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tap_esc: minor refractoring

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- the definition of ESC_HAS_CURRENT_SENSOR is now in drv_tap_esc
- add tap_esc_common move crc table there
- header guards are applied to the header files
This commit is contained in:
Simone Guscetti
2017-05-24 16:03:40 +02:00
committed by Lorenz Meier
parent 625dc67f84
commit d59e9e2958
5 changed files with 153 additions and 33 deletions
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src/drivers/tap_esc/CMakeLists.txt
+1
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@@ -36,6 +36,7 @@ px4_add_module(
COMPILE_FLAGS COMPILE_FLAGS
SRCS SRCS
tap_esc.cpp tap_esc.cpp
tap_esc_common.cpp
DEPENDS DEPENDS
platforms__common platforms__common
) )
src/drivers/tap_esc/drv_tap_esc.h
+7 -28
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@@ -31,30 +31,10 @@
* *
****************************************************************************/ ****************************************************************************/
#define TAP_ESC_CRC {\ #pragma once
0x00, 0xE7, 0x29, 0xCE, 0x52, 0xB5, 0x7B, 0x9C, 0xA4, 0x43, 0x8D, 0x6A,\
0xF6, 0x11, 0xDF, 0x38, 0xAF, 0x48, 0x86, 0x61, 0xFD, 0x1A, 0xD4, 0x33,\ /* At the moment the only known use is with a current sensor */
0x0B, 0xEC, 0x22, 0xC5, 0x59, 0xBE, 0x70, 0x97, 0xB9, 0x5E, 0x90, 0x77,\ #define ESC_HAVE_CURRENT_SENSOR
0xEB, 0x0C, 0xC2, 0x25, 0x1D, 0xFA, 0x34, 0xD3, 0x4F, 0xA8, 0x66, 0x81,\
0x16, 0xF1, 0x3F, 0xD8, 0x44, 0xA3, 0x6D, 0x8A, 0xB2, 0x55, 0x9B, 0x7C,\
0xE0, 0x07, 0xC9, 0x2E, 0x95, 0x72, 0xBC, 0x5B, 0xC7, 0x20, 0xEE, 0x09,\
0x31, 0xD6, 0x18, 0xFF, 0x63, 0x84, 0x4A, 0xAD, 0x3A, 0xDD, 0x13, 0xF4,\
0x68, 0x8F, 0x41, 0xA6, 0x9E, 0x79, 0xB7, 0x50, 0xCC, 0x2B, 0xE5, 0x02,\
0x2C, 0xCB, 0x05, 0xE2, 0x7E, 0x99, 0x57, 0xB0, 0x88, 0x6F, 0xA1, 0x46,\
0xDA, 0x3D, 0xF3, 0x14, 0x83, 0x64, 0xAA, 0x4D, 0xD1, 0x36, 0xF8, 0x1F,\
0x27, 0xC0, 0x0E, 0xE9, 0x75, 0x92, 0x5C, 0xBB, 0xCD, 0x2A, 0xE4, 0x03,\
0x9F, 0x78, 0xB6, 0x51, 0x69, 0x8E, 0x40, 0xA7, 0x3B, 0xDC, 0x12, 0xF5,\
0x62, 0x85, 0x4B, 0xAC, 0x30, 0xD7, 0x19, 0xFE, 0xC6, 0x21, 0xEF, 0x08,\
0x94, 0x73, 0xBD, 0x5A, 0x74, 0x93, 0x5D, 0xBA, 0x26, 0xC1, 0x0F, 0xE8,\
0xD0, 0x37, 0xF9, 0x1E, 0x82, 0x65, 0xAB, 0x4C, 0xDB, 0x3C, 0xF2, 0x15,\
0x89, 0x6E, 0xA0, 0x47, 0x7F, 0x98, 0x56, 0xB1, 0x2D, 0xCA, 0x04, 0xE3,\
0x58, 0xBF, 0x71, 0x96, 0x0A, 0xED, 0x23, 0xC4, 0xFC, 0x1B, 0xD5, 0x32,\
0xAE, 0x49, 0x87, 0x60, 0xF7, 0x10, 0xDE, 0x39, 0xA5, 0x42, 0x8C, 0x6B,\
0x53, 0xB4, 0x7A, 0x9D, 0x01, 0xE6, 0x28, 0xCF, 0xE1, 0x06, 0xC8, 0x2F,\
0xB3, 0x54, 0x9A, 0x7D, 0x45, 0xA2, 0x6C, 0x8B, 0x17, 0xF0, 0x3E, 0xD9,\
0x4E, 0xA9, 0x67, 0x80, 0x1C, 0xFB, 0x35, 0xD2, 0xEA, 0x0D, 0xC3, 0x24,\
0xB8, 0x5F, 0x91, 0x76\
}
#define TAP_ESC_MAX_PACKET_LEN 20 #define TAP_ESC_MAX_PACKET_LEN 20
#define TAP_ESC_MAX_MOTOR_NUM 8 #define TAP_ESC_MAX_MOTOR_NUM 8
