart_fd = -1;
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static const uint8_t device_mux_map[TAP_ESC_MAX_MOTOR_NUM];
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static const uint8_t device_dir_map[TAP_ESC_MAX_MOTOR_NUM];
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bool _is_armed = false;
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bool _is_armed;
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unsigned _poll_fds_num;
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// subscriptions
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int _armed_sub;
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int _test_motor_sub;
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int _params_sub;
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orb_advert_t _outputs_pub;
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actuator_outputs_s _outputs;
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actuator_armed_s _armed;
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int _armed_sub = -1;
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int _test_motor_sub = -1;
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int _params_sub = -1;
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orb_advert_t _outputs_pub = nullptr;
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actuator_outputs_s _outputs = {};
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actuator_armed_s _armed = {};
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//todo:refactor dynamic based on _channels_count
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// It needs to support the number of ESC
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int _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
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int _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
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actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
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orb_id_t _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
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px4_pollfd_struct_t _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
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unsigned _poll_fds_num = 0;
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actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
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orb_id_t _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
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orb_advert_t _esc_feedback_pub = nullptr;
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orb_advert_t _to_mixer_status; ///< mixer status flags
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esc_status_s _esc_feedback;
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orb_advert_t _esc_feedback_pub = nullptr;
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orb_advert_t _to_mixer_status = nullptr; ///< mixer status flags
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esc_status_s _esc_feedback = {};
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static uint8_t _channels_count; // The number of ESC channels
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MixerGroup *_mixers;
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uint32_t _groups_required;
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uint32_t _groups_subscribed;
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unsigned _pwm_default_rate;
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unsigned _current_update_rate;
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ESC_UART_BUF uartbuf;
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EscPacket _packet;
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MixerGroup *_mixers = nullptr;
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uint32_t _groups_required = 0;
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uint32_t _groups_subscribed = 0;
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ESC_UART_BUF _uartbuf = {};
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EscPacket _packet = {};
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DEFINE_PARAMETERS(
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(ParamBool<px4::params::MC_AIRMODE>) _airmode ///< multicopter air-mode
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)
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void subscribe();
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void send_esc_outputs(const uint16_t *pwm, const unsigned num_pwm);
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void subscribe();
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void send_esc_outputs(const uint16_t *pwm, const uint8_t motor_cnt);
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static int control_callback_trampoline(uintptr_t handle,
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uint8_t control_group, uint8_t control_index, float &input);
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inline int control_callback(uint8_t control_group, uint8_t control_index, float &input);
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@ -160,28 +156,9 @@ const uint8_t TAP_ESC::device_dir_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_DIR;
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char TAP_ESC::_device[DEVICE_ARGUMENT_MAX_LENGTH] = {};
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uint8_t TAP_ESC::_channels_count = 0;
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# define TAP_ESC_DEVICE_PATH "/dev/tap_esc"
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TAP_ESC::TAP_ESC():
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CDev("tap_esc", TAP_ESC_DEVICE_PATH),
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ModuleParams(nullptr),
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_uart_fd(-1),
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_is_armed(false),
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_poll_fds_num(0),
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_armed_sub(-1),
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_test_motor_sub(-1),
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_params_sub(-1),
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_outputs_pub(nullptr),
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_armed{},
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_esc_feedback_pub(nullptr),
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_to_mixer_status(nullptr),
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_esc_feedback{},
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_mixers(nullptr),
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_groups_required(0),
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_groups_subscribed(0),
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_pwm_default_rate(400),
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_current_update_rate(0)
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ModuleParams(nullptr)
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{
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_control_topics[0] = ORB_ID(actuator_controls_0);
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_control_topics[1] = ORB_ID(actuator_controls_1);
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@ -189,10 +166,6 @@ TAP_ESC::TAP_ESC():
