mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-26 23:23:34 +08:00
107 lines
3.9 KiB
C++
107 lines
3.9 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2017 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/*
|
|
* tap_esc_common.h
|
|
*
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <stdint.h>
|
|
|
|
#include "drv_tap_esc.h"
|
|
|
|
namespace tap_esc_common
|
|
{
|
|
/**
|
|
* 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);
|
|
|
|
/**
|
|
* 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);
|
|
|
|
/**
|
|
* 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 */
|