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dshot: breakout driver header file, use static_casts, add const specifiers (#15908)
* Break out dshot.h from dshot.cpp and rename files to reflect the class name. Move DShot class specific #defines from drv_pwm_output.h to dshot.h. Replace c-style casts with static_casts, standardize method naming, single line comment styles, and formatting. Rename update_dshot_out_state() to enable_dshot_outputs().
This commit is contained in:
Mark Sauder
@@ -0,0 +1,475 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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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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****************************************************************************/
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#include "DShotTelemetry.h"
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#include <px4_platform_common/log.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <termios.h>
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#include <errno.h>
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using namespace time_literals;
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#define DSHOT_TELEMETRY_UART_BAUDRATE 115200
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DShotTelemetry::~DShotTelemetry()
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{
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deinit();
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}
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int DShotTelemetry::init(const char *uart_device)
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{
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deinit();
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_uart_fd = ::open(uart_device, O_RDONLY | O_NOCTTY);
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if (_uart_fd < 0) {
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PX4_ERR("failed to open serial port: %s err: %d", uart_device, errno);
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return -errno;
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}
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_num_timeouts = 0;
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_num_successful_responses = 0;
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_current_motor_index_request = -1;
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return setBaudrate(DSHOT_TELEMETRY_UART_BAUDRATE);
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}
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void DShotTelemetry::deinit()
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{
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if (_uart_fd >= 0) {
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close(_uart_fd);
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_uart_fd = -1;
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}
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}
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int DShotTelemetry::redirectOutput(OutputBuffer &buffer)
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{
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if (expectingData()) {
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// Error: cannot override while we already expect data
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return -EBUSY;
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}
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_current_motor_index_request = buffer.motor_index;
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_current_request_start = hrt_absolute_time();
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_redirect_output = &buffer;
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_redirect_output->buf_pos = 0;
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return 0;
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}
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int DShotTelemetry::update()
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{
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if (_uart_fd < 0) {
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return -1;
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}
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if (_current_motor_index_request == -1) {
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// nothing in progress, start a request
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_current_motor_index_request = 0;
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_current_request_start = 0;
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_frame_position = 0;
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return -1;
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}
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// read from the uart. This must be non-blocking, so check first if there is data available
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int bytes_available = 0;
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int ret = ioctl(_uart_fd, FIONREAD, (unsigned long)&bytes_available);
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if (ret != 0 || bytes_available <= 0) {
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// no data available. Check for a timeout
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const hrt_abstime now = hrt_absolute_time();
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if (_current_request_start > 0 && now - _current_request_start > 30_ms) {
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if (_redirect_output) {
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// clear and go back to internal buffer
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_redirect_output = nullptr;
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_current_motor_index_request = -1;
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} else {
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PX4_DEBUG("ESC telemetry timeout for motor %i (frame pos=%i)", _current_motor_index_request, _frame_position);
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++_num_timeouts;
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}
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requestNextMotor();
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return -2;
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}
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return -1;
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}
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const int buf_length = ESC_FRAME_SIZE;
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uint8_t buf[buf_length];
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int num_read = read(_uart_fd, buf, buf_length);
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ret = -1;
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for (int i = 0; i < num_read && ret == -1; ++i) {
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if (_redirect_output) {
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_redirect_output->buffer[_redirect_output->buf_pos++] = buf[i];
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if (_redirect_output->buf_pos == sizeof(_redirect_output->buffer)) {
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// buffer full: return & go back to internal buffer
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_redirect_output = nullptr;
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ret = _current_motor_index_request;
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_current_motor_index_request = -1;
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requestNextMotor();
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}
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} else {
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bool successful_decoding;
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if (decodeByte(buf[i], successful_decoding)) {
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if (successful_decoding) {
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ret = _current_motor_index_request;
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}
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requestNextMotor();
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}
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}
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}
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return ret;
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}
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bool DShotTelemetry::decodeByte(uint8_t byte, bool &successful_decoding)
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{
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_frame_buffer[_frame_position++] = byte;
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successful_decoding = false;
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if (_frame_position == ESC_FRAME_SIZE) {
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PX4_DEBUG("got ESC frame for motor %i", _current_motor_index_request);
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uint8_t checksum = crc8(_frame_buffer, ESC_FRAME_SIZE - 1);
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uint8_t checksum_data = _frame_buffer[ESC_FRAME_SIZE - 1];
