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Initial import of TAP controllers
This commit is contained in:
Lorenz Meier
parent
40a7bd009f
commit
fab201a2d6
43
src/drivers/tap_esc/CMakeLists.txt
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43
src/drivers/tap_esc/CMakeLists.txt
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############################################################################
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#
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# Copyright (c) 2016 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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px4_add_module(
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MODULE drivers__tap_esc
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MAIN tap_esc
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COMPILE_FLAGS
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-Os
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SRCS
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tap_esc.cpp
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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184
src/drivers/tap_esc/drv_tap_esc.h
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184
src/drivers/tap_esc/drv_tap_esc.h
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/****************************************************************************
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*
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* Copyright (c) 2016 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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#define TAP_ESC_CRC {\
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0x00, 0xE7, 0x29, 0xCE, 0x52, 0xB5, 0x7B, 0x9C, 0xA4, 0x43, 0x8D, 0x6A,\
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0xF6, 0x11, 0xDF, 0x38, 0xAF, 0x48, 0x86, 0x61, 0xFD, 0x1A, 0xD4, 0x33,\
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0x0B, 0xEC, 0x22, 0xC5, 0x59, 0xBE, 0x70, 0x97, 0xB9, 0x5E, 0x90, 0x77,\
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0xEB, 0x0C, 0xC2, 0x25, 0x1D, 0xFA, 0x34, 0xD3, 0x4F, 0xA8, 0x66, 0x81,\
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0x16, 0xF1, 0x3F, 0xD8, 0x44, 0xA3, 0x6D, 0x8A, 0xB2, 0x55, 0x9B, 0x7C,\
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0xE0, 0x07, 0xC9, 0x2E, 0x95, 0x72, 0xBC, 0x5B, 0xC7, 0x20, 0xEE, 0x09,\
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0x31, 0xD6, 0x18, 0xFF, 0x63, 0x84, 0x4A, 0xAD, 0x3A, 0xDD, 0x13, 0xF4,\
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0x68, 0x8F, 0x41, 0xA6, 0x9E, 0x79, 0xB7, 0x50, 0xCC, 0x2B, 0xE5, 0x02,\
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0x2C, 0xCB, 0x05, 0xE2, 0x7E, 0x99, 0x57, 0xB0, 0x88, 0x6F, 0xA1, 0x46,\
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0xDA, 0x3D, 0xF3, 0x14, 0x83, 0x64, 0xAA, 0x4D, 0xD1, 0x36, 0xF8, 0x1F,\
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0x27, 0xC0, 0x0E, 0xE9, 0x75, 0x92, 0x5C, 0xBB, 0xCD, 0x2A, 0xE4, 0x03,\
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0x9F, 0x78, 0xB6, 0x51, 0x69, 0x8E, 0x40, 0xA7, 0x3B, 0xDC, 0x12, 0xF5,\
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0x62, 0x85, 0x4B, 0xAC, 0x30, 0xD7, 0x19, 0xFE, 0xC6, 0x21, 0xEF, 0x08,\
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0x94, 0x73, 0xBD, 0x5A, 0x74, 0x93, 0x5D, 0xBA, 0x26, 0xC1, 0x0F, 0xE8,\
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0xD0, 0x37, 0xF9, 0x1E, 0x82, 0x65, 0xAB, 0x4C, 0xDB, 0x3C, 0xF2, 0x15,\
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0x89, 0x6E, 0xA0, 0x47, 0x7F, 0x98, 0x56, 0xB1, 0x2D, 0xCA, 0x04, 0xE3,\
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0x58, 0xBF, 0x71, 0x96, 0x0A, 0xED, 0x23, 0xC4, 0xFC, 0x1B, 0xD5, 0x32,\
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0xAE, 0x49, 0x87, 0x60, 0xF7, 0x10, 0xDE, 0x39, 0xA5, 0x42, 0x8C, 0x6B,\
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0x53, 0xB4, 0x7A, 0x9D, 0x01, 0xE6, 0x28, 0xCF, 0xE1, 0x06, 0xC8, 0x2F,\
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0xB3, 0x54, 0x9A, 0x7D, 0x45, 0xA2, 0x6C, 0x8B, 0x17, 0xF0, 0x3E, 0xD9,\
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0x4E, 0xA9, 0x67, 0x80, 0x1C, 0xFB, 0x35, 0xD2, 0xEA, 0x0D, 0xC3, 0x24,\
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0xB8, 0x5F, 0x91, 0x76\
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}
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#define TAP_ESC_MAX_PACKET_LEN 20
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#define TAP_ESC_MAX_MOTOR_NUM 8
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#define RPMMAX 1900
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#define RPMMIN 1100
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#define RUN_CHANNEL_VALUE_MASK (uint16_t)0x07ff
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#define RUN_RED_LED_ON_MASK (uint16_t)0x0800
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#define RUN_GREEN_LED_ON_MASK (uint16_t)0x1000
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#define RUN_BLUE_LED_ON_MASK (uint16_t)0x2000
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#define RUN_LED_ON_MASK (uint16_t)0x3800
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#define RUN_FEEDBACK_ENABLE_MASK (uint16_t)0x4000
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#define RUN_REVERSE_MASK (uint16_t)0x8000
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#pragma pack(push,1)
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typedef struct {
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uint8_t ESC_ID;
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uint8_t ESC_STATUS;
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int16_t speed;
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#ifdef VOLTAGE_SENSOR_HAVE
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uint16_t voltage;
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#endif
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#ifdef CURRENT_SENSOR_HAVE
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uint16_t current;
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#endif
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#ifdef TEMPERATURE_SENSOR_HAVE
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uint8_t temperature;
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#endif
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} ESC_FEEDBACK_DATA;
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typedef struct {
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uint8_t head;
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uint8_t len;
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uint8_t msg_id;
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uint8_t data[100];
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uint8_t crc_data;
