mirror of https://github.com/ArduPilot/ardupilot
102 lines
3.5 KiB
C++
102 lines
3.5 KiB
C++
/*
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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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#pragma once
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#include <AP_HAL/Util.h>
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namespace ap {
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struct EscPacket;
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class RCOutput_Tap : public AP_HAL::RCOutput {
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public:
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void init() override;
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void set_freq(uint32_t chmask, uint16_t freq_hz) override;
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uint16_t get_freq(uint8_t ch) override;
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void enable_ch(uint8_t ch) override;
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void disable_ch(uint8_t ch) override;
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void write(uint8_t ch, uint16_t period_us) override;
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uint16_t read(uint8_t ch) override;
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void read(uint16_t *period_us, uint8_t len) override;
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void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override {
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_esc_pwm_min = min_pwm;
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_esc_pwm_max = max_pwm;
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}
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void cork() override;
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void push() override;
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private:
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static uint8_t _crc8_esc(uint8_t *p, uint8_t len);
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static uint8_t _crc_packet(EscPacket &p);
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static const uint8_t MAX_MOTORS = 4;
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int _send_packet(EscPacket &p);
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bool _uart_open();
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bool _uart_set_speed(int speed);
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void _uart_close();
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uint8_t _enabled_channels;
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bool _corking;
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bool _led_on;
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uint8_t _channels_count = MAX_MOTORS;
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uint16_t _period[MAX_MOTORS];
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uint16_t _esc_pwm_min;
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uint16_t _esc_pwm_max;
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uint32_t _last_led_update_msec;
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int _uart_fd = -1;
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};
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}
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