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251 lines
7.1 KiB
C
251 lines
7.1 KiB
C
/****************************************************************************
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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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#pragma once
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#include <board_config.h>
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#include <stdint.h>
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#define TAP_ESC_DEVICE_PATH "/dev/tap_esc"
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/* At the moment the only known use is with a current sensor */
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#define ESC_HAVE_CURRENT_SENSOR
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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 PACKET_HEAD 0xfe
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/* ESC_POS maps the values stored in the channelMapTable to reorder the ESC's
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* id so that that match the mux setting, so that the ressonder's data
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* will be read.
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* The index on channelMapTable[p] p is the physical ESC
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* The value it is set to is the logical value from ESC_POS[p]
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* Phy Log
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* 0 0
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* 1 1
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* 2 4
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* 3 3
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* 4 2
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* 5 5
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* ....
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*
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*/
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// Circular from back right in CCW direction
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#define ESC_POS {0, 1, 4, 3, 2, 5, 7, 8}
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// 0 is CW, 1 is CCW
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#define ESC_DIR {0, 1, 0, 1, 0, 1, 0, 1}
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#define RPMMAX 1900
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#define RPMMIN 1200
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#define RPMSTOPPED (RPMMIN - 10)
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#define MAX_BOOT_TIME_MS (550) // Minimum time to wait after Power on before sending commands
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#pragma pack(push,1)
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/****** Run ***********/
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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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typedef struct {
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uint16_t rpm_flags[TAP_ESC_MAX_MOTOR_NUM];
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} RunReq;
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typedef struct {
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uint8_t channelID;
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uint8_t ESCStatus;
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int16_t speed; // -32767 - 32768
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#if defined(ESC_HAVE_VOLTAGE_SENSOR)
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uint16_t voltage; // 0.00 - 100.00 V
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#endif
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#if defined(ESC_HAVE_CURRENT_SENSOR)
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uint16_t current; // 0.0 - 200.0 A
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#endif
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#if defined(ESC_HAVE_TEMPERATURE_SENSOR)
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uint8_t temperature; // 0 - 256 degree celsius
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#endif
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} RunInfoRepsonse;
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/****** Run ***********/
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/****** ConFigInfoBasic ***********/
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typedef struct {
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uint8_t maxChannelInUse;
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uint8_t channelMapTable[TAP_ESC_MAX_MOTOR_NUM];
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uint8_t monitorMsgType;
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uint8_t controlMode;
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uint16_t minChannelValue;
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uint16_t maxChannelValue;
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} ConfigInfoBasicRequest;
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typedef struct {
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uint8_t channelID;
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ConfigInfoBasicRequest resp;
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} ConfigInfoBasicResponse;
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#define ESC_MASK_MAP_CHANNEL 0x0f
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#define ESC_MASK_MAP_RUNNING_DIRECTION 0xf0
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/****** ConFigInfoBasicResponse ***********/
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/****** InfoRequest ***********/
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typedef enum {
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REQUEST_INFO_BASIC = 0,
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REQUEST_INFO_FUll,
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REQUEST_INFO_RUN,
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REQUEST_INFO_STUDY,
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REQUEST_INFO_COMM,
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REQUEST_INFO_DEVICE,
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} InfoTypes;
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typedef struct {
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uint8_t channelID;
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uint8_t requestInfoType;
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} InfoRequest;
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/****** InfoRequest ***********/
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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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union {
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InfoRequest reqInfo;
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ConfigInfoBasicRequest reqConfigInfoBasic;
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RunReq reqRun;
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ConfigInfoBasicResponse rspConfigInfoBasic;
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RunInfoRepsonse rspRunInfo;
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uint8_t bytes[100];
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} d;
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uint8_t crc_data;
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} EscPacket;
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#define UART_BUFFER_SIZE 128
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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_feedback_buf[UART_BUFFER_SIZE];
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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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ESC_STATUS_ERROR_MOTOR_HIGH_SPEED_LOSE_STEP,
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ESC_STATUS_ERROR_LOSE_CMD,
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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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