Initial import of TAP controllers

src/drivers/tap_esc/CMakeLists.txt

+############################################################################
+#
+#   Copyright (c) 2016 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.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__tap_esc
+	MAIN tap_esc
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		tap_esc.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/drivers/tap_esc/drv_tap_esc.h

+/****************************************************************************
+ *
+ *   Copyright (c) 2016 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.
+ *
+ ****************************************************************************/
+
+#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\
+	}
+
+#define TAP_ESC_MAX_PACKET_LEN 20
+#define TAP_ESC_MAX_MOTOR_NUM 8
+
+#define RPMMAX 1900
+#define RPMMIN 1100
+
+#define RUN_CHANNEL_VALUE_MASK	 (uint16_t)0x07ff
+#define RUN_RED_LED_ON_MASK	 (uint16_t)0x0800
+#define RUN_GREEN_LED_ON_MASK	 (uint16_t)0x1000
+#define RUN_BLUE_LED_ON_MASK	 (uint16_t)0x2000
+#define RUN_LED_ON_MASK	 (uint16_t)0x3800
+#define RUN_FEEDBACK_ENABLE_MASK	(uint16_t)0x4000
+#define RUN_REVERSE_MASK	 (uint16_t)0x8000
+
+
+#pragma pack(push,1)
+typedef  struct {
+	uint8_t ESC_ID;
+	uint8_t ESC_STATUS;
+	int16_t speed;
+#ifdef VOLTAGE_SENSOR_HAVE
+	uint16_t voltage;
+#endif
+#ifdef CURRENT_SENSOR_HAVE
+	uint16_t current;
+#endif
+#ifdef TEMPERATURE_SENSOR_HAVE
+	uint8_t temperature;
+#endif
+
+} ESC_FEEDBACK_DATA;
+
+typedef  struct {
+	uint8_t head;
+	uint8_t len;
+	uint8_t msg_id;
+	uint8_t data[100];
+	uint8_t crc_data;
+
+} ESC_FEEDBACK_PACKET;
+
+typedef  struct {
+	uint8_t head;
+	uint8_t tail;
+	uint8_t dat_cnt;
+	uint8_t esc_feedbacck_buf[128];
+} ESC_UART_BUF;
+
+#pragma pack(pop)
+/******************************************************************************************
+ * ESCBUS_MSG_ID_RUN_INFO packet
+ *
+ * Monitor message of ESCs while motor is running
+ *
+ * channelID: assigned channel number
+ *
+ * ESCStatus: status of ESC
+ * 	Num		Health status
+ * 	0		HEALTHY
+ * 	1		WARNING_LOW_VOLTAGE
+ * 	2		WARNING_OVER_CURRENT
+ * 	3		WARNING_OVER_HEAT
+ *	4		ERROR_MOTOR_LOW_SPEED_LOSE_STEP
+ *  5		ERROR_MOTOR_STALL
+ *  6		ERROR_HARDWARE
+ *  7		ERROR_LOSE_PROPELLER
+ *  8		ERROR_OVER_CURRENT
+ *
+ * speed: -32767 - 32767 rpm
+ *
+ * temperature: 0 - 256 celsius degree (if available)
+ * voltage: 0.00 - 100.00 V (if available)
+ * current: 0.0 - 200.0 A (if available)
+ */
+
+typedef enum {
+	ESC_STATUS_HEALTHY,
+	ESC_STATUS_WARNING_LOW_VOLTAGE,
+	ESC_STATUS_WARNING_OVER_HEAT,
+	ESC_STATUS_ERROR_MOTOR_LOW_SPEED_LOSE_STEP,
+	ESC_STATUS_ERROR_MOTOR_STALL,
+	ESC_STATUS_ERROR_HARDWARE,
+	ESC_STATUS_ERROR_LOSE_PROPELLER,
+	ESC_STATUS_ERROR_OVER_CURRENT,
+} ESCBUS_ENUM_ESC_STATUS;
+
+
+typedef enum {
+// messages or command to ESC
+	ESCBUS_MSG_ID_CONFIG_BASIC = 0,
+	ESCBUS_MSG_ID_CONFIG_FULL,
+	ESCBUS_MSG_ID_RUN,
+	ESCBUS_MSG_ID_TUNE,
+	ESCBUS_MSG_ID_DO_CMD,
+// messages from ESC
+	ESCBUS_MSG_ID_REQUEST_INFO,
+	ESCBUS_MSG_ID_CONFIG_INFO_BASIC,	// simple configuration info for request from flight controller
+	ESCBUS_MSG_ID_CONFIG_INFO_FULL,// full configuration info for request from host such as computer
+	ESCBUS_MSG_ID_RUN_INFO,// feedback message in RUN mode
+	ESCBUS_MSG_ID_STUDY_INFO,	// studied parameters in STUDY mode
+	ESCBUS_MSG_ID_COMM_INFO,	// communication method info
+	ESCBUS_MSG_ID_DEVICE_INFO,// ESC device info
+	ESCBUS_MSG_ID_ASSIGNED_ID,	// never touch ESCBUS_MSG_ID_MAX_NUM
+	//boot loader used
+	PROTO_OK = 0x10, // INSYNC/OK - 'ok' response
+	PROTO_FAILED = 0x11, // INSYNC/FAILED - 'fail' response
+
+	ESCBUS_MSG_ID_BOOT_SYNC = 0x21, // boot loader used
+	PROTO_GET_DEVICE = 0x22, // get device ID bytes
+	PROTO_CHIP_ERASE = 0x23, // erase program area and reset program address
+	PROTO_PROG_MULTI = 0x27, // write bytes at program address and increment
+	PROTO_GET_CRC = 0x29, // compute & return a CRC
+	PROTO_BOOT = 0x30, // boot the application
+	PROTO_GET_SOFTWARE_VERSION = 0x40,
+	ESCBUS_MSG_ID_MAX_NUM,
+}
+ESCBUS_ENUM_MESSAGE_ID;
+
+typedef enum {
+	HEAD,
+	LEN,
+	ID,
+	DATA,
+	CRC,
+
+} PARSR_ESC_STATE;