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_control_topics[3] = ORB_ID(actuator_controls_3);
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memset(_controls, 0, sizeof(_controls));
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memset(_poll_fds, 0, sizeof(_poll_fds));
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uartbuf.head = 0;
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uartbuf.tail = 0;
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uartbuf.dat_cnt = 0;
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memset(uartbuf.esc_feedback_buf, 0, sizeof(uartbuf.esc_feedback_buf));
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for (int i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; ++i) {
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_control_subs[i] = -1;
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@ -215,9 +188,7 @@ TAP_ESC::~TAP_ESC()
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}
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orb_unsubscribe(_armed_sub);
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_armed_sub = -1;
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orb_unsubscribe(_test_motor_sub);
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_test_motor_sub = -1;
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orb_unsubscribe(_params_sub);
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orb_unadvertise(_outputs_pub);
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@ -230,8 +201,7 @@ TAP_ESC::~TAP_ESC()
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}
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/** @see ModuleBase */
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TAP_ESC *
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TAP_ESC::instantiate(int argc, char *argv[])
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TAP_ESC *TAP_ESC::instantiate(int argc, char *argv[])
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{
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TAP_ESC *tap_esc = new TAP_ESC();
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@ -245,21 +215,18 @@ TAP_ESC::instantiate(int argc, char *argv[])
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}
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/** @see ModuleBase */
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int
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TAP_ESC::custom_command(int argc, char *argv[])
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int TAP_ESC::custom_command(int argc, char *argv[])
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{
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return print_usage("unknown command");
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}
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int
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TAP_ESC::init()
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int TAP_ESC::init()
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{
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int ret;
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ret = tap_esc_common::initialise_uart(_device, _uart_fd);
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if (ret < 0) {
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if (ret != 0) {
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PX4_ERR("failed to initialise UART.");
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return ret;
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}
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@ -274,7 +241,7 @@ TAP_ESC::init()
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/* Issue Basic Config */
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EscPacket packet = {0xfe, sizeof(ConfigInfoBasicRequest), ESCBUS_MSG_ID_CONFIG_BASIC};
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EscPacket packet = {PACKET_HEAD, sizeof(ConfigInfoBasicRequest), ESCBUS_MSG_ID_CONFIG_BASIC};
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ConfigInfoBasicRequest &config = packet.d.reqConfigInfoBasic;
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memset(&config, 0, sizeof(ConfigInfoBasicRequest));
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config.maxChannelInUse = _channels_count;
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@ -282,7 +249,6 @@ TAP_ESC::init()
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config.controlMode = BOARD_TAP_ESC_MODE;
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/* Asign the id's to the ESCs to match the mux */
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for (uint8_t phy_chan_index = 0; phy_chan_index < _channels_count; phy_chan_index++) {
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config.channelMapTable[phy_chan_index] = device_mux_map[phy_chan_index] &
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ESC_CHANNEL_MAP_CHANNEL;
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@ -302,10 +268,9 @@ TAP_ESC::init()
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/* To Unlock the ESC from the Power up state we need to issue 10
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* ESCBUS_MSG_ID_RUN request with all the values 0;
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*/
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EscPacket unlock_packet = {0xfe, _channels_count, ESCBUS_MSG_ID_RUN};
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EscPacket unlock_packet = {PACKET_HEAD, _channels_count, ESCBUS_MSG_ID_RUN};
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unlock_packet.len *= sizeof(unlock_packet.d.reqRun.rpm_flags[0]);
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memset(unlock_packet.d.bytes, 0, sizeof(packet.d.bytes));
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memset(unlock_packet.d.bytes, 0, sizeof(unlock_packet.d.bytes));
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int unlock_times = 10;
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@ -314,12 +279,10 @@ TAP_ESC::init()
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tap_esc_common::send_packet(_uart_fd, unlock_packet, -1);
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/* Min Packet to Packet time is 1 Ms so use 2 */
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usleep(1000 * 2);
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usleep(2000);
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}
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/* do regular cdev init */
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ret = CDev::init();
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/* advertise the mixed control outputs, insist on the first group output */
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@ -335,8 +298,7 @@ TAP_ESC::init()
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return ret;
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}
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void
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TAP_ESC::subscribe()
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void TAP_ESC::subscribe()
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{
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/* subscribe/unsubscribe to required actuator control groups */
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uint32_t sub_groups = _groups_required & ~_groups_subscribed;
