mirror of https://github.com/ArduPilot/ardupilot
585 lines
17 KiB
C++
585 lines
17 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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#include <AP_HAL/AP_HAL.h>
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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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#include "RCOutput_Tap.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/types.h>
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#include <termios.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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/****** ESC data types ******/
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#define ESC_HAVE_CURRENT_SENSOR
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#define MIN_BOOT_TIME_USEC (550 * AP_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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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;
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struct termios uart_config;
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tcgetattr(_uart_fd, &uart_config);
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// clear ONLCR flag (which appends a CR for every LF)
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uart_config.c_oflag &= ~ONLCR;
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// set baud rate
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if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
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::fprintf(stderr, "failed to set baudrate for %s: %d\n",
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UART_DEVICE_PATH, termios_state);
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_uart_close();
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return false;
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}
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if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) {
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fprintf(stderr, "tcsetattr failed for %s\n", UART_DEVICE_PATH);
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_uart_close();
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return false;
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}
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return true;
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}
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void RCOutput_Tap::init()
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{
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_perf_rcout = perf_alloc(PC_ELAPSED, "APM_rcout");
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if (!_uart_open()) {
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AP_HAL::panic("Unable to open " UART_DEVICE_PATH);
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return;
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}
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hrt_abstime uptime_usec = hrt_absolute_time();
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if (uptime_usec < MIN_BOOT_TIME_USEC) {
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hal.scheduler->delay((MIN_BOOT_TIME_USEC - uptime_usec) / AP_USEC_PER_MSEC);
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}
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/* Issue Basic Config */
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EscPacket packet = {0xfe, sizeof(ConfigInfoBasicRequest), ESCBUS_MSG_ID_CONFIG_BASIC};
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ConfigInfoBasicRequest &config = packet.d.reqConfigInfoBasic;
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memset(&config, 0, sizeof(ConfigInfoBasicRequest));
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config.maxChannelInUse = _channels_count;
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config.controlMode = 1;
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/* Assign the id's to the ESCs to match the mux */
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for (uint8_t phy_chan_index = 0; phy_chan_index < _channels_count; phy_chan_index++) {
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config.channelMapTable[phy_chan_index] = device_mux_map[phy_chan_index] & ESC_CHANNEL_MAP_CHANNEL;
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config.channelMapTable[phy_chan_index] |= (device_dir_map[phy_chan_index] << 4) & ESC_CHANNEL_MAP_RUNNING_DIRECTION;
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}
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config.maxChannelValue = RPMMAX;
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config.minChannelValue = RPMMIN;
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int ret = _send_packet(packet);
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if (ret < 0) {
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_uart_close();
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AP_HAL::panic("Unable to send configuration to " UART_DEVICE_PATH);
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return;
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}
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/*
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* To Unlock the ESC from the Power up state we need to issue 10
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* ESCBUS_MSG_ID_RUN request with all the values 0;
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*/
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EscPacket unlock_packet = {0xfe, _channels_count, ESCBUS_MSG_ID_RUN};
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unlock_packet.len *= sizeof(unlock_packet.d.reqRun.value[0]);
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memset(unlock_packet.d.bytes, 0, sizeof(packet.d.bytes));
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for (uint8_t i = 0; i < 10; i++) {
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_send_packet(unlock_packet);
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/* Min Packet to Packet time is 1 Ms so use 2 */
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hal.scheduler->delay(2);
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}
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}
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int RCOutput_Tap::_send_packet(EscPacket &packet)
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{
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int packet_len = _crc_packet(packet);
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int ret = ::write(_uart_fd, &packet.head, packet_len);
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if (ret != packet_len) {
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debug("TX ERROR: ret: %d, errno: %d", ret, errno);
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}
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return ret;
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}
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uint8_t RCOutput_Tap::_crc8_esc(uint8_t *p, uint8_t len)
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{
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uint8_t crc = 0;
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for (uint8_t i = 0; i < len; i++) {
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crc = crcTable[crc ^ *p++];
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}
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return crc;
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}
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uint8_t RCOutput_Tap::_crc_packet(EscPacket &p)
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{
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/* Calculate the crc over Len,ID,data */
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p.d.bytes[p.len] = _crc8_esc(&p.len, p.len + 2);
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return p.len + ESC_PACKET_DATA_OFFSET + 1;
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}
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/*
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set output frequency
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*/
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void RCOutput_Tap::set_freq(uint32_t chmask, uint16_t freq_hz)
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{
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}
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|
|
uint16_t RCOutput_Tap::get_freq(uint8_t ch)
|
|
{
|
|
return 400;
|
|
}
|
|
|
|
void RCOutput_Tap::enable_ch(uint8_t ch)
|
|
{
|
|
if (ch >= MAX_MOTORS) {
|
|
return;
|
|
}
|
|
_enabled_channels |= (1U << ch);
|
|
}
|
|
|
|
void RCOutput_Tap::disable_ch(uint8_t ch)
|
|
{
|
|
if (ch >= MAX_MOTORS) {
|
|
return;
|
|
}
|
|
|
|
_enabled_channels &= ~(1U << ch);
|
|
}
|
|
|
|
void RCOutput_Tap::write(uint8_t ch, uint16_t period_us)
|
|
{
|
|
if (ch >= MAX_MOTORS) {
|
|
return;
|
|
}
|
|
if (!(_enabled_channels & (1U << ch))) {
|
|
// not enabled
|
|
return;
|
|
}
|
|
|
|
_period[ch] = period_us;
|
|
|
|
if (!_corking) {
|
|
push();
|
|
}
|
|
}
|
|
|
|
uint16_t RCOutput_Tap::read(uint8_t ch)
|
|
{
|
|
if (ch >= MAX_MOTORS) {
|
|
return 0;
|
|
}
|
|
return _period[ch];
|
|
}
|
|
|
|
void RCOutput_Tap::read(uint16_t *period_us, uint8_t len)
|
|
{
|
|
for (uint8_t i = 0; i < len; i++) {
|
|
period_us[i] = read(i);
|
|
}
|
|
}
|
|
|
|
void RCOutput_Tap::cork()
|
|
{
|
|
_corking = true;
|
|
}
|
|
|
|
void RCOutput_Tap::push()
|
|
{
|
|
_corking = false;
|
|
|
|
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 {
|
|
float period_us = constrain_int16(_period[i], _esc_pwm_min, _esc_pwm_max);
|
|
|
|
/*
|
|
* Map to [ RPMSTOPPED, RPMMAX ] range rather than
|
|
* [ RPMMIN, RPMMAX ] because AP_Motors will send us _esc_pwm_min
|
|
* when it's disarmed
|
|
*/
|
|
float rpm = (period_us - _esc_pwm_min)/(_esc_pwm_max - _esc_pwm_min)
|
|
* (RPMMAX - RPMSTOPPED) + RPMSTOPPED;
|
|
|
|
*val = (uint16_t) rpm;
|
|
}
|
|
}
|
|
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
|