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drivers: remove tap_esc

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- it's not used anymore
- it would need a refactoring to use mixer_module
This commit is contained in:
Beat Küng
2021-02-25 11:21:27 +01:00
committed by Daniel Agar
parent 8986264feb
commit 7e33d03470
52 changed files with 0 additions and 1539 deletions
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ROMFS/px4fmu_common/init.d/rc.interface
-5
View File
@@ -144,11 +144,6 @@ then
set OUTPUT_DEV /dev/uavcan/esc
fi
if [ $OUTPUT_MODE = tap_esc ]
then
set OUTPUT_DEV /dev/tap_esc
fi
if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
then
echo "INFO [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
Tools/uorb_graph/create.py
-1
View File
@@ -223,7 +223,6 @@ class Graph(object):
('listener', r'.*', None, r'^(id)$'),
('logger', r'.*', None, r'^(topic|sub\.metadata|_polling_topic_meta)$'),
('tap_esc', r'.*', r'\b_control_topics\[[0-9]\]=([^,)]+)', r'^_control_topics\[i\]$'),
('snapdragon_pwm_out', r'.*', r'\b_controls_topics\[[0-9]\]=([^,)]+)', r'^_controls_topics\[i\]$'),
]
special_cases_sub = [(a, re.compile(b), re.compile(c) if c is not None else None, re.compile(d))
boards/airmind/mindpx-v2/default.cmake
-1
View File
@@ -45,7 +45,6 @@ px4_add_board(
pwm_out
rc_input
roboclaw
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/av/x-v1/default.cmake
-1
View File
@@ -44,7 +44,6 @@ px4_add_board(
pwm_out
rc_input
roboclaw
tap_esc
telemetry # all available telemetry drivers
test_ppm
#tone_alarm
boards/cuav/nora/default.cmake
-1
View File
@@ -49,7 +49,6 @@ px4_add_board(
rc_input
roboclaw
safety_button
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/cuav/x7pro/default.cmake
-1
View File
@@ -52,7 +52,6 @@ px4_add_board(
rc_input
roboclaw
safety_button
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/cubepilot/cubeorange/console.cmake
-1
View File
@@ -51,7 +51,6 @@ px4_add_board(
px4io
roboclaw
rpm
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/cubepilot/cubeorange/default.cmake
-1
View File
@@ -51,7 +51,6 @@ px4_add_board(
px4io
roboclaw
rpm
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/cubepilot/cubeyellow/console.cmake
-1
View File
@@ -50,7 +50,6 @@ px4_add_board(
px4io
roboclaw
rpm
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/cubepilot/cubeyellow/default.cmake
-1
View File
@@ -50,7 +50,6 @@ px4_add_board(
px4io
roboclaw
rpm
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/holybro/durandal-v1/default.cmake
-1
View File
@@ -50,7 +50,6 @@ px4_add_board(
pwm_out
px4io
roboclaw
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/holybro/pix32v5/default.cmake
-1
View File
@@ -53,7 +53,6 @@ px4_add_board(
roboclaw
rpm
safety_button
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/intel/aerofc-v1/default.cmake
-1
View File
@@ -29,7 +29,6 @@ px4_add_board(
pwm_out_sim
pwm_out
rc_input
tap_esc
#telemetry # all available telemetry drivers
#uavcan
MODULES
boards/modalai/fc-v1/default.cmake
-1
View File
@@ -44,7 +44,6 @@ px4_add_board(
rc_input
roboclaw
safety_button
tap_esc
telemetry # all available telemetry drivers
test_ppm
#tone_alarm
boards/mro/ctrl-zero-f7-oem/default.cmake
-1
View File
@@ -48,7 +48,6 @@ px4_add_board(
rc_input
roboclaw
safety_button
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/mro/ctrl-zero-f7/default.cmake
-1
View File
@@ -48,7 +48,6 @@ px4_add_board(
rc_input
roboclaw
safety_button
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/mro/ctrl-zero-h7-oem/default.cmake
-1
View File
@@ -49,7 +49,6 @@ px4_add_board(
roboclaw
rpm
#safety_button TODO
