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Fix compile errors for tap ESC

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This commit is contained in:
Lorenz Meier
2016-06-23 18:26:08 +02:00
parent de1c865881
commit b04e2526a1
2 changed files with 39 additions and 30 deletions
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src/drivers/tap_esc/drv_tap_esc.h
+1 -1
View File
@@ -101,7 +101,7 @@ typedef struct {
uint8_t head; uint8_t head;
uint8_t tail; uint8_t tail;
uint8_t dat_cnt; uint8_t dat_cnt;
uint8_t esc_feedbacck_buf[128]; uint8_t esc_feedback_buf[128];
} ESC_UART_BUF; } ESC_UART_BUF;
#pragma pack(pop) #pragma pack(pop)
src/drivers/tap_esc/tap_esc.cpp
+38 -29
View File
@@ -45,7 +45,7 @@
#include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h> #include <uORB/topics/actuator_armed.h>
#include <uORB/topics/input_rc.h> #include <uORB/topics/input_rc.h>
#include <uORB/topics/tap_esc_report.h> #include <uORB/topics/esc_status.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h> #include <drivers/drv_mixer.h>
@@ -55,6 +55,10 @@
#define NAN_VALUE (0.0f/0.0f) #define NAN_VALUE (0.0f/0.0f)
#ifndef B250000
#define B250000 250000
#endif
#define VOLTAGE_SENSOR_HAVE #define VOLTAGE_SENSOR_HAVE
#include "drv_tap_esc.h" #include "drv_tap_esc.h"
@@ -107,7 +111,7 @@ private:
orb_id_t _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; orb_id_t _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
orb_advert_t _esc_feedback_pub = nullptr; orb_advert_t _esc_feedback_pub = nullptr;
tap_esc_report_s _esc_feedback; esc_status_s _esc_feedback;
MixerGroup *_mixers; MixerGroup *_mixers;
uint32_t _groups_required; uint32_t _groups_required;
@@ -168,7 +172,7 @@ TAP_ESC::TAP_ESC():
uartbuf.head = 0; uartbuf.head = 0;
uartbuf.tail = 0; uartbuf.tail = 0;
uartbuf.dat_cnt = 0; uartbuf.dat_cnt = 0;
memset(uartbuf.esc_feedbacck_buf, 0, sizeof(uartbuf.esc_feedbacck_buf)); memset(uartbuf.esc_feedback_buf, 0, sizeof(uartbuf.esc_feedback_buf));
} }
TAP_ESC::~TAP_ESC() TAP_ESC::~TAP_ESC()
@@ -330,7 +334,7 @@ void TAP_ESC::read_data_from_uart()
if (len > 0 && (uartbuf.dat_cnt + len < 128)) { if (len > 0 && (uartbuf.dat_cnt + len < 128)) {
for (int i = 0; i < len; i++) { for (int i = 0; i < len; i++) {
uartbuf.esc_feedbacck_buf[uartbuf.tail++] = tmp_serial_buf[i]; uartbuf.esc_feedback_buf[uartbuf.tail++] = tmp_serial_buf[i];
uartbuf.dat_cnt++; uartbuf.dat_cnt++;
if (uartbuf.tail >= 128) { if (uartbuf.tail >= 128) {
@@ -349,15 +353,15 @@ bool TAP_ESC:: parse_tap_esc_feedback(ESC_UART_BUF *serial_buf, ESC_FEEDBACK_PAC
if (serial_buf->dat_cnt > 0) { if (serial_buf->dat_cnt > 0) {
for (int i = 0; i < serial_buf->dat_cnt; i++) { for (int i = 0; i < serial_buf->dat_cnt; i++) {
switch (state) { switch (state) {
case HEAD: if (serial_buf->esc_feedbacck_buf[serial_buf->head] == 0xFE) { case HEAD: if (serial_buf->esc_feedback_buf[serial_buf->head] == 0xFE) {
packetdata->head = 0xFE; //just_keep the format packetdata->head = 0xFE; //just_keep the format
