Inheritance diagram for TAP_ESC:

Collaboration diagram for TAP_ESC:

Public Member Functions
	TAP_ESC (char const *const device, uint8_t channels_count)

virtual	~TAP_ESC ()

void	run () override

virtual int	init ()

virtual int	ioctl (cdev::file_t *filp, int cmd, unsigned long arg)
	Perform an ioctl operation on the device. More...

void	cycle ()

Public Member Functions inherited from cdev::CDev
	CDev (const char *devname)
	Constructor. More...

	CDev (const CDev &)=delete

CDev &	operator= (const CDev &)=delete

	CDev (CDev &&)=delete

CDev &	operator= (CDev &&)=delete

virtual	~CDev ()

virtual int	open (file_t *filep)
	Handle an open of the device. More...

virtual int	close (file_t *filep)
	Handle a close of the device. More...

virtual ssize_t	read (file_t filep, char buffer, size_t buflen)
	Perform a read from the device. More...

virtual ssize_t	write (file_t filep, const char buffer, size_t buflen)
	Perform a write to the device. More...

virtual off_t	seek (file_t *filep, off_t offset, int whence)
	Perform a logical seek operation on the device. More...

virtual int	poll (file_t filep, px4_pollfd_struct_t fds, bool setup)
	Perform a poll setup/teardown operation. More...

const char *	get_devname () const
	Get the device name. More...

Static Public Member Functions
static int	task_spawn (int argc, char *argv[])

static TAP_ESC *	instantiate (int argc, char *argv[])

static int	custom_command (int argc, char *argv[])

static int	print_usage (const char *reason=nullptr)

Private Member Functions
	DEFINE_PARAMETERS ((ParamInt< px4::params::MC_AIRMODE >) _param_mc_airmode) void subscribe()

void	send_esc_outputs (const uint16_t *pwm, const uint8_t motor_cnt)

int	control_callback (uint8_t control_group, uint8_t control_index, float &input)

Static Private Member Functions
static int	control_callback_trampoline (uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input)

Private Attributes
char	_device [DEVICE_ARGUMENT_MAX_LENGTH]

int	_uart_fd = -1

bool	_is_armed = false

int	_armed_sub = -1

int	_test_motor_sub = -1

uORB::Subscription	_parameter_update_sub {ORB_ID(parameter_update)}

orb_advert_t	_outputs_pub = nullptr

actuator_outputs_s	_outputs = {}

actuator_armed_s	_armed = {}

perf_counter_t	_perf_control_latency

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]

px4_pollfd_struct_t	_poll_fds [actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]

unsigned	_poll_fds_num = 0

orb_advert_t	_esc_feedback_pub = nullptr

orb_advert_t	_to_mixer_status = nullptr
	mixer status flags More...

esc_status_s	_esc_feedback = {}

uint8_t	_channels_count = 0
	nnumber of ESC channels More...

uint8_t	_responding_esc = 0

MixerGroup *	_mixers = nullptr

uint32_t	_groups_required = 0

uint32_t	_groups_subscribed = 0

ESC_UART_BUF	_uartbuf = {}

EscPacket	_packet = {}

Static Private Attributes
static const uint8_t	_device_mux_map [TAP_ESC_MAX_MOTOR_NUM] = ESC_POS

static const uint8_t	_device_dir_map [TAP_ESC_MAX_MOTOR_NUM] = ESC_DIR

Additional Inherited Members
Protected Member Functions inherited from cdev::CDev
virtual pollevent_t	poll_state (file_t *filep)
	Check the current state of the device for poll events from the perspective of the file. More...

virtual void	poll_notify (pollevent_t events)
	Report new poll events. More...

virtual void	poll_notify_one (px4_pollfd_struct_t *fds, pollevent_t events)
	Internal implementation of poll_notify. More...

virtual int	open_first (file_t *filep)
	Notification of the first open. More...

virtual int	close_last (file_t *filep)
	Notification of the last close. More...

virtual int	register_class_devname (const char *class_devname)
	Register a class device name, automatically adding device class instance suffix if need be. More...

virtual int	unregister_class_devname (const char *class_devname, unsigned class_instance)
	Register a class device name, automatically adding device class instance suffix if need be. More...

void	lock ()
	Take the driver lock. More...

void	unlock ()
	Release the driver lock. More...

int	unregister_driver_and_memory ()
	First, unregisters the driver. More...