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/mro/ctrl-zero-h7/default.cmake
-1
View File
@@ -49,7 +49,6 @@ px4_add_board(
roboclaw
rpm
#safety_button TODO
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/mro/pixracerpro/default.cmake
-1
View File
@@ -48,7 +48,6 @@ px4_add_board(
rc_input
roboclaw
rpm
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/mro/x21-777/default.cmake
-1
View File
@@ -48,7 +48,6 @@ px4_add_board(
px4io
roboclaw
rpm
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/mro/x21/default.cmake
-1
View File
@@ -46,7 +46,6 @@ px4_add_board(
pwm_out
px4io
roboclaw
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/nxp/fmuk66-e/default.cmake
-1
View File
@@ -46,7 +46,6 @@ px4_add_board(
rc_input
roboclaw
safety_button
tap_esc
telemetry # all available telemetry drivers
#test_ppm # NOT Portable YET
tone_alarm
boards/nxp/fmuk66-e/socketcan.cmake
-1
View File
@@ -45,7 +45,6 @@ px4_add_board(
rc_input
roboclaw
safety_button
tap_esc
telemetry # all available telemetry drivers
#test_ppm # NOT Portable YET
tone_alarm
boards/nxp/fmuk66-v3/default.cmake
-1
View File
@@ -46,7 +46,6 @@ px4_add_board(
rc_input
roboclaw
safety_button
tap_esc
telemetry # all available telemetry drivers
#test_ppm # NOT Portable YET
tone_alarm
boards/nxp/fmuk66-v3/rtps.cmake
-1
View File
@@ -45,7 +45,6 @@ px4_add_board(
rc_input
roboclaw
safety_button
tap_esc
telemetry # all available telemetry drivers
#test_ppm # NOT Portable YET
tone_alarm
boards/nxp/fmuk66-v3/socketcan.cmake
-1
View File
@@ -45,7 +45,6 @@ px4_add_board(
rc_input
roboclaw
safety_button
tap_esc
telemetry # all available telemetry drivers
#test_ppm # NOT Portable YET
tone_alarm
boards/nxp/fmurt1062-v1/default.cmake
-1
View File
@@ -44,7 +44,6 @@ px4_add_board(
rc_input
roboclaw
safety_button
tap_esc
telemetry # all available telemetry drivers
tone_alarm
# uavcan
boards/omnibus/f4sd/default.cmake
-1
View File
@@ -35,7 +35,6 @@ px4_add_board(
#pwm_out_sim
pwm_out
rc_input
#tap_esc
#telemetry # all available telemetry drivers
telemetry/frsky_telemetry
#test_ppm
boards/px4/fmu-v2/default.cmake
-1
View File
@@ -60,7 +60,6 @@ px4_add_board(
pwm_out
px4io
#roboclaw
#tap_esc
#telemetry # all available telemetry drivers
#test_ppm
tone_alarm
boards/px4/fmu-v2/test.cmake
-1
View File
@@ -56,7 +56,6 @@ px4_add_board(
pwm_out
px4io
#roboclaw
#tap_esc
#telemetry # all available telemetry drivers
#test_ppm
tone_alarm
boards/px4/fmu-v3/default.cmake
-1
View File
@@ -57,7 +57,6 @@ px4_add_board(
pwm_out
px4io
roboclaw
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/px4/fmu-v4/default.cmake
-1
View File
@@ -53,7 +53,6 @@ px4_add_board(
rc_input
roboclaw
safety_button
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/px4/fmu-v4pro/default.cmake
-1
View File
@@ -50,7 +50,6 @@ px4_add_board(
pwm_out
px4io
roboclaw
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/px4/fmu-v5/ctrlalloc.cmake
-1
View File
@@ -54,7 +54,6 @@ px4_add_board(
roboclaw
rpm
safety_button
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/px4/fmu-v5/debug.cmake
-1
View File
@@ -54,7 +54,6 @@ px4_add_board(
#roboclaw
rpm
safety_button
#tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/px4/fmu-v5/default.cmake
-1
View File
@@ -54,7 +54,6 @@ px4_add_board(
roboclaw
rpm
safety_button
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/px4/fmu-v5/multicopter.cmake
-1
View File
@@ -45,7 +45,6 @@ px4_add_board(
rc_input
roboclaw
safety_button
tap_esc
telemetry # all available telemetry drivers
tone_alarm
uavcan
boards/px4/fmu-v5/optimized.cmake
-1
View File
@@ -48,7 +48,6 @@ px4_add_board(
rc_input
#roboclaw
safety_button
#tap_esc
#telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/px4/fmu-v5/rtps.cmake
-1
View File
@@ -52,7 +52,6 @@ px4_add_board(
roboclaw
rpm
safety_button
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/px4/fmu-v5/stackcheck.cmake
-1
View File
@@ -54,7 +54,6 @@ px4_add_board(
#roboclaw
#rpm
safety_button
#tap_esc
telemetry # all available telemetry drivers
#test_ppm
tone_alarm
boards/px4/fmu-v5/uavcanv0periph.cmake
-1
View File
@@ -56,7 +56,6 @@ px4_add_board(
#roboclaw
#rpm
safety_button
#tap_esc
telemetry # all available telemetry drivers
#test_ppm
tone_alarm
boards/px4/fmu-v5/uavcanv1.cmake
-1
View File
@@ -54,7 +54,6 @@ px4_add_board(
roboclaw
rpm
safety_button
tap_esc
telemetry # all available telemetry drivers
#test_ppm
tone_alarm
boards/px4/fmu-v5x/base_phy_DP83848C.cmake
-1
View File
@@ -52,7 +52,6 @@ px4_add_board(
roboclaw
rpm
safety_button
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/px4/fmu-v5x/default.cmake
-1
View File
@@ -54,7 +54,6 @@ px4_add_board(
roboclaw
rpm
safety_button
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/px4/fmu-v6u/default.cmake
-1
View File
@@ -54,7 +54,6 @@ px4_add_board(
roboclaw
rpm
safety_button
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/px4/fmu-v6x/default.cmake
-1
View File
@@ -53,7 +53,6 @@ px4_add_board(
roboclaw
rpm
safety_button
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
boards/spracing/h7extreme/default.cmake
-1
View File
@@ -46,7 +46,6 @@ px4_add_board(
pwm_out_sim
pwm_out
#roboclaw
#tap_esc
rc_input
telemetry # all available telemetry drivers
#test_ppm
src/drivers/tap_esc/CMakeLists.txt
-44
View File
@@ -1,44 +0,0 @@
############################################################################
#
# Copyright (c) 2016 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE drivers__tap_esc
MAIN tap_esc
COMPILE_FLAGS
-Wno-missing-field-initializers
SRCS
tap_esc.cpp
tap_esc_common.cpp
DEPENDS
mixer
)
src/drivers/tap_esc/drv_tap_esc.h
-248
View File
@@ -1,248 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <board_config.h>
#include <stdint.h>
/* At the moment the only known use is with a current sensor */
#define ESC_HAVE_CURRENT_SENSOR
#define TAP_ESC_MAX_PACKET_LEN 20
#define TAP_ESC_MAX_MOTOR_NUM 8
#define PACKET_HEAD 0xfe
/* ESC_POS maps the values stored in the channelMapTable to reorder the ESC's
* id so that that match the mux setting, so that the ressonder's data
* will be read.
* The index on channelMapTable[p] p is the physical ESC
* The value it is set to is the logical value from ESC_POS[p]
* Phy Log
* 0 0
* 1 1
* 2 4
* 3 3
* 4 2
* 5 5
* ....
*
*/
// Circular from back right in CCW direction
#define ESC_POS {0, 1, 4, 3, 2, 5, 7, 8}
// 0 is CW, 1 is CCW
#define ESC_DIR {0, 1, 0, 1, 0, 1, 0, 1}
#define RPMMAX 1900
#define RPMMIN 1200
#define RPMSTOPPED (RPMMIN - 10)
#define MAX_BOOT_TIME_MS (550) // Minimum time to wait after Power on before sending commands
#pragma pack(push,1)
/****** Run ***********/
#define RUN_CHANNEL_VALUE_MASK (uint16_t)0x07ff
#define RUN_RED_LED_ON_MASK (uint16_t)0x0800
#define RUN_GREEN_LED_ON_MASK (uint16_t)0x1000
#define RUN_BLUE_LED_ON_MASK (uint16_t)0x2000
#define RUN_LED_ON_MASK (uint16_t)0x3800
#define RUN_FEEDBACK_ENABLE_MASK (uint16_t)0x4000
#define RUN_REVERSE_MASK (uint16_t)0x8000
typedef struct {
uint16_t rpm_flags[TAP_ESC_MAX_MOTOR_NUM];
} RunReq;
typedef struct {
uint8_t channelID;
uint8_t ESCStatus;
int16_t speed; // -32767 - 32768
#if defined(ESC_HAVE_VOLTAGE_SENSOR)
uint16_t voltage; // 0.00 - 100.00 V
#endif
#if defined(ESC_HAVE_CURRENT_SENSOR)
uint16_t current; // 0.0 - 200.0 A
#endif
#if defined(ESC_HAVE_TEMPERATURE_SENSOR)
uint8_t temperature; // 0 - 256 degree celsius