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if (checksum == checksum_data) {
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_latest_data.time = hrt_absolute_time();
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_latest_data.temperature = _frame_buffer[0];
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_latest_data.voltage = (_frame_buffer[1] << 8) | _frame_buffer[2];
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_latest_data.current = (_frame_buffer[3] << 8) | _frame_buffer[4];
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_latest_data.consumption = (_frame_buffer[5]) << 8 | _frame_buffer[6];
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_latest_data.erpm = (_frame_buffer[7] << 8) | _frame_buffer[8];
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PX4_DEBUG("Motor %i: temp=%i, V=%i, cur=%i, consumpt=%i, rpm=%i", _current_motor_index_request,
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_latest_data.temperature, _latest_data.voltage, _latest_data.current, _latest_data.consumption,
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_latest_data.erpm);
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++_num_successful_responses;
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successful_decoding = true;
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}
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return true;
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}
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return false;
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}
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void DShotTelemetry::printStatus() const
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{
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PX4_INFO("Number of successful ESC frames: %i", _num_successful_responses);
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PX4_INFO("Number of timeouts: %i", _num_timeouts);
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}
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uint8_t DShotTelemetry::updateCrc8(uint8_t crc, uint8_t crc_seed)
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{
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uint8_t crc_u = crc ^ crc_seed;
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for (int i = 0; i < 8; ++i) {
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crc_u = (crc_u & 0x80) ? 0x7 ^ (crc_u << 1) : (crc_u << 1);
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}
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return crc_u;
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}
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uint8_t DShotTelemetry::crc8(const uint8_t *buf, uint8_t len)
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{
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uint8_t crc = 0;
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for (int i = 0; i < len; ++i) {
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crc = updateCrc8(buf[i], crc);
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}
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return crc;
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}
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void DShotTelemetry::requestNextMotor()
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{
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_current_motor_index_request = (_current_motor_index_request + 1) % _num_motors;
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_current_request_start = 0;
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_frame_position = 0;
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}
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int DShotTelemetry::getRequestMotorIndex()
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{
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if (_current_request_start != 0) {
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// already in progress, do not send another request
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return -1;
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}
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_current_request_start = hrt_absolute_time();
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return _current_motor_index_request;
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}
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void DShotTelemetry::decodeAndPrintEscInfoPacket(const OutputBuffer &buffer)
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{
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static constexpr int version_position = 12;
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const uint8_t *data = buffer.buffer;
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if (buffer.buf_pos < version_position) {
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PX4_ERR("Not enough data received");
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return;
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}
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enum class ESCVersionInfo {
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BLHELI32,
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KissV1,
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KissV2,
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};
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ESCVersionInfo version;
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int packet_length;
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if (data[version_position] == 254) {
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version = ESCVersionInfo::BLHELI32;
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packet_length = esc_info_size_blheli32;
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} else if (data[version_position] == 255) {
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version = ESCVersionInfo::KissV2;
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packet_length = esc_info_size_kiss_v2;
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} else {
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version = ESCVersionInfo::KissV1;
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packet_length = esc_info_size_kiss_v1;
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}
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if (buffer.buf_pos != packet_length) {
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PX4_ERR("Packet length mismatch (%i != %i)", buffer.buf_pos, packet_length);
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return;
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}
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if (DShotTelemetry::crc8(data, packet_length - 1) != data[packet_length - 1]) {
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PX4_ERR("Checksum mismatch");
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return;
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}
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uint8_t esc_firmware_version = 0;
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uint8_t esc_firmware_subversion = 0;
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uint8_t esc_type = 0;
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switch (version) {
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case ESCVersionInfo::KissV1:
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esc_firmware_version = data[12];
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esc_firmware_subversion = (data[13] & 0x1f) + 97;
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esc_type = (data[13] & 0xe0) >> 5;
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break;
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case ESCVersionInfo::KissV2:
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case ESCVersionInfo::BLHELI32:
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esc_firmware_version = data[13];
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esc_firmware_subversion = data[14];
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esc_type = data[15];
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break;
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}
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const char *esc_type_str = "";
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switch (version) {
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case ESCVersionInfo::KissV1:
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case ESCVersionInfo::KissV2:
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switch (esc_type) {
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case 1: esc_type_str = "KISS8A";
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break;
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case 2: esc_type_str = "KISS16A";
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break;
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case 3: esc_type_str = "KISS24A";
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break;
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case 5: esc_type_str = "KISS Ultralite";
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break;
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default: esc_type_str = "KISS (unknown)";
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break;
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}