Protected Attributes inherited from cdev::CDev
px4_sem_t	_lock
	lock to protect access to all class members (also for derived classes) More...

Static Protected Attributes inherited from cdev::CDev
static const px4_file_operations_t	fops = {}
	Pointer to the default cdev file operations table; useful for registering clone devices etc. More...

Detailed Description

Definition at line 84 of file tap_esc.cpp.

Constructor & Destructor Documentation

◆ TAP_ESC()

TAP_ESC::TAP_ESC	(	char const *const	device,
		uint8_t	channels_count
	)

Definition at line 158 of file tap_esc.cpp.

References _control_subs, _control_topics, _controls, _device, _outputs, _poll_fds, actuator_outputs_s::noutputs, ORB_ID, and actuator_outputs_s::output.

Referenced by instantiate().

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◆ ~TAP_ESC()

TAP_ESC::~TAP_ESC ( )

virtual

Definition at line 185 of file tap_esc.cpp.

References _armed_sub, _control_subs, _esc_feedback_pub, _outputs_pub, _perf_control_latency, _test_motor_sub, _to_mixer_status, _uart_fd, tap_esc_common::deinitialise_uart(), orb_unadvertise(), orb_unsubscribe(), and perf_free().

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Member Function Documentation

◆ control_callback()

int TAP_ESC::control_callback	(	uint8_t	control_group,
		uint8_t	control_index,
		float &	input
	)

inlineprivate

Definition at line 635 of file tap_esc.cpp.

References _armed, _controls, actuator_armed_s::armed, actuator_controls_s::control, f(), and actuator_armed_s::prearmed.

Referenced by control_callback_trampoline().

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◆ control_callback_trampoline()

int TAP_ESC::control_callback_trampoline	(	uintptr_t	handle,
		uint8_t	control_group,
		uint8_t	control_index,
		float &	input
	)

staticprivate

Definition at line 629 of file tap_esc.cpp.

References control_callback().

Referenced by ioctl().

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◆ custom_command()

int TAP_ESC::custom_command	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 264 of file tap_esc.cpp.

References print_usage().

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◆ cycle()

void TAP_ESC::cycle ( )

Definition at line 406 of file tap_esc.cpp.

References _armed, _armed_sub, _channels_count, _control_subs, _control_topics, _controls, _esc_feedback, _esc_feedback_pub, _groups_required, _groups_subscribed, _is_armed, _mixers, _outputs, _outputs_pub, _packet, _parameter_update_sub, _perf_control_latency, _poll_fds, _poll_fds_num, _test_motor_sub, _to_mixer_status, _uart_fd, _uartbuf, test_motor_s::action, actuator_armed_s::armed, RunInfoRepsonse::channelID, math::constrain(), uORB::Subscription::copy(), esc_status_s::counter, EscPacket::d, esc_status_s::esc, esc_status_s::esc_connectiontype, esc_status_s::esc_count, esc_report_s::esc_rpm, esc_report_s::esc_state, ESCBUS_MSG_ID_RUN_INFO, RunInfoRepsonse::ESCStatus, MixerGroup::get_saturation_status(), hrt_absolute_time(), hrt_abstime, actuator_armed_s::lockdown, actuator_armed_s::manual_lockdown, MixerGroup::mix(), test_motor_s::motor_number, EscPacket::msg_id, actuator_outputs_s::noutputs, orb_check(), orb_copy(), ORB_ID, orb_publish(), orb_set_interval(), actuator_outputs_s::output, tap_esc_common::parse_tap_esc_feedback(), perf_set_elapsed(), px4_poll(), tap_esc_common::read_data_from_uart(), RPMMAX, RPMMIN, RPMSTOPPED, EscPacket::rspRunInfo, multirotor_motor_limits_s::saturation_status, send_esc_outputs(), MixerGroup::set_airmode(), RunInfoRepsonse::speed, linux_pwm_out::subscribe(), TAP_ESC_CTRL_UORB_UPDATE_INTERVAL, TAP_ESC_MAX_MOTOR_NUM, actuator_outputs_s::timestamp, esc_status_s::timestamp, actuator_controls_s::timestamp_sample, uORB::Subscription::updated(), and test_motor_s::value.

