ardupilot/libraries/AP_HAL_PX4/RCOutput_Tap.h

104 lines
3.6 KiB
C++

/*
* 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
#include "AP_HAL_PX4.h"
#include <systemlib/perf_counter.h>
#include <uORB/topics/actuator_armed.h>
namespace PX4 {
struct EscPacket;
class RCOutput_Tap : public AP_HAL::RCOutput {
public:
void init() override;
void set_freq(uint32_t chmask, uint16_t freq_hz) override;
uint16_t get_freq(uint8_t ch) override;
void enable_ch(uint8_t ch) override;
void disable_ch(uint8_t ch) override;
void write(uint8_t ch, uint16_t period_us) override;
uint16_t read(uint8_t ch) override;
void read(uint16_t *period_us, uint8_t len) override;
void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override {
_esc_pwm_min = min_pwm;
_esc_pwm_max = max_pwm;
}
void cork() override;
void push() override;
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;
int _send_packet(EscPacket &p);
bool _uart_open();
void _uart_close();
perf_counter_t _perf_rcout;
uint8_t _enabled_channels;
bool _corking;
uint8_t _channels_count = MAX_MOTORS;
uint8_t _next_channel_reply;
uint16_t _period[MAX_MOTORS];
uint16_t _esc_pwm_min;
uint16_t _esc_pwm_max;
int _uart_fd = -1;
};
}