mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_PX4: implement motor output for aerofc
This uses tap ESCs, as found on the PX4 project, translated to our internal APIs. It doesn't have the feedback from ESCs yet.
This commit is contained in:
Lucas De Marchi
Andrew Tridgell
parent
ce9013b8ee
commit
75977cd890
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@ -1,22 +1,437 @@
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/*
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* Copyright (c) 2016 PX4 Development Team. All rights reserved.
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* Copyright (C) 2017 Intel Corporation. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* Implementation of TAP UART ESCs. Used the implementation from PX4 as a base
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* which is BSD-licensed:
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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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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && \
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_AEROFC_V1
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_AEROFC_V1
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#include "RCOutput_Tap.h"
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#include "RCOutput_Tap.h"
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#include <fcntl.h>
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#include <fcntl.h>
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#include <stdio.h>
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#include <sys/stat.h>
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#include <sys/stat.h>
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#include <sys/types.h>
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#include <sys/types.h>
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#include <termios.h>
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#include <unistd.h>
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#include <unistd.h>
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#include <drivers/drv_hrt.h>
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#include <AP_Math/AP_Math.h>
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#define DEBUG 0
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#if DEBUG
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#define debug(fmt, args...) ::printf(fmt "\n", ##args)
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#else
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#define debug(fmt, args...)
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#endif
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#define UART_DEVICE_PATH "/dev/ttyS0"
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extern const AP_HAL::HAL &hal;
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extern const AP_HAL::HAL &hal;
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/****** ESC data types ******/
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#define ESC_HAVE_CURRENT_SENSOR
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#define MIN_BOOT_TIME_USEC (550 * USEC_PER_MSEC)
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static const uint8_t crcTable[256] = {
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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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// Circular from back right in CCW direction
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static const uint8_t device_mux_map[] = {0, 1, 4, 3, 2, 5, 7, 8};
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// 0 is CW, 1 is CCW
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static const uint8_t device_dir_map[] = {0, 1, 0, 1, 0, 1, 0, 1};
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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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/*
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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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#define RPMMAX 1900
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#define RPMMIN 1200
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#define RPMSTOPPED (RPMMIN - 10)
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#define MIN_BOOT_TIME_MSEC (550) // Minimum time to wait after Power on before sending commands
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namespace PX4 {
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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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struct PACKED RunReq {
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uint16_t value[TAP_ESC_MAX_MOTOR_NUM];
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};
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struct PACKED RunInfoRepsonse {
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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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};
