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drives/tap_esc: refactor to use OutputModuleInterface

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This commit is contained in:
Daniel Agar
2021-08-03 14:59:13 -04:00
parent 2e02ad7c4e
commit be2f65be35
5 changed files with 194 additions and 455 deletions
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ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
+3
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@@ -195,3 +195,6 @@ param set-default RC7_MAX 3413
param set-default RC7_MIN 683
param set-default RC7_REV 1
param set-default RC7_TRIM 2048
mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
boards/atl/mantis-edu/init/rc.board_defaults
-1
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@@ -20,4 +20,3 @@ set LOGGER_ARGS "-m mavlink"
# Start esc
tap_esc start -d /dev/ttyS4 -n 4
mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
src/drivers/tap_esc/CMakeLists.txt
+2
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@@ -44,6 +44,8 @@ px4_add_module(
DEPENDS
led
mixer
mixer_module
output_limit
tunes
)
src/drivers/tap_esc/TAP_ESC.cpp
+159 -398
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File diff suppressed because it is too large Load Diff
src/drivers/tap_esc/TAP_ESC.hpp
+30 -56
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@@ -41,33 +41,28 @@
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <errno.h>
#include <math.h> // NAN
#include <cstring>
#include <lib/drivers/device/device.h>
#include <lib/mixer_module/mixer_module.hpp>
#include <lib/mathlib/mathlib.h>
#include <lib/cdev/CDev.hpp>
#include <lib/led/led.h>
#include <lib/perf/perf_counter.h>
#include <lib/tunes/tunes.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/test_motor.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/multirotor_motor_limits.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/led_control.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
#include <lib/mixer/MixerGroup.hpp>
#include "tap_esc_common.h"
@@ -81,80 +76,60 @@
# define DEVICE_ARGUMENT_MAX_LENGTH 32
#endif
// uorb update rate for control groups in milliseconds
#if !defined(TAP_ESC_CTRL_UORB_UPDATE_INTERVAL)
# define TAP_ESC_CTRL_UORB_UPDATE_INTERVAL 2 // [ms] min: 2, max: 100
#endif
using namespace time_literals;
/*
* This driver connects to TAP ESCs via serial.
*/
class TAP_ESC : public cdev::CDev, public ModuleBase<TAP_ESC>, public ModuleParams
class TAP_ESC : public cdev::CDev, public ModuleBase<TAP_ESC>, public OutputModuleInterface
{
public:
TAP_ESC(char const *const device, uint8_t channels_count);
TAP_ESC(const char *device, uint8_t channels_count);
virtual ~TAP_ESC();
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static TAP_ESC *instantiate(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
/** @see ModuleBase */
static int print_usage(const char *reason = nullptr);
/** @see ModuleBase::run() */
void run() override;
/** @see ModuleBase::print_status() */
int print_status() override;
virtual int init();
virtual int ioctl(cdev::file_t *filp, int cmd, unsigned long arg);
void cycle();
int init() override;
int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated) override;
private:
void subscribe();
void send_esc_outputs(const uint16_t *pwm, const uint8_t motor_cnt);
void Run() override;
inline void send_esc_outputs(const uint16_t *pwm, const uint8_t motor_cnt);
inline void send_tune_packet(EscbusTunePacket &tune_packet);
static int control_callback_trampoline(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input);
inline int control_callback(uint8_t control_group, uint8_t control_index, float &input);
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};
MixingOutput _mixing_output;
uORB::Subscription _armed_sub{ORB_ID(actuator_armed)};
uORB::Subscription _test_motor_sub{ORB_ID(test_motor)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::PublicationMulti<actuator_outputs_s> _outputs_pub{ORB_ID(actuator_outputs)};
actuator_outputs_s _outputs{};
actuator_armed_s _armed{};
bool _initialized{false};
char _device[DEVICE_ARGUMENT_MAX_LENGTH] {};
int _uart_fd{-1};
perf_counter_t _perf_control_latency{perf_alloc(PC_ELAPSED, MODULE_NAME": control latency")};
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] {};
px4_pollfd_struct_t _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
unsigned _poll_fds_num{0};
const uint8_t _device_mux_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_POS;
const uint8_t _device_dir_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_DIR;
uORB::PublicationMulti<esc_status_s> _esc_feedback_pub{ORB_ID(esc_status)};
uORB::PublicationMulti<multirotor_motor_limits_s> _to_mixer_status{ORB_ID(multirotor_motor_limits)}; ///< mixer status flags
esc_status_s _esc_feedback{};
uint8_t _channels_count{0}; ///< number of ESC channels
uint8_t _responding_esc{0};
MixerGroup *_mixers{nullptr};
uint32_t _groups_required{0};
uint32_t _groups_subscribed{0};
ESC_UART_BUF _uartbuf{};
EscPacket _packet{};
ESC_UART_BUF _uartbuf{};
EscPacket _packet{};
Tunes _tunes{};
uORB::Subscription _tune_control_sub{ORB_ID(tune_control)};
@@ -164,10 +139,9 @@ private:
unsigned int _frequency{0};
unsigned int _duration{0};
LedControlData _led_control_data{};
LedController _led_controller{};
LedControlData _led_control_data{};
LedController _led_controller{};
DEFINE_PARAMETERS(
(ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode ///< multicopter air-mode
)
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
};