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tap_esc_common: docs & function return types etc.

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This commit is contained in:
Alessandro Simovic
2018-04-18 07:48:24 +02:00
committed by Beat Küng
parent f95b823e31
commit 5da7beb8f5
4 changed files with 69 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/tap_esc/drv_tap_esc.h
+2
View File
@@ -41,6 +41,8 @@
#define TAP_ESC_MAX_PACKET_LEN 20
#define TAP_ESC_MAX_MOTOR_NUM 8
#define PACKET_HEAD 0xfe
/* 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.
src/drivers/tap_esc/tap_esc.cpp
+2 -2
View File
@@ -302,7 +302,7 @@ TAP_ESC::init()
tap_esc_common::read_data_from_uart(_uart_fd, &uartbuf);
if (tap_esc_common::parse_tap_esc_feedback(&uartbuf, &_packet)) {
if (!tap_esc_common::parse_tap_esc_feedback(&uartbuf, &_packet)) {
valid = (_packet.msg_id == ESCBUS_MSG_ID_CONFIG_INFO_BASIC
&& _packet.d.rspConfigInfoBasic.channelID == cid
&& 0 == memcmp(&_packet.d.rspConfigInfoBasic.resp, &config, sizeof(ConfigInfoBasicRequest)));
@@ -600,7 +600,7 @@ TAP_ESC::cycle()
send_esc_outputs(motor_out, esc_count);
tap_esc_common::read_data_from_uart(_uart_fd, &uartbuf);
if (tap_esc_common::parse_tap_esc_feedback(&uartbuf, &_packet) == true) {
if (!tap_esc_common::parse_tap_esc_feedback(&uartbuf, &_packet)) {
if (_packet.msg_id == ESCBUS_MSG_ID_RUN_INFO) {
RunInfoRepsonse &feed_back_data = _packet.d.rspRunInfo;
src/drivers/tap_esc/tap_esc_common.cpp
+19 -19
View File
@@ -54,14 +54,6 @@ namespace tap_esc_common
static uint8_t crc8_esc(uint8_t *p, uint8_t len);
static uint8_t crc_packet(EscPacket &p);
/****************************************************************************
* Name: select_responder
*
* Description:
* Select tap esc responder for serial interface (device 74hct151).
* GPIOs to be defined in board_config.h
*
****************************************************************************/
void select_responder(uint8_t sel)
{
#if defined(GPIO_S0)
@@ -108,12 +100,18 @@ int initialise_uart(const char *const device, int &uart_fd)
PX4_WARN("hardware flow disable failed");
}
return uart_fd;
return 0;
}
int deinitialise_uart(int &uart_fd)
{
return close(uart_fd);
int ret = close(uart_fd);
if (ret == 0) {
uart_fd = -1;
}
return ret;
}
int enable_flow_control(int uart_fd, bool enabled)
@@ -153,7 +151,7 @@ int send_packet(int uart_fd, EscPacket &packet, int responder)
return ret;
}
void read_data_from_uart(int uart_fd, ESC_UART_BUF *const uart_buf)
int read_data_from_uart(int uart_fd, ESC_UART_BUF *const uart_buf)
{
uint8_t tmp_serial_buf[UART_BUFFER_SIZE];
@@ -168,10 +166,15 @@ void read_data_from_uart(int uart_fd, ESC_UART_BUF *const uart_buf)
uart_buf->tail = 0;
}
}
} else if (len < 0) {
return len;
}
return 0;
}
bool parse_tap_esc_feedback(ESC_UART_BUF *const serial_buf, EscPacket *const packetdata)
int parse_tap_esc_feedback(ESC_UART_BUF *const serial_buf, EscPacket *const packetdata)
{
static PARSR_ESC_STATE state = HEAD;
static uint8_t data_index = 0;
@@ -183,8 +186,8 @@ bool parse_tap_esc_feedback(ESC_UART_BUF *const serial_buf, EscPacket *const pac
for (int i = 0; i < count; i++) {
switch (state) {
case HEAD:
if (serial_buf->esc_feedback_buf[serial_buf->head] == 0xFE) {
packetdata->head = 0xFE; //just_keep the format
if (serial_buf->esc_feedback_buf[serial_buf->head] == PACKET_HEAD) {
packetdata->head = PACKET_HEAD; //just_keep the format
state = LEN;
}
@@ -234,7 +237,7 @@ bool parse_tap_esc_feedback(ESC_UART_BUF *const serial_buf, EscPacket *const pac
serial_buf->dat_cnt--;
state = HEAD;
return true;
return 0;
}
state = HEAD;
@@ -251,13 +254,10 @@ bool parse_tap_esc_feedback(ESC_UART_BUF *const serial_buf, EscPacket *const pac
}
serial_buf->dat_cnt--;
}
}
return false;
return -1;
}
static uint8_t crc8_esc(uint8_t *p, uint8_t len)
src/drivers/tap_esc/tap_esc_common.h
+46 -10
View File
@@ -42,29 +42,65 @@
#include "drv_tap_esc.h"
namespace tap_esc_common
{
/****************************************************************************
* Name: select_responder
*
* Description:
* Select tap esc responder data for serial interface by 74hct151
*
****************************************************************************/
/**
* Select tap esc responder data for serial interface by 74hct151. GPIOs to be
* defined in board_config.h
* @param sel ID of the ESC (responder) of which feedback is requested
*/
void select_responder(uint8_t sel);
/**
* Opens a device for use as UART.
* @param device UNIX path of UART device
* @param uart_fd file-descriptor of UART device
* @return 0 on success, -1 on error
*/
int initialise_uart(const char *const device, int &uart_fd);
/**
* Closes a device previously opened with initialise_uart().
* @param uart_fd file-descriptor of UART device as provided by initialise_uart()
* @return 0 on success, -1 on error
*/
int deinitialise_uart(int &uart_fd);
/**
* Enables/disables flow control for open UART device.
* @param uart_fd file-descriptor of UART device
* @param enabled Set true for enabling and false for disabling flow control
* @return 0 on success, -1 on error
*/
int enable_flow_control(int uart_fd, bool enabled);
/**
* Sends a packet to all ESCs and requests a specific ESC to respond
* @param uart_fd file-descriptor of UART device
* @param packet Packet to be sent to ESCs. CRC information will be added.
* @param responder ID of the ESC (responder) that should return feedback
* @return On success number of bytes written, on error -1
*/
int send_packet(int uart_fd, EscPacket &packet, int responder);
void read_data_from_uart(int uart_fd, ESC_UART_BUF *const uart_buf);
/**
* Read data from the UART into a buffer
* @param uart_fd file-descriptor of UART device
* @param uart_buf Buffer where incoming data will be stored
* @return 0 on success, -1 on error
*/
int read_data_from_uart(int uart_fd, ESC_UART_BUF *const uart_buf);
bool parse_tap_esc_feedback(ESC_UART_BUF *const serial_buf, EscPacket *const packetdata);
/**
* Parse feedback from an ESC
* @param serial_buf Buffer where incoming data will be stored
* @param packetdata Packet that will be populated with information from buffer
* @return 0 on success, -1 on error
*/
int parse_tap_esc_feedback(ESC_UART_BUF *const serial_buf, EscPacket *const packetdata);
/**
* Lookup-table for faster CRC computation when sending ESC packets.
*/
extern const uint8_t crc_table[];
} /* tap_esc_common */