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@ -363,13 +325,11 @@ TAP_ESC::subscribe()
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}
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}
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void TAP_ESC::send_esc_outputs(const uint16_t *pwm, const unsigned num_pwm)
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void TAP_ESC::send_esc_outputs(const uint16_t *pwm, const uint8_t motor_cnt)
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{
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uint16_t rpm[TAP_ESC_MAX_MOTOR_NUM];
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memset(rpm, 0, sizeof(rpm));
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uint8_t motor_cnt = num_pwm;
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static uint8_t which_to_respone = 0;
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static uint8_t responder = 0;
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for (uint8_t i = 0; i < motor_cnt; i++) {
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rpm[i] = pwm[i];
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@ -382,20 +342,19 @@ void TAP_ESC::send_esc_outputs(const uint16_t *pwm, const unsigned num_pwm)
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}
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}
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rpm[which_to_respone] |= (RUN_FEEDBACK_ENABLE_MASK | RUN_BLUE_LED_ON_MASK);
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rpm[responder] |= (RUN_FEEDBACK_ENABLE_MASK | RUN_BLUE_LED_ON_MASK);
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EscPacket packet = {0xfe, _channels_count, ESCBUS_MSG_ID_RUN};
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EscPacket packet = {PACKET_HEAD, _channels_count, ESCBUS_MSG_ID_RUN};
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packet.len *= sizeof(packet.d.reqRun.rpm_flags[0]);
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for (uint8_t i = 0; i < _channels_count; i++) {
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packet.d.reqRun.rpm_flags[i] = rpm[i];
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}
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int ret = tap_esc_common::send_packet(_uart_fd, packet, which_to_respone);
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int ret = tap_esc_common::send_packet(_uart_fd, packet, responder);
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if (++which_to_respone == _channels_count) {
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which_to_respone = 0;
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if (++responder == _channels_count) {
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responder = 0;
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}
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if (ret < 1) {
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@ -403,28 +362,21 @@ void TAP_ESC::send_esc_outputs(const uint16_t *pwm, const unsigned num_pwm)
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}
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}
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void
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TAP_ESC::cycle()
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void TAP_ESC::cycle()
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{
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if (_groups_subscribed != _groups_required) {
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subscribe();
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_groups_subscribed = _groups_required;
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_current_update_rate = 0;
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}
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unsigned max_rate = _pwm_default_rate ;
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/* Set uorb update rate */
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int update_rate_in_ms = int(1000 / PWM_DEFAULT_UPDATE_RATE);
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if (_current_update_rate != max_rate) {
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_current_update_rate = max_rate;
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int update_rate_in_ms = int(1000 / _current_update_rate);
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/* reject faster than 500 Hz updates */
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if (update_rate_in_ms < 2) {
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/* reject faster than 500 Hz updates */
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update_rate_in_ms = 2;
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}
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/* reject slower than 10 Hz updates */
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if (update_rate_in_ms > 100) {
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} else if (update_rate_in_ms > 100) {
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/* reject slower than 10 Hz updates */
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update_rate_in_ms = 100;
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}
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@ -435,20 +387,15 @@ TAP_ESC::cycle()
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orb_set_interval(_control_subs[i], update_rate_in_ms);
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}
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}
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// set to current max rate, even if we are actually checking slower/faster
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_current_update_rate = max_rate;
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}
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if (_mixers) {
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_mixers->set_airmode(_airmode.get());
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}
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/* check if anything updated */
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int ret = px4_poll(_poll_fds, _poll_fds_num, 5);
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/* this would be bad... */
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if (ret < 0) {
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DEVICE_LOG("poll error %d", errno);
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@ -469,7 +416,7 @@ TAP_ESC::cycle()
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}
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}
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size_t num_outputs = _channels_count;
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uint8_t num_outputs = _channels_count;
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/* can we mix? */
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if (_is_armed && _mixers != nullptr) {
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@ -540,52 +487,56 @@ TAP_ESC::cycle()
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}
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const unsigned esc_count = num_outputs;
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uint16_t motor_out[TAP_ESC_MAX_MOTOR_NUM];
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// We need to remap from the system default to what PX4's normal
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// scheme is