#endif
} RunInfoRepsonse;
/****** Run ***********/
/****** ConFigInfoBasic ***********/
typedef struct {
uint8_t maxChannelInUse;
uint8_t channelMapTable[TAP_ESC_MAX_MOTOR_NUM];
uint8_t monitorMsgType;
uint8_t controlMode;
uint16_t minChannelValue;
uint16_t maxChannelValue;
} ConfigInfoBasicRequest;
typedef struct {
uint8_t channelID;
ConfigInfoBasicRequest resp;
} ConfigInfoBasicResponse;
#define ESC_MASK_MAP_CHANNEL 0x0f
#define ESC_MASK_MAP_RUNNING_DIRECTION 0xf0
/****** ConFigInfoBasicResponse ***********/
/****** InfoRequest ***********/
typedef enum {
REQUEST_INFO_BASIC = 0,
REQUEST_INFO_FUll,
REQUEST_INFO_RUN,
REQUEST_INFO_STUDY,
REQUEST_INFO_COMM,
REQUEST_INFO_DEVICE,
} InfoTypes;
typedef struct {
uint8_t channelID;
uint8_t requestInfoType;
} InfoRequest;
/****** InfoRequest ***********/
typedef struct {
uint8_t head;
uint8_t len;
uint8_t msg_id;
union {
InfoRequest reqInfo;
ConfigInfoBasicRequest reqConfigInfoBasic;
RunReq reqRun;
ConfigInfoBasicResponse rspConfigInfoBasic;
RunInfoRepsonse rspRunInfo;
uint8_t bytes[100];
} d;
uint8_t crc_data;
} EscPacket;
#define UART_BUFFER_SIZE 128
typedef struct {
uint8_t head;
uint8_t tail;
uint8_t dat_cnt;
uint8_t esc_feedback_buf[UART_BUFFER_SIZE];
} ESC_UART_BUF;
#pragma pack(pop)
/******************************************************************************************
* ESCBUS_MSG_ID_RUN_INFO packet
*
* Monitor message of ESCs while motor is running
*
* channelID: assigned channel number
*
* ESCStatus: status of ESC
* Num Health status
* 0 HEALTHY
* 1 WARNING_LOW_VOLTAGE
* 2 WARNING_OVER_CURRENT
* 3 WARNING_OVER_HEAT
* 4 ERROR_MOTOR_LOW_SPEED_LOSE_STEP
* 5 ERROR_MOTOR_STALL
* 6 ERROR_HARDWARE
* 7 ERROR_LOSE_PROPELLER
* 8 ERROR_OVER_CURRENT
*
* speed: -32767 - 32767 rpm
*
* temperature: 0 - 256 celsius degree (if available)
* voltage: 0.00 - 100.00 V (if available)
* current: 0.0 - 200.0 A (if available)
*/
typedef enum {
ESC_STATUS_HEALTHY,
ESC_STATUS_WARNING_LOW_VOLTAGE,
ESC_STATUS_WARNING_OVER_HEAT,
ESC_STATUS_ERROR_MOTOR_LOW_SPEED_LOSE_STEP,
ESC_STATUS_ERROR_MOTOR_STALL,
ESC_STATUS_ERROR_HARDWARE,
ESC_STATUS_ERROR_LOSE_PROPELLER,
ESC_STATUS_ERROR_OVER_CURRENT,
ESC_STATUS_ERROR_MOTOR_HIGH_SPEED_LOSE_STEP,
ESC_STATUS_ERROR_LOSE_CMD,
} ESCBUS_ENUM_ESC_STATUS;
typedef enum {
// messages or command to ESC
ESCBUS_MSG_ID_CONFIG_BASIC = 0,
ESCBUS_MSG_ID_CONFIG_FULL,
ESCBUS_MSG_ID_RUN,
ESCBUS_MSG_ID_TUNE,
ESCBUS_MSG_ID_DO_CMD,
// messages from ESC
ESCBUS_MSG_ID_REQUEST_INFO,
ESCBUS_MSG_ID_CONFIG_INFO_BASIC, // simple configuration info for request from flight controller
ESCBUS_MSG_ID_CONFIG_INFO_FULL,// full configuration info for request from host such as computer
ESCBUS_MSG_ID_RUN_INFO,// feedback message in RUN mode
ESCBUS_MSG_ID_STUDY_INFO, // studied parameters in STUDY mode
ESCBUS_MSG_ID_COMM_INFO, // communication method info
ESCBUS_MSG_ID_DEVICE_INFO,// ESC device info
ESCBUS_MSG_ID_ASSIGNED_ID, // never touch ESCBUS_MSG_ID_MAX_NUM
//boot loader used
PROTO_OK = 0x10, // INSYNC/OK - 'ok' response
PROTO_FAILED = 0x11, // INSYNC/FAILED - 'fail' response
ESCBUS_MSG_ID_BOOT_SYNC = 0x21, // boot loader used
PROTO_GET_DEVICE = 0x22, // get device ID bytes
PROTO_CHIP_ERASE = 0x23, // erase program area and reset program address
PROTO_PROG_MULTI = 0x27, // write bytes at program address and increment
PROTO_GET_CRC = 0x29, // compute & return a CRC
PROTO_BOOT = 0x30, // boot the application
PROTO_GET_SOFTWARE_VERSION = 0x40,
ESCBUS_MSG_ID_MAX_NUM,
}
ESCBUS_ENUM_MESSAGE_ID;
typedef enum {
HEAD,
LEN,
ID,
DATA,
CRC,
} PARSR_ESC_STATE;
src/drivers/tap_esc/tap_esc.cpp
-783
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