From d59e9e295866d4c0ca9958a5ab0720218b712a27 Mon Sep 17 00:00:00 2001 From: Simone Guscetti Date: Wed, 24 May 2017 16:03:40 +0200 Subject: [PATCH] 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 --- src/drivers/tap_esc/CMakeLists.txt | 1 + src/drivers/tap_esc/drv_tap_esc.h | 35 +++-------- src/drivers/tap_esc/tap_esc.cpp | 8 +-- src/drivers/tap_esc/tap_esc_common.cpp | 87 ++++++++++++++++++++++++++ src/drivers/tap_esc/tap_esc_common.h | 55 ++++++++++++++++ 5 files changed, 153 insertions(+), 33 deletions(-) create mode 100644 src/drivers/tap_esc/tap_esc_common.cpp create mode 100644 src/drivers/tap_esc/tap_esc_common.h diff --git a/src/drivers/tap_esc/CMakeLists.txt b/src/drivers/tap_esc/CMakeLists.txt index 1c3f51a0eb..18f61ae5f1 100644 --- a/src/drivers/tap_esc/CMakeLists.txt +++ b/src/drivers/tap_esc/CMakeLists.txt @@ -36,6 +36,7 @@ px4_add_module( COMPILE_FLAGS SRCS tap_esc.cpp + tap_esc_common.cpp DEPENDS platforms__common ) diff --git a/src/drivers/tap_esc/drv_tap_esc.h b/src/drivers/tap_esc/drv_tap_esc.h index 5cec6e988d..de238a0b43 100644 --- a/src/drivers/tap_esc/drv_tap_esc.h +++ b/src/drivers/tap_esc/drv_tap_esc.h @@ -31,30 +31,10 @@ * ****************************************************************************/ -#define TAP_ESC_CRC {\ - 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\ - } +#pragma once + +/* 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 @@ -161,12 +141,11 @@ typedef struct { uint8_t len; uint8_t msg_id; union { - InfoRequest reqInfo; + InfoRequest reqInfo; ConfigInfoBasicRequest reqConfigInfoBasic; - RunReq reqRun; - + RunReq reqRun; ConfigInfoBasicResponse rspConfigInfoBasic; - RunInfoRepsonse rspRunInfo; + RunInfoRepsonse rspRunInfo; uint8_t bytes[100]; } d; uint8_t crc_data; diff --git a/src/drivers/tap_esc/tap_esc.cpp b/src/drivers/tap_esc/tap_esc.cpp index ebff8f9473..1df95f379a 100644 --- a/src/drivers/tap_esc/tap_esc.cpp +++ b/src/drivers/tap_esc/tap_esc.cpp @@ -58,14 +58,14 @@ #include #include +#include "tap_esc_common.h" + #define NAN_VALUE (0.0f/0.0f) #ifndef B250000 #define B250000 250000 #endif -#define ESC_HAVE_CURRENT_SENSOR - #include "drv_tap_esc.h" #if !defined(BOARD_TAP_ESC_NO_VERIFY_CONFIG) @@ -106,7 +106,6 @@ protected: void select_responder(uint8_t sel); private: - static const uint8_t crcTable[256]; static const uint8_t device_mux_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); }; -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_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; for (uint8_t i = 0; i < len; i++) { - crc = crcTable[crc^*p++]; + crc = tap_esc_common::crc_table[crc^*p++]; } return crc; diff --git a/src/drivers/tap_esc/tap_esc_common.cpp b/src/drivers/tap_esc/tap_esc_common.cpp new file mode 100644 index 0000000000..962fa9939c --- /dev/null +++ b/src/drivers/tap_esc/tap_esc_common.cpp @@ -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 +#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 */ diff --git a/src/drivers/tap_esc/tap_esc_common.h b/src/drivers/tap_esc/tap_esc_common.h new file mode 100644 index 0000000000..bfa9e5100c --- /dev/null +++ b/src/drivers/tap_esc/tap_esc_common.h @@ -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 + +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 */