state = LEN; state = LEN;
} }
break; break;
case LEN: if (serial_buf->esc_feedbacck_buf[serial_buf->head] < 100) { case LEN: if (serial_buf->esc_feedback_buf[serial_buf->head] < 100) {
packetdata->len = serial_buf->esc_feedbacck_buf[serial_buf->head]; packetdata->len = serial_buf->esc_feedback_buf[serial_buf->head];
state = ID; state = ID;
} else { } else {
@@ -366,8 +370,8 @@ bool TAP_ESC:: parse_tap_esc_feedback(ESC_UART_BUF *serial_buf, ESC_FEEDBACK_PAC
break; break;
case ID: if (serial_buf->esc_feedbacck_buf[serial_buf->head] < ESCBUS_MSG_ID_MAX_NUM) { case ID: if (serial_buf->esc_feedback_buf[serial_buf->head] < ESCBUS_MSG_ID_MAX_NUM) {
packetdata->msg_id = serial_buf->esc_feedbacck_buf[serial_buf->head]; packetdata->msg_id = serial_buf->esc_feedback_buf[serial_buf->head];
data_index = 0; data_index = 0;
state = DATA; state = DATA;
@@ -377,7 +381,7 @@ bool TAP_ESC:: parse_tap_esc_feedback(ESC_UART_BUF *serial_buf, ESC_FEEDBACK_PAC
break; break;
case DATA: packetdata->data[data_index++] = serial_buf->esc_feedbacck_buf[serial_buf->head]; case DATA: packetdata->data[data_index++] = serial_buf->esc_feedback_buf[serial_buf->head];
if (data_index >= packetdata->len) { if (data_index >= packetdata->len) {
@@ -387,8 +391,8 @@ bool TAP_ESC:: parse_tap_esc_feedback(ESC_UART_BUF *serial_buf, ESC_FEEDBACK_PAC
break; break;
case CRC: if (crc_data_cal == serial_buf->esc_feedbacck_buf[serial_buf->head]) { case CRC: if (crc_data_cal == serial_buf->esc_feedback_buf[serial_buf->head]) {
packetdata->crc_data = serial_buf->esc_feedbacck_buf[serial_buf->head]; packetdata->crc_data = serial_buf->esc_feedback_buf[serial_buf->head];
if (++serial_buf->head >= 128) { if (++serial_buf->head >= 128) {
serial_buf->head = 0; serial_buf->head = 0;
@@ -430,7 +434,7 @@ TAP_ESC::cycle()
_current_update_rate = 0; _current_update_rate = 0;
/* advertise the mixed control outputs, insist on the first group output */ /* advertise the mixed control outputs, insist on the first group output */
_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs); _outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs);
_esc_feedback_pub = orb_advertise(ORB_ID(tap_esc_report), &_esc_feedback); _esc_feedback_pub = orb_advertise(ORB_ID(esc_report), &_esc_feedback);
_armed_sub = orb_subscribe(ORB_ID(actuator_armed)); _armed_sub = orb_subscribe(ORB_ID(actuator_armed));
_initialized = true; _initialized = true;
} }
@@ -579,26 +583,31 @@ TAP_ESC::cycle()
} }
const unsigned esc_count = 4;
float motor_out[TAP_ESC_MAX_MOTOR_NUM]; float motor_out[TAP_ESC_MAX_MOTOR_NUM];
motor_out[0] = _outputs.output[0]; motor_out[0] = _outputs.output[0];
motor_out[1] = _outputs.output[1]; motor_out[1] = _outputs.output[1];
motor_out[2] = _outputs.output[1]; motor_out[2] = _outputs.output[1];
motor_out[3] = 900; motor_out[3] = 900;
send_esc_outputs(motor_out, 4); send_esc_outputs(motor_out, esc_count);
read_data_from_uart(); read_data_from_uart();
