mirror of https://github.com/ArduPilot/ardupilot
110 lines
3.0 KiB
C++
110 lines
3.0 KiB
C++
#pragma once
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#include "AP_HAL_Linux.h"
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enum bebop_bldc_motor {
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BEBOP_BLDC_MOTOR_1 = 0,
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BEBOP_BLDC_MOTOR_2,
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BEBOP_BLDC_MOTOR_3,
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BEBOP_BLDC_MOTOR_4,
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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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struct bldc_info {
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uint8_t version_maj;
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uint8_t version_min;
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uint8_t type;
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uint8_t n_motors;
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uint16_t n_flights;
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uint16_t last_flight_time;
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uint32_t total_flight_time;
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uint8_t last_error;
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}__attribute__((packed));
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class Linux::RCOutput_Bebop : public AP_HAL::RCOutput {
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public:
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RCOutput_Bebop();
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static RCOutput_Bebop *from(AP_HAL::RCOutput *rcout) {
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return static_cast<RCOutput_Bebop*>(rcout);
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}
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void init();
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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 cork() override;
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void push() override;
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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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bool _corking = false;
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uint16_t _max_rpm;
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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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bool _get_info(struct bldc_info *info);
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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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