mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-22 01:12:31 +00:00
tap_esc: minor refractoring
- 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
committed by
Lorenz Meier
Lorenz Meier
parent
625dc67f84
commit
d59e9e2958
@@ -36,6 +36,7 @@ px4_add_module(
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COMPILE_FLAGS
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SRCS
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tap_esc.cpp
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tap_esc_common.cpp
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DEPENDS
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platforms__common
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)
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@@ -31,30 +31,10 @@
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*
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****************************************************************************/
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#define TAP_ESC_CRC {\
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0x00, 0xE7, 0x29, 0xCE, 0x52, 0xB5, 0x7B, 0x9C, 0xA4, 0x43, 0x8D, 0x6A,\
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0xF6, 0x11, 0xDF, 0x38, 0xAF, 0x48, 0x86, 0x61, 0xFD, 0x1A, 0xD4, 0x33,\
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0x0B, 0xEC, 0x22, 0xC5, 0x59, 0xBE, 0x70, 0x97, 0xB9, 0x5E, 0x90, 0x77,\
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0xEB, 0x0C, 0xC2, 0x25, 0x1D, 0xFA, 0x34, 0xD3, 0x4F, 0xA8, 0x66, 0x81,\
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0x16, 0xF1, 0x3F, 0xD8, 0x44, 0xA3, 0x6D, 0x8A, 0xB2, 0x55, 0x9B, 0x7C,\
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0xE0, 0x07, 0xC9, 0x2E, 0x95, 0x72, 0xBC, 0x5B, 0xC7, 0x20, 0xEE, 0x09,\
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0x31, 0xD6, 0x18, 0xFF, 0x63, 0x84, 0x4A, 0xAD, 0x3A, 0xDD, 0x13, 0xF4,\
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0x68, 0x8F, 0x41, 0xA6, 0x9E, 0x79, 0xB7, 0x50, 0xCC, 0x2B, 0xE5, 0x02,\
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0x2C, 0xCB, 0x05, 0xE2, 0x7E, 0x99, 0x57, 0xB0, 0x88, 0x6F, 0xA1, 0x46,\
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0xDA, 0x3D, 0xF3, 0x14, 0x83, 0x64, 0xAA, 0x4D, 0xD1, 0x36, 0xF8, 0x1F,\
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0x27, 0xC0, 0x0E, 0xE9, 0x75, 0x92, 0x5C, 0xBB, 0xCD, 0x2A, 0xE4, 0x03,\
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0x9F, 0x78, 0xB6, 0x51, 0x69, 0x8E, 0x40, 0xA7, 0x3B, 0xDC, 0x12, 0xF5,\
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0x62, 0x85, 0x4B, 0xAC, 0x30, 0xD7, 0x19, 0xFE, 0xC6, 0x21, 0xEF, 0x08,\
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0x94, 0x73, 0xBD, 0x5A, 0x74, 0x93, 0x5D, 0xBA, 0x26, 0xC1, 0x0F, 0xE8,\
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0xD0, 0x37, 0xF9, 0x1E, 0x82, 0x65, 0xAB, 0x4C, 0xDB, 0x3C, 0xF2, 0x15,\
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0x89, 0x6E, 0xA0, 0x47, 0x7F, 0x98, 0x56, 0xB1, 0x2D, 0xCA, 0x04, 0xE3,\
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0x58, 0xBF, 0x71, 0x96, 0x0A, 0xED, 0x23, 0xC4, 0xFC, 0x1B, 0xD5, 0x32,\
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0xAE, 0x49, 0x87, 0x60, 0xF7, 0x10, 0xDE, 0x39, 0xA5, 0x42, 0x8C, 0x6B,\
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0x53, 0xB4, 0x7A, 0x9D, 0x01, 0xE6, 0x28, 0xCF, 0xE1, 0x06, 0xC8, 0x2F,\
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0xB3, 0x54, 0x9A, 0x7D, 0x45, 0xA2, 0x6C, 0x8B, 0x17, 0xF0, 0x3E, 0xD9,\
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0x4E, 0xA9, 0x67, 0x80, 0x1C, 0xFB, 0x35, 0xD2, 0xEA, 0x0D, 0xC3, 0x24,\
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0xB8, 0x5F, 0x91, 0x76\
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}
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#pragma once
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/* At the moment the only known use is with a current sensor */
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#define ESC_HAVE_CURRENT_SENSOR
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#define TAP_ESC_MAX_PACKET_LEN 20
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#define TAP_ESC_MAX_MOTOR_NUM 8
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@@ -161,12 +141,11 @@ typedef struct {
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uint8_t len;
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uint8_t msg_id;
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union {
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InfoRequest reqInfo;