@@ -161,12 +141,11 @@ typedef struct {
uint8_t len; uint8_t len;
uint8_t msg_id; uint8_t msg_id;
union { union {
InfoRequest reqInfo; InfoRequest reqInfo;
ConfigInfoBasicRequest reqConfigInfoBasic; ConfigInfoBasicRequest reqConfigInfoBasic;
RunReq reqRun; RunReq reqRun;
ConfigInfoBasicResponse rspConfigInfoBasic; ConfigInfoBasicResponse rspConfigInfoBasic;
RunInfoRepsonse rspRunInfo; RunInfoRepsonse rspRunInfo;
uint8_t bytes[100]; uint8_t bytes[100];
} d; } d;
uint8_t crc_data; uint8_t crc_data;
src/drivers/tap_esc/tap_esc.cpp
+3 -5
View File
@@ -58,14 +58,14 @@
#include <systemlib/param/param.h> #include <systemlib/param/param.h>
#include <systemlib/pwm_limit/pwm_limit.h> #include <systemlib/pwm_limit/pwm_limit.h>
#include "tap_esc_common.h"
#define NAN_VALUE (0.0f/0.0f) #define NAN_VALUE (0.0f/0.0f)
#ifndef B250000 #ifndef B250000
#define B250000 250000 #define B250000 250000
#endif #endif
#define ESC_HAVE_CURRENT_SENSOR
#include "drv_tap_esc.h" #include "drv_tap_esc.h"
#if !defined(BOARD_TAP_ESC_NO_VERIFY_CONFIG) #if !defined(BOARD_TAP_ESC_NO_VERIFY_CONFIG)
@@ -106,7 +106,6 @@ protected:
void select_responder(uint8_t sel); void select_responder(uint8_t sel);
private: private:
static const uint8_t crcTable[256];
static const uint8_t device_mux_map[TAP_ESC_MAX_MOTOR_NUM]; static const uint8_t device_mux_map[TAP_ESC_MAX_MOTOR_NUM];
static const uint8_t device_dir_map[TAP_ESC_MAX_MOTOR_NUM]; static const uint8_t device_dir_map[TAP_ESC_MAX_MOTOR_NUM];
@@ -159,7 +158,6 @@ private:
inline int control_callback(uint8_t control_group, uint8_t control_index, float &input); inline int control_callback(uint8_t control_group, uint8_t control_index, float &input);
}; };
const uint8_t TAP_ESC::crcTable[256] = TAP_ESC_CRC;
const uint8_t TAP_ESC::device_mux_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_POS; 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_dir_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_DIR;
@@ -406,7 +404,7 @@ uint8_t TAP_ESC::crc8_esc(uint8_t *p, uint8_t len)
uint8_t crc = 0; uint8_t crc = 0;
for (uint8_t i = 0; i < len; i++) { for (uint8_t i = 0; i < len; i++) {
crc = crcTable[crc^*p++]; crc = tap_esc_common::crc_table[crc^*p++];
} }
return crc; return crc;
src/drivers/tap_esc/tap_esc_common.cpp
+87
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@@ -0,0 +1,87 @@
/****************************************************************************
*
* Copyright (c) 2017 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.
*
****************************************************************************/
/*
* tap_esc_common.cpp
*
*/
#include <px4_config.h>
#include "tap_esc_common.h"
namespace tap_esc_common
{
/****************************************************************************
* Name: select_responder
*
* Description:
* Select tap esc responder for serial interface (device 74hct151).