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if (num_outputs == 6) {
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switch (num_outputs) {
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case 4:
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motor_out[0] = (uint16_t)_outputs.output[2];
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motor_out[1] = (uint16_t)_outputs.output[1];
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motor_out[2] = (uint16_t)_outputs.output[0];
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motor_out[3] = (uint16_t)_outputs.output[3];
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break;
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case 6:
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motor_out[0] = (uint16_t)_outputs.output[3];
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motor_out[1] = (uint16_t)_outputs.output[0];
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motor_out[2] = (uint16_t)_outputs.output[4];
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motor_out[3] = (uint16_t)_outputs.output[2];
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motor_out[4] = (uint16_t)_outputs.output[1];
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motor_out[5] = (uint16_t)_outputs.output[5];
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motor_out[6] = RPMSTOPPED;
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motor_out[7] = RPMSTOPPED;
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break;
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} else if (num_outputs == 4) {
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motor_out[0] = (uint16_t)_outputs.output[2];
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motor_out[2] = (uint16_t)_outputs.output[0];
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motor_out[1] = (uint16_t)_outputs.output[1];
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motor_out[3] = (uint16_t)_outputs.output[3];
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default:
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} else {
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// Use the system defaults
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for (unsigned i = 0; i < esc_count; ++i) {
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for (uint8_t i = 0; i < num_outputs; ++i) {
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motor_out[i] = (uint16_t)_outputs.output[i];
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}
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break;
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}
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send_esc_outputs(motor_out, esc_count);
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tap_esc_common::read_data_from_uart(_uart_fd, &uartbuf);
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// Set remaining motors to RPMSTOPPED to be on the safe side
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for (uint8_t i = num_outputs; i < TAP_ESC_MAX_MOTOR_NUM; ++i) {
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motor_out[i] = RPMSTOPPED;
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}
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if (!tap_esc_common::parse_tap_esc_feedback(&uartbuf, &_packet)) {
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send_esc_outputs(motor_out, num_outputs);
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tap_esc_common::read_data_from_uart(_uart_fd, &_uartbuf);
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if (!tap_esc_common::parse_tap_esc_feedback(&_uartbuf, &_packet)) {
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if (_packet.msg_id == ESCBUS_MSG_ID_RUN_INFO) {
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RunInfoRepsonse &feed_back_data = _packet.d.rspRunInfo;
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if (feed_back_data.channelID < esc_status_s::CONNECTED_ESC_MAX) {
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_esc_feedback.esc[feed_back_data.channelID].esc_rpm = feed_back_data.speed;
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// _esc_feedback.esc[feed_back_data.channelID].esc_voltage = feed_back_data.voltage;
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_esc_feedback.esc[feed_back_data.channelID].esc_state = feed_back_data.ESCStatus;
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_esc_feedback.esc[feed_back_data.channelID].esc_vendor = esc_status_s::ESC_VENDOR_TAP;
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// printf("vol is %d\n",feed_back_data.voltage );
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// printf("speed is %d\n",feed_back_data.speed );
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_esc_feedback.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_SERIAL;
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_esc_feedback.counter++;
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_esc_feedback.esc_count = esc_count;
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_esc_feedback.esc_count = num_outputs;
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_esc_feedback.timestamp = hrt_absolute_time();
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@ -626,8 +577,6 @@ TAP_ESC::cycle()
|
||||
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
|
||||
updateParams();
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
int TAP_ESC::control_callback_trampoline(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input)
|
||||
@ -648,18 +597,6 @@ int TAP_ESC::control_callback(uint8_t control_group, uint8_t control_index, floa
|
||||
input = -1.0f;
|
||||
}
|
||||
|
||||
/* motor spinup phase - lock throttle to zero */
|
||||
// if (_pwm_limit.state == PWM_LIMIT_STATE_RAMP) {
|
||||
// if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
|
||||
// control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
|
||||
// control_index == actuator_controls_s::INDEX_THROTTLE) {
|
||||
// /* limit the throttle output to zero during motor spinup,
|
||||
// * as the motors cannot follow any demand yet
|
||||
// */
|
||||
// input = 0.0f;
|
||||
// }
|
||||
// }
|
||||
|
||||
/* throttle not arming - mark throttle input as invalid */
|
||||
if (_armed.prearmed && !_armed.armed) {
|
||||
if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
|
||||
@ -673,8 +610,7 @@ int TAP_ESC::control_callback(uint8_t control_group, uint8_t control_index, floa
|
||||
return 0;
|
||||
}
|
||||
|
||||
int
|
||||
TAP_ESC::ioctl(device::file_t *filp, int cmd, unsigned long arg)
|
||||
int TAP_ESC::ioctl(device::file_t *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
int ret = OK;
|
||||
|
||||
@ -726,8 +662,6 @@ TAP_ESC::ioctl(device::file_t *filp, int cmd, unsigned long arg)
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
@ -735,8 +669,8 @@ TAP_ESC::ioctl(device::file_t *filp, int cmd, unsigned long arg)
|
||||
void TAP_ESC::run()
|
||||
{
|
||||
// Main loop
|
||||
while (!should_exit()) {
|
||||
cycle();
|
||||
while (!should_exit()) {
|
||||
cycle();
|
||||
}
|
||||
}
|
||||
|
||||
@ -811,8 +745,7 @@ int TAP_ESC::task_spawn(int argc, char *argv[])
|
||||
}
|
||||
|
||||
/** @see ModuleBase */
|
||||
int
|
||||
TAP_ESC::print_usage(const char *reason)
|
||||
int TAP_ESC::print_usage(const char *reason)
|
||||
{
|
||||
if (reason) {
|
||||
PX4_WARN("%s\n", reason);
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user