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break;
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case ESCVersionInfo::BLHELI32: {
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char *esc_type_mutable = (char *)(data + 31);
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esc_type_mutable[32] = 0;
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esc_type_str = esc_type_mutable;
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}
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break;
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}
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PX4_INFO("ESC Type: %s", esc_type_str);
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PX4_INFO("MCU Serial Number: %02x%02x%02x-%02x%02x%02x-%02x%02x%02x-%02x%02x%02x",
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data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7], data[8],
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data[9], data[10], data[11]);
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switch (version) {
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case ESCVersionInfo::KissV1:
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case ESCVersionInfo::KissV2:
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PX4_INFO("Firmware version: %d.%d%c", esc_firmware_version / 100, esc_firmware_version % 100,
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(char)esc_firmware_subversion);
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break;
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case ESCVersionInfo::BLHELI32:
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PX4_INFO("Firmware version: %d.%d", esc_firmware_version, esc_firmware_subversion);
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break;
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}
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if (version == ESCVersionInfo::KissV2 || version == ESCVersionInfo::BLHELI32) {
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PX4_INFO("Rotation Direction: %s", data[16] ? "reversed" : "normal");
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PX4_INFO("3D Mode: %s", data[17] ? "on" : "off");
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}
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if (version == ESCVersionInfo::BLHELI32) {
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uint8_t setting = data[18];
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switch (setting) {
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case 0:
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PX4_INFO("Low voltage Limit: off");
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break;
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case 255:
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PX4_INFO("Low voltage Limit: unsupported");
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break;
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default:
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PX4_INFO("Low voltage Limit: %d.%01d V", setting / 10, setting % 10);
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break;
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}
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setting = data[19];
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switch (setting) {
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case 0:
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PX4_INFO("Current Limit: off");
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break;
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case 255:
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PX4_INFO("Current Limit: unsupported");
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break;
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default:
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PX4_INFO("Current Limit: %d A", setting);
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break;
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}
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for (int i = 0; i < 4; ++i) {
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setting = data[i + 20];
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PX4_INFO("LED %d: %s", i, setting ? (setting == 255 ? "unsupported" : "on") : "off");
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}
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}
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}
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int DShotTelemetry::setBaudrate(unsigned baud)
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{
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int speed;
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switch (baud) {
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case 9600: speed = B9600; break;
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case 19200: speed = B19200; break;
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case 38400: speed = B38400; break;
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case 57600: speed = B57600; break;
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case 115200: speed = B115200; break;
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case 230400: speed = B230400; break;
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default:
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return -EINVAL;
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}
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struct termios uart_config;
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int termios_state;
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/* fill the struct for the new configuration */
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tcgetattr(_uart_fd, &uart_config);
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//
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// Input flags - Turn off input processing
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//
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// convert break to null byte, no CR to NL translation,
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// no NL to CR translation, don't mark parity errors or breaks
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// no input parity check, don't strip high bit off,
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// no XON/XOFF software flow control
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//
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uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
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INLCR | PARMRK | INPCK | ISTRIP | IXON);
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//
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// Output flags - Turn off output processing
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//
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// no CR to NL translation, no NL to CR-NL translation,
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// no NL to CR translation, no column 0 CR suppression,
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// no Ctrl-D suppression, no fill characters, no case mapping,
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// no local output processing
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//
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// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
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// ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
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uart_config.c_oflag = 0;
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//
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// No line processing
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//
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// echo off, echo newline off, canonical mode off,
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// extended input processing off, signal chars off
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//
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uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
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/* no parity, one stop bit, disable flow control */
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uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS);
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/* set baud rate */
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if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
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return -errno;
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}
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if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
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return -errno;
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}
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if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) {
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return -errno;
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}
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return 0;
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}
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