* GPIOs to be defined in board_config.h
*
****************************************************************************/
void select_responder(uint8_t sel)
{
#if defined(GPIO_S0)
px4_arch_gpiowrite(GPIO_S0, sel & 1);
px4_arch_gpiowrite(GPIO_S1, sel & 2);
px4_arch_gpiowrite(GPIO_S2, sel & 4);
#endif
}
const uint8_t crc_table[256] = {
0x00, 0xE7, 0x29, 0xCE, 0x52, 0xB5, 0x7B, 0x9C, 0xA4, 0x43, 0x8D, 0x6A,
0xF6, 0x11, 0xDF, 0x38, 0xAF, 0x48, 0x86, 0x61, 0xFD, 0x1A, 0xD4, 0x33,
0x0B, 0xEC, 0x22, 0xC5, 0x59, 0xBE, 0x70, 0x97, 0xB9, 0x5E, 0x90, 0x77,
0xEB, 0x0C, 0xC2, 0x25, 0x1D, 0xFA, 0x34, 0xD3, 0x4F, 0xA8, 0x66, 0x81,
0x16, 0xF1, 0x3F, 0xD8, 0x44, 0xA3, 0x6D, 0x8A, 0xB2, 0x55, 0x9B, 0x7C,
0xE0, 0x07, 0xC9, 0x2E, 0x95, 0x72, 0xBC, 0x5B, 0xC7, 0x20, 0xEE, 0x09,
0x31, 0xD6, 0x18, 0xFF, 0x63, 0x84, 0x4A, 0xAD, 0x3A, 0xDD, 0x13, 0xF4,
0x68, 0x8F, 0x41, 0xA6, 0x9E, 0x79, 0xB7, 0x50, 0xCC, 0x2B, 0xE5, 0x02,
0x2C, 0xCB, 0x05, 0xE2, 0x7E, 0x99, 0x57, 0xB0, 0x88, 0x6F, 0xA1, 0x46,
0xDA, 0x3D, 0xF3, 0x14, 0x83, 0x64, 0xAA, 0x4D, 0xD1, 0x36, 0xF8, 0x1F,
0x27, 0xC0, 0x0E, 0xE9, 0x75, 0x92, 0x5C, 0xBB, 0xCD, 0x2A, 0xE4, 0x03,
0x9F, 0x78, 0xB6, 0x51, 0x69, 0x8E, 0x40, 0xA7, 0x3B, 0xDC, 0x12, 0xF5,
0x62, 0x85, 0x4B, 0xAC, 0x30, 0xD7, 0x19, 0xFE, 0xC6, 0x21, 0xEF, 0x08,
0x94, 0x73, 0xBD, 0x5A, 0x74, 0x93, 0x5D, 0xBA, 0x26, 0xC1, 0x0F, 0xE8,
0xD0, 0x37, 0xF9, 0x1E, 0x82, 0x65, 0xAB, 0x4C, 0xDB, 0x3C, 0xF2, 0x15,
0x89, 0x6E, 0xA0, 0x47, 0x7F, 0x98, 0x56, 0xB1, 0x2D, 0xCA, 0x04, 0xE3,
0x58, 0xBF, 0x71, 0x96, 0x0A, 0xED, 0x23, 0xC4, 0xFC, 0x1B, 0xD5, 0x32,
0xAE, 0x49, 0x87, 0x60, 0xF7, 0x10, 0xDE, 0x39, 0xA5, 0x42, 0x8C, 0x6B,
0x53, 0xB4, 0x7A, 0x9D, 0x01, 0xE6, 0x28, 0xCF, 0xE1, 0x06, 0xC8, 0x2F,
0xB3, 0x54, 0x9A, 0x7D, 0x45, 0xA2, 0x6C, 0x8B, 0x17, 0xF0, 0x3E, 0xD9,
0x4E, 0xA9, 0x67, 0x80, 0x1C, 0xFB, 0x35, 0xD2, 0xEA, 0x0D, 0xC3, 0x24,
0xB8, 0x5F, 0x91, 0x76
};
} /* tap_esc_common */
src/drivers/tap_esc/tap_esc_common.h
+55
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@@ -0,0 +1,55 @@
/****************************************************************************
*
* Copyright (c) 2017 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.
*
****************************************************************************/
/*
* tap_esc_common.h
*
*/
#pragma once
#include <stdint.h>
namespace tap_esc_common
{
/****************************************************************************
* Name: select_responder
*
* Description:
* Select tap esc responder data for serial interface by 74hct151
*
****************************************************************************/
void select_responder(uint8_t sel);
extern const uint8_t crc_table[];
} /* tap_esc_common */