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tap_esc: formatting and renaming

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This commit is contained in:
alessandro
2018-04-17 15:53:49 +02:00
committed by Beat Küng
parent 05548829d3
commit 5ebe76207d
2 changed files with 21 additions and 26 deletions
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src/drivers/tap_esc/drv_tap_esc.h
+10 -8
View File
@@ -35,6 +35,8 @@
#include <board_config.h>
#include <stdint.h>
/* At the moment the only known use is with a current sensor */
#define ESC_HAVE_CURRENT_SENSOR
@@ -119,18 +121,18 @@ typedef struct {
ConfigInfoBasicRequest resp;
} ConfigInfoBasicResponse;
#define ESC_CHANNEL_MAP_CHANNEL 0x0f
#define ESC_CHANNEL_MAP_RUNNING_DIRECTION 0xf0
#define ESC_MASK_MAP_CHANNEL 0x0f
#define ESC_MASK_MAP_RUNNING_DIRECTION 0xf0
/****** ConFigInfoBasicResponse ***********/
/****** InfoRequest ***********/
typedef enum {
REQEST_INFO_BASIC = 0,
REQEST_INFO_FUll,
REQEST_INFO_RUN,
REQEST_INFO_STUDY,
REQEST_INFO_COMM,
REQEST_INFO_DEVICE,
REQUEST_INFO_BASIC = 0,
REQUEST_INFO_FUll,
REQUEST_INFO_RUN,
REQUEST_INFO_STUDY,
REQUEST_INFO_COMM,
REQUEST_INFO_DEVICE,
} InfoTypes;
typedef struct {
src/drivers/tap_esc/tap_esc.cpp
+11 -18
View File
@@ -109,11 +109,9 @@ public:
private:
char _device[DEVICE_ARGUMENT_MAX_LENGTH];
int _uart_fd = -1;
static const uint8_t device_mux_map[TAP_ESC_MAX_MOTOR_NUM];
static const uint8_t device_dir_map[TAP_ESC_MAX_MOTOR_NUM];
bool _is_armed = false;
// subscriptions
static const uint8_t _device_mux_map[TAP_ESC_MAX_MOTOR_NUM];
static const uint8_t _device_dir_map[TAP_ESC_MAX_MOTOR_NUM];
bool _is_armed = false;
int _armed_sub = -1;
int _test_motor_sub = -1;
int _params_sub = -1;
@@ -121,8 +119,6 @@ private:
actuator_outputs_s _outputs = {};
actuator_armed_s _armed = {};
//todo:refactor dynamic based on _channels_count
// It needs to support the number of ESC
int _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
orb_id_t _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
@@ -130,7 +126,7 @@ private:
unsigned _poll_fds_num = 0;
orb_advert_t _esc_feedback_pub = nullptr;
orb_advert_t _to_mixer_status = nullptr; ///< mixer status flags
orb_advert_t _to_mixer_status = nullptr; ///< mixer status flags
esc_status_s _esc_feedback = {};
uint8_t _channels_count = 0; ///< nnumber of ESC channels
uint8_t _responding_esc = 0;
@@ -152,8 +148,8 @@ private:
inline int control_callback(uint8_t control_group, uint8_t control_index, float &input);
};
const uint8_t TAP_ESC::device_mux_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_POS;
const uint8_t TAP_ESC::device_dir_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_DIR;
const uint8_t TAP_ESC::_device_mux_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_POS;
const uint8_t TAP_ESC::_device_dir_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_DIR;
TAP_ESC::TAP_ESC(char const *const device, uint8_t channels_count):
CDev("tap_esc", TAP_ESC_DEVICE_PATH),
@@ -276,7 +272,6 @@ int TAP_ESC::init()
}
/* Respect boot time required by the ESC FW */
hrt_abstime uptime_us = hrt_absolute_time();
if (uptime_us < MAX_BOOT_TIME_MS * 1000) {
@@ -284,7 +279,6 @@ int TAP_ESC::init()
}
/* Issue Basic Config */
EscPacket packet = {PACKET_HEAD, sizeof(ConfigInfoBasicRequest), ESCBUS_MSG_ID_CONFIG_BASIC};
ConfigInfoBasicRequest &config = packet.d.reqConfigInfoBasic;
memset(&config, 0, sizeof(ConfigInfoBasicRequest));
@@ -294,10 +288,10 @@ int TAP_ESC::init()
/* Asign the id's to the ESCs to match the mux */
for (uint8_t phy_chan_index = 0; phy_chan_index < _channels_count; phy_chan_index++) {
config.channelMapTable[phy_chan_index] = device_mux_map[phy_chan_index] &
ESC_CHANNEL_MAP_CHANNEL;
config.channelMapTable[phy_chan_index] |= (device_dir_map[phy_chan_index] << 4) &
ESC_CHANNEL_MAP_RUNNING_DIRECTION;
config.channelMapTable[phy_chan_index] = _device_mux_map[phy_chan_index] &
ESC_MASK_MAP_CHANNEL;
config.channelMapTable[phy_chan_index] |= (_device_dir_map[phy_chan_index] << 4) &
ESC_MASK_MAP_RUNNING_DIRECTION;
}
config.maxChannelValue = RPMMAX;
@@ -776,8 +770,7 @@ tap_esc start -d /dev/ttyS2 -n <1-8>
extern "C" __EXPORT int tap_esc_main(int argc, char *argv[]);
int
tap_esc_main(int argc, char *argv[])
int tap_esc_main(int argc, char *argv[])
{
return TAP_ESC::main(argc, argv);
}