From 5ebe76207dbdc05ac6e780425b835c919c5d8de1 Mon Sep 17 00:00:00 2001
From: alessandro <alessandro@yuneecresearch.com>
Date: Tue, 17 Apr 2018 15:53:49 +0200
Subject: [PATCH] tap_esc: formatting and renaming
---
src/drivers/tap_esc/drv_tap_esc.h | 18 ++++++++++--------
src/drivers/tap_esc/tap_esc.cpp | 29 +++++++++++------------------
2 files changed, 21 insertions(+), 26 deletions(-)
diff --git a/src/drivers/tap_esc/drv_tap_esc.h b/src/drivers/tap_esc/drv_tap_esc.h
index e2e99bbc37..37aa5cdaf5 100644
--- a/src/drivers/tap_esc/drv_tap_esc.h
+++ b/src/drivers/tap_esc/drv_tap_esc.h
@@ -35,6 +35,8 @@
#include <board_config.h>
+#include <stdint.h>
+
/* At the moment the only known use is with a current sensor */
#define ESC_HAVE_CURRENT_SENSOR
@@ -119,18 +121,18 @@ typedef struct {
ConfigInfoBasicRequest resp;
} ConfigInfoBasicResponse;
-#define ESC_CHANNEL_MAP_CHANNEL 0x0f
-#define ESC_CHANNEL_MAP_RUNNING_DIRECTION 0xf0
+#define ESC_MASK_MAP_CHANNEL 0x0f
+#define ESC_MASK_MAP_RUNNING_DIRECTION 0xf0
/****** ConFigInfoBasicResponse ***********/
/****** InfoRequest ***********/
typedef enum {
- REQEST_INFO_BASIC = 0,
- REQEST_INFO_FUll,
- REQEST_INFO_RUN,
- REQEST_INFO_STUDY,
- REQEST_INFO_COMM,
- REQEST_INFO_DEVICE,
+ REQUEST_INFO_BASIC = 0,
+ REQUEST_INFO_FUll,
+ REQUEST_INFO_RUN,
+ REQUEST_INFO_STUDY,
+ REQUEST_INFO_COMM,
+ REQUEST_INFO_DEVICE,
} InfoTypes;
typedef struct {
diff --git a/src/drivers/tap_esc/tap_esc.cpp b/src/drivers/tap_esc/tap_esc.cpp
index 1957c02a55..b3ad6b2acf 100644
--- a/src/drivers/tap_esc/tap_esc.cpp
+++ b/src/drivers/tap_esc/tap_esc.cpp
@@ -109,11 +109,9 @@ public:
private:
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;
-
- // subscriptions
+ 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;
int _armed_sub = -1;
int _test_motor_sub = -1;
int _params_sub = -1;
@@ -121,8 +119,6 @@ private:
actuator_outputs_s _outputs = {};
actuator_armed_s _armed = {};
- //todo:refactor dynamic based on _channels_count
- // It needs to support the number of ESC
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];
@@ -130,7 +126,7 @@ private:
unsigned _poll_fds_num = 0;
orb_advert_t _esc_feedback_pub = nullptr;
- orb_advert_t _to_mixer_status = nullptr; ///< mixer status flags
+ orb_advert_t _to_mixer_status = nullptr; ///< mixer status flags
esc_status_s _esc_feedback = {};
uint8_t _channels_count = 0; ///< nnumber of ESC channels
uint8_t _responding_esc = 0;
@@ -152,8 +148,8 @@ private:
inline int control_callback(uint8_t control_group, uint8_t control_index, float &input);
};
-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_mux_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_POS;
+const uint8_t TAP_ESC::_device_dir_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_DIR;
TAP_ESC::TAP_ESC(char const *const device, uint8_t channels_count):
CDev("tap_esc", TAP_ESC_DEVICE_PATH),
@@ -276,7 +272,6 @@ int TAP_ESC::init()
}
/* Respect boot time required by the ESC FW */
-
hrt_abstime uptime_us = hrt_absolute_time();
if (uptime_us < MAX_BOOT_TIME_MS * 1000) {
@@ -284,7 +279,6 @@ int TAP_ESC::init()
}
/* Issue Basic Config */
-
EscPacket packet = {PACKET_HEAD, sizeof(ConfigInfoBasicRequest), ESCBUS_MSG_ID_CONFIG_BASIC};
ConfigInfoBasicRequest &config = packet.d.reqConfigInfoBasic;
memset(&config, 0, sizeof(ConfigInfoBasicRequest));
@@ -294,10 +288,10 @@ int TAP_ESC::init()
/* Asign the id's to the ESCs to match the mux */
for (uint8_t phy_chan_index = 0; phy_chan_index < _channels_count; phy_chan_index++) {
- config.channelMapTable[phy_chan_index] = device_mux_map[phy_chan_index] &
- ESC_CHANNEL_MAP_CHANNEL;
- config.channelMapTable[phy_chan_index] |= (device_dir_map[phy_chan_index] << 4) &
- ESC_CHANNEL_MAP_RUNNING_DIRECTION;
+ config.channelMapTable[phy_chan_index] = _device_mux_map[phy_chan_index] &
+ ESC_MASK_MAP_CHANNEL;
+ config.channelMapTable[phy_chan_index] |= (_device_dir_map[phy_chan_index] << 4) &
+ ESC_MASK_MAP_RUNNING_DIRECTION;
}
config.maxChannelValue = RPMMAX;
@@ -776,8 +770,7 @@ tap_esc start -d /dev/ttyS2 -n <1-8>
extern "C" __EXPORT int tap_esc_main(int argc, char *argv[]);
-int
-tap_esc_main(int argc, char *argv[])
+int tap_esc_main(int argc, char *argv[])
{
return TAP_ESC::main(argc, argv);
}
--
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