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/****** Run ***********/
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/****** ConFigInfoBasic ***********/
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struct PACKED ConfigInfoBasicRequest {
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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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};
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struct PACKED ConfigInfoBasicResponse {
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uint8_t channelID;
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ConfigInfoBasicRequest resp;
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};
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#define ESC_CHANNEL_MAP_CHANNEL 0x0f
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#define ESC_CHANNEL_MAP_RUNNING_DIRECTION 0xf0
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/****** ConFigInfoBasicResponse ***********/
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/****** InfoRequest ***********/
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enum InfoTypes {
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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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};
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struct PACKED InfoRequest {
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uint8_t channelID;
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uint8_t requestInfoType;
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};
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/****** InfoRequest ***********/
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struct PACKED EscPacket {
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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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};
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//static const unsigned ESC_PACKET_DATA_OFFSET = offsetof(EscPacket, d);
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static const unsigned ESC_PACKET_DATA_OFFSET = 3;
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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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enum ESCBUS_ENUM_ESC_STATUS {
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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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};
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enum ESCBUS_ENUM_MESSAGE_ID {
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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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enum PARSR_ESC_STATE {
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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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};
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/****************************/
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}
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using namespace PX4;
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using namespace PX4;
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void RCOutput_Tap::_uart_close()
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{
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if (_uart_fd < 0) {
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return;
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}
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::close(_uart_fd);
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_uart_fd = -1;
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}
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bool RCOutput_Tap::_uart_open()
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{
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// open uart
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_uart_fd = open(UART_DEVICE_PATH, O_RDWR | O_NOCTTY | O_NONBLOCK);
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int termios_state = -1;
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if (_uart_fd < 0) {
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PX4_ERR("failed to open uart device!");
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return -1;
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}
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// set baud rate
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||||||
|
int speed = 250000;
|
||||||
|
struct termios uart_config;
|
||||||
|
tcgetattr(_uart_fd, &uart_config);
|
||||||
|
|
||||||
|
// clear ONLCR flag (which appends a CR for every LF)
|
||||||
|
uart_config.c_oflag &= ~ONLCR;
|
||||||
|
|
||||||
|
// set baud rate
|
||||||
|
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
|
||||||
|
::fprintf(stderr, "failed to set baudrate for %s: %d\n",
|
||||||
|
UART_DEVICE_PATH, termios_state);
|
||||||
|
_uart_close();