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InfoRequest reqInfo;
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ConfigInfoBasicRequest reqConfigInfoBasic;
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RunReq reqRun;
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RunReq reqRun;
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ConfigInfoBasicResponse rspConfigInfoBasic;
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RunInfoRepsonse rspRunInfo;
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RunInfoRepsonse rspRunInfo;
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uint8_t bytes[100];
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} d;
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uint8_t crc_data;
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@@ -58,14 +58,14 @@
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#include <systemlib/param/param.h>
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#include <systemlib/pwm_limit/pwm_limit.h>
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#include "tap_esc_common.h"
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#define NAN_VALUE (0.0f/0.0f)
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#ifndef B250000
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#define B250000 250000
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#endif
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#define ESC_HAVE_CURRENT_SENSOR
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#include "drv_tap_esc.h"
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#if !defined(BOARD_TAP_ESC_NO_VERIFY_CONFIG)
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@@ -106,7 +106,6 @@ protected:
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void select_responder(uint8_t sel);
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private:
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static const uint8_t crcTable[256];
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static const uint8_t device_mux_map[TAP_ESC_MAX_MOTOR_NUM];
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static const uint8_t device_dir_map[TAP_ESC_MAX_MOTOR_NUM];
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@@ -159,7 +158,6 @@ private:
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inline int control_callback(uint8_t control_group, uint8_t control_index, float &input);
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};
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const uint8_t TAP_ESC::crcTable[256] = TAP_ESC_CRC;
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const uint8_t TAP_ESC::device_mux_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_POS;
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const uint8_t TAP_ESC::device_dir_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_DIR;
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@@ -406,7 +404,7 @@ uint8_t TAP_ESC::crc8_esc(uint8_t *p, uint8_t len)
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uint8_t crc = 0;
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for (uint8_t i = 0; i < len; i++) {
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crc = crcTable[crc^*p++];
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crc = tap_esc_common::crc_table[crc^*p++];
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}
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return crc;
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87
src/drivers/tap_esc/tap_esc_common.cpp
Normal file
87
src/drivers/tap_esc/tap_esc_common.cpp
Normal file
@@ -0,0 +1,87 @@
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/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* tap_esc_common.cpp
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*
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*/
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#include <px4_config.h>
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#include "tap_esc_common.h"
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namespace tap_esc_common
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{
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/****************************************************************************
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* Name: select_responder
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*
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* Description:
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* Select tap esc responder for serial interface (device 74hct151).