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} ESC_FEEDBACK_PACKET;
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typedef struct {
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uint8_t head;
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uint8_t tail;
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uint8_t dat_cnt;
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uint8_t esc_feedbacck_buf[128];
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} ESC_UART_BUF;
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#pragma pack(pop)
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/******************************************************************************************
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* ESCBUS_MSG_ID_RUN_INFO packet
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*
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* Monitor message of ESCs while motor is running
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*
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* channelID: assigned channel number
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*
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* ESCStatus: status of ESC
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* Num Health status
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* 0 HEALTHY
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* 1 WARNING_LOW_VOLTAGE
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* 2 WARNING_OVER_CURRENT
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* 3 WARNING_OVER_HEAT
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* 4 ERROR_MOTOR_LOW_SPEED_LOSE_STEP
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* 5 ERROR_MOTOR_STALL
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* 6 ERROR_HARDWARE
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* 7 ERROR_LOSE_PROPELLER
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* 8 ERROR_OVER_CURRENT
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*
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* speed: -32767 - 32767 rpm
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*
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* temperature: 0 - 256 celsius degree (if available)
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* voltage: 0.00 - 100.00 V (if available)
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* current: 0.0 - 200.0 A (if available)
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*/
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typedef enum {
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ESC_STATUS_HEALTHY,
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ESC_STATUS_WARNING_LOW_VOLTAGE,
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ESC_STATUS_WARNING_OVER_HEAT,
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ESC_STATUS_ERROR_MOTOR_LOW_SPEED_LOSE_STEP,
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ESC_STATUS_ERROR_MOTOR_STALL,
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ESC_STATUS_ERROR_HARDWARE,
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ESC_STATUS_ERROR_LOSE_PROPELLER,
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ESC_STATUS_ERROR_OVER_CURRENT,
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} ESCBUS_ENUM_ESC_STATUS;
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typedef enum {
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// messages or command to ESC
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ESCBUS_MSG_ID_CONFIG_BASIC = 0,
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ESCBUS_MSG_ID_CONFIG_FULL,
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ESCBUS_MSG_ID_RUN,
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ESCBUS_MSG_ID_TUNE,
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ESCBUS_MSG_ID_DO_CMD,
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// messages from ESC
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ESCBUS_MSG_ID_REQUEST_INFO,
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ESCBUS_MSG_ID_CONFIG_INFO_BASIC, // simple configuration info for request from flight controller
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ESCBUS_MSG_ID_CONFIG_INFO_FULL,// full configuration info for request from host such as computer
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ESCBUS_MSG_ID_RUN_INFO,// feedback message in RUN mode
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ESCBUS_MSG_ID_STUDY_INFO, // studied parameters in STUDY mode
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ESCBUS_MSG_ID_COMM_INFO, // communication method info
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ESCBUS_MSG_ID_DEVICE_INFO,// ESC device info
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ESCBUS_MSG_ID_ASSIGNED_ID, // never touch ESCBUS_MSG_ID_MAX_NUM
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//boot loader used
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PROTO_OK = 0x10, // INSYNC/OK - 'ok' response
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PROTO_FAILED = 0x11, // INSYNC/FAILED - 'fail' response
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ESCBUS_MSG_ID_BOOT_SYNC = 0x21, // boot loader used
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PROTO_GET_DEVICE = 0x22, // get device ID bytes
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PROTO_CHIP_ERASE = 0x23, // erase program area and reset program address
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PROTO_PROG_MULTI = 0x27, // write bytes at program address and increment
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PROTO_GET_CRC = 0x29, // compute & return a CRC
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PROTO_BOOT = 0x30, // boot the application
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PROTO_GET_SOFTWARE_VERSION = 0x40,
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ESCBUS_MSG_ID_MAX_NUM,
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}
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ESCBUS_ENUM_MESSAGE_ID;
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typedef enum {
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HEAD,
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LEN,
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ID,
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DATA,
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CRC,
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} PARSR_ESC_STATE;
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1013
src/drivers/tap_esc/tap_esc.cpp
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1013
src/drivers/tap_esc/tap_esc.cpp
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File diff suppressed because it is too large
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