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) {
|
||||||
|
fprintf(stderr, "tcsetattr failed for %s\n", UART_DEVICE_PATH);
|
||||||
|
_uart_close();
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
void RCOutput_Tap::init()
|
void RCOutput_Tap::init()
|
||||||
{
|
{
|
||||||
_perf_rcout = perf_alloc(PC_ELAPSED, "APM_rcout");
|
_perf_rcout = perf_alloc(PC_ELAPSED, "APM_rcout");
|
||||||
|
|
||||||
|
if (!_uart_open()) {
|
||||||
|
AP_HAL::panic("Unable to open " UART_DEVICE_PATH);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
hrt_abstime uptime_usec = hrt_absolute_time();
|
||||||
|
if (uptime_usec < MIN_BOOT_TIME_USEC) {
|
||||||
|
hal.scheduler->delay((MIN_BOOT_TIME_USEC - uptime_usec) / USEC_PER_MSEC);
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Issue Basic Config */
|
||||||
|
|
||||||
|
EscPacket packet = {0xfe, sizeof(ConfigInfoBasicRequest), ESCBUS_MSG_ID_CONFIG_BASIC};
|
||||||
|
ConfigInfoBasicRequest &config = packet.d.reqConfigInfoBasic;
|
||||||
|
memset(&config, 0, sizeof(ConfigInfoBasicRequest));
|
||||||
|
config.maxChannelInUse = _channels_count;
|
||||||
|
config.controlMode = 1;
|
||||||
|
|
||||||
|
/* Assign the id's to the ESCs to match the mux */
|
||||||
|
for (uint8_t phy_chan_index = 0; phy_chan_index < _channels_count; phy_chan_index++) {
|
||||||
|
config.channelMapTable[phy_chan_index] = device_mux_map[phy_chan_index] & ESC_CHANNEL_MAP_CHANNEL;
|
||||||
|
config.channelMapTable[phy_chan_index] |= (device_dir_map[phy_chan_index] << 4) & ESC_CHANNEL_MAP_RUNNING_DIRECTION;
|
||||||
|
}
|
||||||
|
|
||||||
|
config.maxChannelValue = RPMMAX;
|
||||||
|
config.minChannelValue = RPMMIN;
|
||||||
|
|
||||||
|
int ret = _send_packet(packet);
|
||||||
|
if (ret < 0) {
|
||||||
|
_uart_close();
|
||||||
|
AP_HAL::panic("Unable to send configuration to " UART_DEVICE_PATH);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
* To Unlock the ESC from the Power up state we need to issue 10
|
||||||
|
* ESCBUS_MSG_ID_RUN request with all the values 0;
|
||||||
|
*/
|
||||||
|
EscPacket unlock_packet = {0xfe, _channels_count, ESCBUS_MSG_ID_RUN};
|
||||||
|
unlock_packet.len *= sizeof(unlock_packet.d.reqRun.value[0]);
|
||||||
|
memset(unlock_packet.d.bytes, 0, sizeof(packet.d.bytes));
|
||||||
|
|
||||||
|
for (uint8_t i = 0; i < 10; i++) {
|
||||||
|
_send_packet(unlock_packet);
|
||||||
|
/* Min Packet to Packet time is 1 Ms so use 2 */
|
||||||
|
hal.scheduler->delay(2);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
int RCOutput_Tap::_send_packet(EscPacket &packet)
|
||||||
|
{
|
||||||
|
int packet_len = _crc_packet(packet);
|
||||||
|
int ret = ::write(_uart_fd, &packet.head, packet_len);
|
||||||
|
|
||||||
|
if (ret != packet_len) {
|
||||||
|
debug("TX ERROR: ret: %d, errno: %d", ret, errno);
|
||||||
|
}
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t RCOutput_Tap::_crc8_esc(uint8_t *p, uint8_t len)
|
||||||
|
{
|
||||||
|
uint8_t crc = 0;
|
||||||
|
|
||||||
|
for (uint8_t i = 0; i < len; i++) {
|
||||||
|
crc = crcTable[crc ^ *p++];
|
||||||
|
}
|
||||||
|
|
||||||
|
return crc;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t RCOutput_Tap::_crc_packet(EscPacket &p)
|
||||||
|
{
|
||||||
|
/* Calculate the crc over Len,ID,data */
|
||||||
|
p.d.bytes[p.len] = _crc8_esc(&p.len, p.len + 2);
|
||||||
|
return p.len + ESC_PACKET_DATA_OFFSET + 1;
|
||||||
}
|
}
|
||||||
|
|
||||||
/*
|
/*
|
||||||
|
|
@ -37,9 +452,6 @@ void RCOutput_Tap::enable_ch(uint8_t ch)
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
_enabled_channels |= (1U << ch);
|
_enabled_channels |= (1U << ch);
|
||||||
if (_period[ch] == UINT16_MAX) {
|
|
||||||
_period[ch] = 0;
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
void RCOutput_Tap::disable_ch(uint8_t ch)
|
void RCOutput_Tap::disable_ch(uint8_t ch)
|
||||||
|
|
@ -49,7 +461,6 @@ void RCOutput_Tap::disable_ch(uint8_t ch)
|
||||||
}
|
}
|
||||||
|
|
||||||
_enabled_channels &= ~(1U << ch);
|
_enabled_channels &= ~(1U << ch);
|
||||||
_period[ch] = UINT16_MAX;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
void RCOutput_Tap::write(uint8_t ch, uint16_t period_us)
|
void RCOutput_Tap::write(uint8_t ch, uint16_t period_us)
|
||||||
|
|
@ -63,6 +474,10 @@ void RCOutput_Tap::write(uint8_t ch, uint16_t period_us)
|
||||||
}
|
}
|
||||||
|
|
||||||
_period[ch] = period_us;
|
_period[ch] = period_us;
|
||||||
|
|
||||||
|
if (!_corking) {
|
||||||
|
push();
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
uint16_t RCOutput_Tap::read(uint8_t ch)
|
uint16_t RCOutput_Tap::read(uint8_t ch)
|
||||||
|
|
@ -80,15 +495,6 @@ void RCOutput_Tap::read(uint16_t *period_us, uint8_t len)
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void RCOutput_Tap::_send_outputs(void)
|
|
||||||
{
|
|
||||||
uint32_t __attribute__((unused)) now = AP_HAL::micros();
|
|
||||||
|
|
||||||
perf_begin(_perf_rcout);
|
|
||||||
|
|
||||||
perf_end(_perf_rcout);
|
|
||||||
}
|
|
||||||
|
|
||||||
void RCOutput_Tap::cork()
|
void RCOutput_Tap::cork()
|
||||||
{
|
{
|
||||||
_corking = true;
|
_corking = true;
|
||||||
|
|
