ardupilot/libraries/AP_HAL_Linux/RCOutput_Bebop.h

112 lines
3.1 KiB
C++

#ifndef __AP_HAL_LINUX_RCOUTPUT_BEBOP_H__
#define __AP_HAL_LINUX_RCOUTPUT_BEBOP_H__
#include "AP_HAL_Linux.h"
enum bebop_bldc_motor {
BEBOP_BLDC_MOTOR_1 = 0,
BEBOP_BLDC_MOTOR_2,
BEBOP_BLDC_MOTOR_3,
BEBOP_BLDC_MOTOR_4,
BEBOP_BLDC_MOTORS_NUM,
};
enum bebop_bldc_sound {
BEBOP_BLDC_SOUND_NONE = 0,
BEBOP_BLDC_SOUND_SHORT_BEEP,
BEBOP_BLDC_SOUND_BOOT_BEEP,
BEBOP_BLDC_SOUND_BEBOP,
};
/* description of the bldc status */
#define BEBOP_BLDC_STATUS_INIT 0
#define BEBOP_BLDC_STATUS_IDLE 1
#define BEBOP_BLDC_STATUS_RAMPING 2
#define BEBOP_BLDC_STATUS_SPINNING_1 3
#define BEBOP_BLDC_STATUS_SPINNING_2 4
#define BEBOP_BLDC_STATUS_STOPPING 5
#define BEBOP_BLDC_STATUS_CRITICAL 6
/* description of the bldc errno */
#define BEBOP_BLDC_ERRNO_EEPROM 1
#define BEBOP_BLDC_ERRNO_MOTOR_STALLED 2
#define BEBOP_BLDC_ERRNO_PROP_SECU 3
#define BEBOP_BLDC_ERRNO_COM_LOST 4
#define BEBOP_BLDC_ERRNO_BATT_LEVEL 9
#define BEBOP_BLDC_ERRNO_LIPO 10
#define BEBOP_BLDC_ERRNO_MOTOR_HW 11
class BebopBLDC_ObsData {
public:
uint16_t rpm[BEBOP_BLDC_MOTORS_NUM];
uint8_t rpm_saturated[BEBOP_BLDC_MOTORS_NUM];
uint16_t batt_mv;
uint8_t status;
uint8_t error;
uint8_t motors_err;
uint8_t temperature;
};
struct bldc_info {
uint8_t version_maj;
uint8_t version_min;
uint8_t type;
uint8_t n_motors;
uint16_t n_flights;
uint16_t last_flight_time;
uint32_t total_flight_time;
uint8_t last_error;
}__attribute__((packed));
class Linux::RCOutput_Bebop : public AP_HAL::RCOutput {
public:
RCOutput_Bebop();
static RCOutput_Bebop *from(AP_HAL::RCOutput *rcout) {
return static_cast<RCOutput_Bebop*>(rcout);
}
void init();
void set_freq(uint32_t chmask, uint16_t freq_hz);
uint16_t get_freq(uint8_t ch);
void enable_ch(uint8_t ch);
void disable_ch(uint8_t ch);
void write(uint8_t ch, uint16_t period_us);
void cork() override;
void push() override;
uint16_t read(uint8_t ch);
void read(uint16_t* period_us, uint8_t len);
void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm);
int read_obs_data(BebopBLDC_ObsData &data);
private:
AP_HAL::Semaphore *_i2c_sem;
uint16_t _request_period_us[BEBOP_BLDC_MOTORS_NUM];
uint16_t _period_us[BEBOP_BLDC_MOTORS_NUM];
uint16_t _rpm[BEBOP_BLDC_MOTORS_NUM];
uint16_t _frequency;
uint16_t _min_pwm;
uint16_t _max_pwm;
uint8_t _state;
bool _corking = false;
uint8_t _checksum(uint8_t *data, unsigned int len);
void _start_prop();
void _toggle_gpio(uint8_t mask);
void _set_ref_speed(uint16_t rpm[BEBOP_BLDC_MOTORS_NUM]);
bool _get_info(struct bldc_info *info);
void _stop_prop();
void _clear_error();
void _play_sound(uint8_t sound);
uint16_t _period_us_to_rpm(uint16_t period_us);
/* thread related members */
pthread_t _thread;
pthread_mutex_t _mutex;
pthread_cond_t _cond;
void _run_rcout();
static void *_control_thread(void *arg);
};
#endif // __AP_HAL_LINUX_RCOUTPUT_BEBOP_H__