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144 lines
4.6 KiB
C++
144 lines
4.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018-2021 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 <stdint.h>
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#include <px4_defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/tasks.h>
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/getopt.h>
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#include <errno.h>
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#include <math.h> // NAN
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#include <cstring>
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#include <lib/drivers/device/device.h>
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#include <lib/mixer_module/mixer_module.hpp>
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#include <lib/mathlib/mathlib.h>
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#include <lib/led/led.h>
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#include <lib/tunes/tunes.h>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/esc_status.h>
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#include <uORB/topics/led_control.h>
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#include <drivers/drv_hrt.h>
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#include "tap_esc_common.h"
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#include "drv_tap_esc.h"
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#if !defined(BOARD_TAP_ESC_MODE)
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# define BOARD_TAP_ESC_MODE 0
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#endif
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#if !defined(DEVICE_ARGUMENT_MAX_LENGTH)
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# define DEVICE_ARGUMENT_MAX_LENGTH 32
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#endif
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using namespace time_literals;
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/*
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* This driver connects to TAP ESCs via serial.
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*/
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class TAP_ESC : public ModuleBase<TAP_ESC>, public OutputModuleInterface
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{
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public:
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TAP_ESC(const char *device, uint8_t channels_count);
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virtual ~TAP_ESC();
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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/** @see ModuleBase::print_status() */
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int print_status() override;
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int init();
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bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
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unsigned num_outputs, unsigned num_control_groups_updated) override;
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private:
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void Run() override;
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inline void send_esc_outputs(const uint16_t *pwm, const uint8_t motor_cnt);
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inline void send_tune_packet(EscbusTunePacket &tune_packet);
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MixingOutput _mixing_output;
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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bool _initialized{false};
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char _device[DEVICE_ARGUMENT_MAX_LENGTH] {};
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int _uart_fd{-1};
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const uint8_t _device_mux_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_POS;
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const uint8_t _device_dir_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_DIR;
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uORB::PublicationMulti<esc_status_s> _esc_feedback_pub{ORB_ID(esc_status)};
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esc_status_s _esc_feedback{};
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uint8_t _channels_count{0}; ///< number of ESC channels
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uint8_t _responding_esc{0};
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ESC_UART_BUF _uartbuf{};
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EscPacket _packet{};
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Tunes _tunes{};
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uORB::Subscription _tune_control_sub{ORB_ID(tune_control)};
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hrt_abstime _interval_timestamp{0};
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unsigned int _silence_length{0}; ///< If nonzero, silence before next note.
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unsigned int _frequency{0};
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unsigned int _duration{0};
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LedControlData _led_control_data{};
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LedController _led_controller{};
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perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
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perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
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};
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