@ -97,7 +503,72 @@ void RCOutput_Tap::cork()
|
||||||
void RCOutput_Tap::push()
|
void RCOutput_Tap::push()
|
||||||
{
|
{
|
||||||
_corking = false;
|
_corking = false;
|
||||||
_send_outputs();
|
|
||||||
|
perf_begin(_perf_rcout);
|
||||||
|
|
||||||
|
uint16_t out[TAP_ESC_MAX_MOTOR_NUM];
|
||||||
|
uint8_t motor_cnt = _channels_count;
|
||||||
|
|
||||||
|
uint8_t motor_mapping[] = {
|
||||||
|
[0] = 2,
|
||||||
|
[1] = 1,
|
||||||
|
[2] = 0,
|
||||||
|
[3] = 3,
|
||||||
|
};
|
||||||
|
|
||||||
|
// map from the RPM range to 0 - 100% duty cycle for the ESCs
|
||||||
|
for (uint8_t i = 0; i < motor_cnt; i++) {
|
||||||
|
uint16_t *val = &out[motor_mapping[i]];
|
||||||
|
if (!(_enabled_channels & (1U << i))) {
|
||||||
|
*val = RPMSTOPPED;
|
||||||
|
} else if (_period[i] < _esc_pwm_min) {
|
||||||
|
*val = RPMSTOPPED;
|
||||||
|
} else if (_period[i] >= _esc_pwm_max) {
|
||||||
|
*val = RPMMAX;
|
||||||
|
} else {
|
||||||
|
uint32_t pdiff = (_period[i] - _esc_pwm_min) * (RPMMAX - RPMMIN);
|
||||||
|
*val = (pdiff / (_esc_pwm_max - _esc_pwm_min)) + RPMMIN;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
for (uint8_t i = motor_cnt; i < TAP_ESC_MAX_MOTOR_NUM; i++) {
|
||||||
|
out[i] = RPMSTOPPED;
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Value packet format, little endian
|
||||||
|
*
|
||||||
|
* | 15 | 14 | 13 | 12 | 11 | 10 | 11 | 12 | 11 | 10 ...... 0 |
|
||||||
|
* --------------------------------------------------------------
|
||||||
|
* | -- | -- | -- | -- | REV | FEN | BL | GL | RL | RPM value |
|
||||||
|
*
|
||||||
|
* RPM value: [ RPMMIN, RPMMAX ]
|
||||||
|
* RL: LED1
|
||||||
|
* GL: LED2 (ESC may have only one LED that works, independent of the color)
|
||||||
|
* BL: LED3
|
||||||
|
* FEN: Feedback enable
|
||||||
|
* REV: Reverse direction
|
||||||
|
*/
|
||||||
|
|
||||||
|
// TODO: enable feedback from 1 ESC and read data back
|
||||||
|
#if 0
|
||||||
|
out[_next_channel_reply] |= RUN_FEEDBACK_ENABLE_MASK;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
EscPacket packet = {0xfe, _channels_count, ESCBUS_MSG_ID_RUN};
|
||||||
|
packet.len *= sizeof(packet.d.reqRun.value[0]);
|
||||||
|
|
||||||
|
for (uint8_t i = 0; i < _channels_count; i++) {
|
||||||
|
packet.d.reqRun.value[i] = out[i] & RUN_CHANNEL_VALUE_MASK;
|
||||||
|
}
|
||||||
|
|
||||||
|
int ret = _send_packet(packet);
|
||||||
|
if (ret < 1) {
|
||||||
|
debug("TX ERROR: ret: %d, errno: %d", ret, errno);
|
||||||
|
}
|
||||||
|
|
||||||
|
_next_channel_reply = (_next_channel_reply + 1) % _channels_count;
|
||||||
|
|
||||||
|
perf_end(_perf_rcout);
|
||||||
}
|
}
|
||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
|
||||||
|
|
@ -1,3 +1,52 @@
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
|
||||||
|
* Copyright (C) 2017 Intel Corporation. All rights reserved.
|
||||||
|
*
|
||||||
|
* This file is free software: you can redistribute it and/or modify it
|
||||||
|
* under the terms of the GNU General Public License as published by the
|
||||||
|
* Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This file is distributed in the hope that it will be useful, but
|
||||||
|
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
||||||
|
* See the GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License along
|
||||||
|
* with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Implementation of TAP UART ESCs. Used the implementation from PX4 as a base
|
||||||
|
* which is BSD-licensed:
|
||||||
|
*
|
||||||
|
* 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.
|
||||||
|
*/
|
||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
#include "AP_HAL_PX4.h"
|
#include "AP_HAL_PX4.h"
|
||||||
|
|
@ -7,6 +56,8 @@
|
||||||
|
|
||||||
namespace PX4 {
|
namespace PX4 {
|
||||||
|
|
||||||
|
struct EscPacket;
|
||||||
|
|
||||||
class RCOutput_Tap : public AP_HAL::RCOutput {
|
class RCOutput_Tap : public AP_HAL::RCOutput {
|
||||||
public:
|
public:
|
||||||
void init() override;
|
void init() override;
|
||||||
|
|
@ -27,17 +78,27 @@ public:
|
||||||
void push() override;
|
void push() override;
|
||||||
|
|
||||||
private:
|
private:
|
||||||
|
static uint8_t _crc8_esc(uint8_t *p, uint8_t len);
|
||||||
|
static uint8_t _crc_packet(EscPacket &p);
|
||||||
|
|
||||||
static const uint8_t MAX_MOTORS = 4;
|
static const uint8_t MAX_MOTORS = 4;
|
||||||
|
|
||||||
void _send_outputs(void);
|
int _send_packet(EscPacket &p);
|
||||||
|
bool _uart_open();
|
||||||
|
void _uart_close();
|
||||||
|
|
||||||
uint8_t _enabled_channels = 0;
|
perf_counter_t _perf_rcout;
|
||||||
bool _corking = false;
|
|
||||||
|
uint8_t _enabled_channels;
|
||||||
|
bool _corking;
|
||||||
|
|
||||||
|
uint8_t _channels_count = MAX_MOTORS;
|
||||||
|
uint8_t _next_channel_reply;
|
||||||
|
|
||||||
uint16_t _period[MAX_MOTORS];
|
uint16_t _period[MAX_MOTORS];
|
||||||
uint16_t _esc_pwm_min = 0;
|
uint16_t _esc_pwm_min;
|
||||||
uint16_t _esc_pwm_max = 0;
|
uint16_t _esc_pwm_max;
|
||||||
perf_counter_t _perf_rcout;
|
int _uart_fd = -1;
|
||||||
};
|
};
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue