mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-23 09:08:30 -04:00
54c2c5f682
Instead of just doing a static cast to the desired class, use a method
named "from". Pros:
- When we have data shared on the parent class, the code is cleaner in
child class when it needs to access this data. Almost all the data
we use in AP_HAL benefits from this
- There's a minimal type checking because now we are using a method
that can only receive the type of the parent class
98 lines
2.8 KiB
C++
98 lines
2.8 KiB
C++
#ifndef __AP_HAL_LINUX_RCOUTPUT_BEBOP_H__
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#define __AP_HAL_LINUX_RCOUTPUT_BEBOP_H__
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#include "AP_HAL_Linux.h"
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enum bebop_bldc_motor {
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BEBOP_BLDC_RIGHT_FRONT = 0,
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BEBOP_BLDC_LEFT_FRONT,
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BEBOP_BLDC_LEFT_BACK,
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BEBOP_BLDC_RIGHT_BACK,
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BEBOP_BLDC_MOTORS_NUM,
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};
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enum bebop_bldc_sound {
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BEBOP_BLDC_SOUND_NONE = 0,
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BEBOP_BLDC_SOUND_SHORT_BEEP,
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BEBOP_BLDC_SOUND_BOOT_BEEP,
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BEBOP_BLDC_SOUND_BEBOP,
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};
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/* description of the bldc status */
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#define BEBOP_BLDC_STATUS_INIT 0
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#define BEBOP_BLDC_STATUS_IDLE 1
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#define BEBOP_BLDC_STATUS_RAMPING 2
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#define BEBOP_BLDC_STATUS_SPINNING_1 3
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#define BEBOP_BLDC_STATUS_SPINNING_2 4
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#define BEBOP_BLDC_STATUS_STOPPING 5
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#define BEBOP_BLDC_STATUS_CRITICAL 6
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/* description of the bldc errno */
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#define BEBOP_BLDC_ERRNO_EEPROM 1
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#define BEBOP_BLDC_ERRNO_MOTOR_STALLED 2
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#define BEBOP_BLDC_ERRNO_PROP_SECU 3
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#define BEBOP_BLDC_ERRNO_COM_LOST 4
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#define BEBOP_BLDC_ERRNO_BATT_LEVEL 9
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#define BEBOP_BLDC_ERRNO_LIPO 10
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#define BEBOP_BLDC_ERRNO_MOTOR_HW 11
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class BebopBLDC_ObsData {
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public:
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uint16_t rpm[BEBOP_BLDC_MOTORS_NUM];
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uint8_t rpm_saturated[BEBOP_BLDC_MOTORS_NUM];
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uint16_t batt_mv;
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uint8_t status;
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uint8_t error;
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uint8_t motors_err;
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uint8_t temperature;
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};
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class Linux::LinuxRCOutput_Bebop : public AP_HAL::RCOutput {
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public:
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LinuxRCOutput_Bebop();
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static LinuxRCOutput_Bebop *from(AP_HAL::RCOutput *rcout) {
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return static_cast<LinuxRCOutput_Bebop*>(rcout);
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}
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void init(void* dummy);
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void set_freq(uint32_t chmask, uint16_t freq_hz);
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uint16_t get_freq(uint8_t ch);
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void enable_ch(uint8_t ch);
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void disable_ch(uint8_t ch);
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void write(uint8_t ch, uint16_t period_us);
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void write(uint8_t ch, uint16_t* period_us, uint8_t len);
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uint16_t read(uint8_t ch);
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void read(uint16_t* period_us, uint8_t len);
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void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm);
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int read_obs_data(BebopBLDC_ObsData &data);
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private:
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AP_HAL::Semaphore *_i2c_sem;
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uint16_t _request_period_us[BEBOP_BLDC_MOTORS_NUM];
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uint16_t _period_us[BEBOP_BLDC_MOTORS_NUM];
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uint16_t _rpm[BEBOP_BLDC_MOTORS_NUM];
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uint16_t _frequency;
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uint16_t _min_pwm;
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uint16_t _max_pwm;
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uint8_t _state;
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uint8_t _checksum(uint8_t *data, unsigned int len);
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void _start_prop();
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void _toggle_gpio(uint8_t mask);
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void _set_ref_speed(uint16_t rpm[BEBOP_BLDC_MOTORS_NUM]);
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void _stop_prop();
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void _clear_error();
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void _play_sound(uint8_t sound);
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uint16_t _period_us_to_rpm(uint16_t period_us);
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/* thread related members */
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pthread_t _thread;
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pthread_mutex_t _mutex;
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pthread_cond_t _cond;
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void _run_rcout();
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static void *_control_thread(void *arg);
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};
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#endif // __AP_HAL_LINUX_RCOUTPUT_BEBOP_H__
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