if (parse_tap_esc_feedback(&uartbuf, &feed_back_packet) == true) { if (parse_tap_esc_feedback(&uartbuf, &feed_back_packet) == true) {
if (feed_back_packet.msg_id == ESCBUS_MSG_ID_RUN_INFO) { if (feed_back_packet.msg_id == ESCBUS_MSG_ID_RUN_INFO) {
feed_back_data = *(ESC_FEEDBACK_DATA *)feed_back_packet.data; feed_back_data = *(ESC_FEEDBACK_DATA *)feed_back_packet.data;
_esc_feedback.esc_rpm[feed_back_data.ESC_ID] = feed_back_data.speed; _esc_feedback.esc[feed_back_data.ESC_ID].esc_rpm = feed_back_data.speed;
_esc_feedback.esc_voltage[feed_back_data.ESC_ID] = feed_back_data.voltage; _esc_feedback.esc[feed_back_data.ESC_ID].esc_voltage = feed_back_data.voltage;
_esc_feedback.esc_state[feed_back_data.ESC_ID] = feed_back_data.ESC_STATUS; _esc_feedback.esc[feed_back_data.ESC_ID].esc_state = feed_back_data.ESC_STATUS;
// printf("vol is %d\n",feed_back_data.voltage ); // printf("vol is %d\n",feed_back_data.voltage );
// printf("speed is %d\n",feed_back_data.speed ); // printf("speed is %d\n",feed_back_data.speed );
orb_publish(ORB_ID(tap_esc_report), _esc_feedback_pub, &_esc_feedback);
_esc_feedback.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_SERIAL;
_esc_feedback.counter++;
_esc_feedback.esc_count = esc_count;
orb_publish(ORB_ID(esc_status), _esc_feedback_pub, &_esc_feedback);
} }
} }
/* and publish for anyone that cares to see */ /* and publish for anyone that cares to see */
@@ -738,7 +747,7 @@ TAP_ESC::ioctl(file *filp, int cmd, unsigned long arg)
return ret; return ret;
} }
namespace tap_esc namespace tap_esc_drv
{ {
@@ -970,42 +979,42 @@ int tap_esc_main(int argc, char *argv[])
switch (ch) { switch (ch) {
case 'd': case 'd':
device = myoptarg; device = myoptarg;
strncpy(tap_esc::_device, device, strlen(device)); strncpy(tap_esc_drv::_device, device, strlen(device));
break; break;
} }
} }
// Start/load the driver. // Start/load the driver.
if (!strcmp(verb, "start")) { if (!strcmp(verb, "start")) {
if (tap_esc::_is_running) { if (tap_esc_drv::_is_running) {
PX4_WARN("tap_esc already running"); PX4_WARN("tap_esc already running");
return 1; return 1;
} }
// Check on required arguments // Check on required arguments
if (device == nullptr || strlen(device) == 0) { if (device == nullptr || strlen(device) == 0) {
tap_esc::usage(); tap_esc_drv::usage();
return 1; return 1;
} }
tap_esc::start(); tap_esc_drv::start();
} }
else if (!strcmp(verb, "stop")) { else if (!strcmp(verb, "stop")) {
if (!tap_esc::_is_running) { if (!tap_esc_drv::_is_running) {
PX4_WARN("tap_esc is not running"); PX4_WARN("tap_esc is not running");
return 1; return 1;
} }
tap_esc::stop(); tap_esc_drv::stop();
} }
else if (!strcmp(verb, "status")) { else if (!strcmp(verb, "status")) {
PX4_WARN("tap_esc is %s", tap_esc::_is_running ? "running" : "not running"); PX4_WARN("tap_esc is %s", tap_esc_drv::_is_running ? "running" : "not running");
return 0; return 0;
} else { } else {
tap_esc::usage(); tap_esc_drv::usage();
return 1; return 1;
} }