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* GPIOs to be defined in board_config.h
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*
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****************************************************************************/
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void select_responder(uint8_t sel)
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{
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#if defined(GPIO_S0)
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px4_arch_gpiowrite(GPIO_S0, sel & 1);
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px4_arch_gpiowrite(GPIO_S1, sel & 2);
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px4_arch_gpiowrite(GPIO_S2, sel & 4);
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#endif
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}
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const uint8_t crc_table[256] = {
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0x00, 0xE7, 0x29, 0xCE, 0x52, 0xB5, 0x7B, 0x9C, 0xA4, 0x43, 0x8D, 0x6A,
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0xF6, 0x11, 0xDF, 0x38, 0xAF, 0x48, 0x86, 0x61, 0xFD, 0x1A, 0xD4, 0x33,
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0x0B, 0xEC, 0x22, 0xC5, 0x59, 0xBE, 0x70, 0x97, 0xB9, 0x5E, 0x90, 0x77,
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0xEB, 0x0C, 0xC2, 0x25, 0x1D, 0xFA, 0x34, 0xD3, 0x4F, 0xA8, 0x66, 0x81,
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0x16, 0xF1, 0x3F, 0xD8, 0x44, 0xA3, 0x6D, 0x8A, 0xB2, 0x55, 0x9B, 0x7C,
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0xE0, 0x07, 0xC9, 0x2E, 0x95, 0x72, 0xBC, 0x5B, 0xC7, 0x20, 0xEE, 0x09,
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0x31, 0xD6, 0x18, 0xFF, 0x63, 0x84, 0x4A, 0xAD, 0x3A, 0xDD, 0x13, 0xF4,
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0x68, 0x8F, 0x41, 0xA6, 0x9E, 0x79, 0xB7, 0x50, 0xCC, 0x2B, 0xE5, 0x02,
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0x2C, 0xCB, 0x05, 0xE2, 0x7E, 0x99, 0x57, 0xB0, 0x88, 0x6F, 0xA1, 0x46,
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0xDA, 0x3D, 0xF3, 0x14, 0x83, 0x64, 0xAA, 0x4D, 0xD1, 0x36, 0xF8, 0x1F,
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0x27, 0xC0, 0x0E, 0xE9, 0x75, 0x92, 0x5C, 0xBB, 0xCD, 0x2A, 0xE4, 0x03,
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0x9F, 0x78, 0xB6, 0x51, 0x69, 0x8E, 0x40, 0xA7, 0x3B, 0xDC, 0x12, 0xF5,
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0x62, 0x85, 0x4B, 0xAC, 0x30, 0xD7, 0x19, 0xFE, 0xC6, 0x21, 0xEF, 0x08,
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0x94, 0x73, 0xBD, 0x5A, 0x74, 0x93, 0x5D, 0xBA, 0x26, 0xC1, 0x0F, 0xE8,
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0xD0, 0x37, 0xF9, 0x1E, 0x82, 0x65, 0xAB, 0x4C, 0xDB, 0x3C, 0xF2, 0x15,
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0x89, 0x6E, 0xA0, 0x47, 0x7F, 0x98, 0x56, 0xB1, 0x2D, 0xCA, 0x04, 0xE3,
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0x58, 0xBF, 0x71, 0x96, 0x0A, 0xED, 0x23, 0xC4, 0xFC, 0x1B, 0xD5, 0x32,
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0xAE, 0x49, 0x87, 0x60, 0xF7, 0x10, 0xDE, 0x39, 0xA5, 0x42, 0x8C, 0x6B,
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0x53, 0xB4, 0x7A, 0x9D, 0x01, 0xE6, 0x28, 0xCF, 0xE1, 0x06, 0xC8, 0x2F,
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0xB3, 0x54, 0x9A, 0x7D, 0x45, 0xA2, 0x6C, 0x8B, 0x17, 0xF0, 0x3E, 0xD9,
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0x4E, 0xA9, 0x67, 0x80, 0x1C, 0xFB, 0x35, 0xD2, 0xEA, 0x0D, 0xC3, 0x24,
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0xB8, 0x5F, 0x91, 0x76
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};
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} /* tap_esc_common */
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55
src/drivers/tap_esc/tap_esc_common.h
Normal file
55
src/drivers/tap_esc/tap_esc_common.h
Normal file
@@ -0,0 +1,55 @@
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/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* tap_esc_common.h
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*
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*/
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#pragma once
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#include <stdint.h>
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namespace tap_esc_common
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{
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/****************************************************************************
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* Name: select_responder
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*
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* Description:
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* Select tap esc responder data for serial interface by 74hct151
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*
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****************************************************************************/
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void select_responder(uint8_t sel);
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extern const uint8_t crc_table[];
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} /* tap_esc_common */
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