Referenced by run().

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◆ DEFINE_PARAMETERS()

TAP_ESC::DEFINE_PARAMETERS ( (ParamInt< px4::params::MC_AIRMODE >) _param_mc_airmode )

private

Parameters

_param_mc_airmode multicopter air-mode

◆ init()

int TAP_ESC::init ( )

virtual

Reimplemented from cdev::CDev.

Definition at line 269 of file tap_esc.cpp.

References _armed_sub, _channels_count, _control_subs, _control_topics, _device, _device_dir_map, _device_mux_map, _esc_feedback, _esc_feedback_pub, _groups_required, _groups_subscribed, _outputs, _outputs_pub, _poll_fds, _poll_fds_num, _test_motor_sub, _to_mixer_status, _uart_fd, BOARD_TAP_ESC_MODE, EscPacket::bytes, EscPacket::d, ESC_MASK_MAP_CHANNEL, ESC_MASK_MAP_RUNNING_DIRECTION, ESCBUS_MSG_ID_CONFIG_BASIC, ESCBUS_MSG_ID_RUN, hrt_absolute_time(), hrt_abstime, ToneAlarmInterface::init(), tap_esc_common::initialise_uart(), EscPacket::len, MAX_BOOT_TIME_MS, orb_advertise(), ORB_ID, orb_subscribe(), orb_unsubscribe(), PACKET_HEAD, EscPacket::reqConfigInfoBasic, EscPacket::reqRun, RunReq::rpm_flags, RPMMAX, RPMMIN, tap_esc_common::send_packet(), and linux_pwm_out::subscribe().

Referenced by instantiate().

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◆ instantiate()

TAP_ESC * TAP_ESC::instantiate	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 209 of file tap_esc.cpp.

References init(), print_usage(), and TAP_ESC().

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◆ ioctl()

int TAP_ESC::ioctl	(	cdev::file_t *	filep,
		int	cmd,
		unsigned long	arg
	)

virtual

Perform an ioctl operation on the device.

The default implementation handles DIOC_GETPRIV, and otherwise returns -ENOTTY. Subclasses should call the default implementation for any command they do not handle themselves.

Parameters

filep	Pointer to the NuttX file structure.
cmd	The ioctl command value.
arg	The ioctl argument value.

Returns: OK on success, or -errno otherwise.

Reimplemented from cdev::CDev.

Definition at line 660 of file tap_esc.cpp.

References _groups_required, _mixers, control_callback_trampoline(), MixerGroup::groups_required(), MixerGroup::load_from_buf(), MIXERIOCLOADBUF, MIXERIOCRESET, and OK.

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◆ print_usage()

int TAP_ESC::print_usage ( const char * reason = nullptr )

static

See also: ModuleBase

Definition at line 750 of file tap_esc.cpp.

Referenced by custom_command(), and instantiate().

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◆ run()

void TAP_ESC::run ( )

override

See also: ModuleBase::run(); ModuleBase

Definition at line 715 of file tap_esc.cpp.

References cycle().

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◆ send_esc_outputs()

void TAP_ESC::send_esc_outputs	(	const uint16_t *	pwm,
		const uint8_t	motor_cnt
	)

private

Definition at line 371 of file tap_esc.cpp.

References _channels_count, _responding_esc, _uart_fd, EscPacket::d, ESCBUS_MSG_ID_RUN, EscPacket::len, PACKET_HEAD, EscPacket::reqRun, RunReq::rpm_flags, RPMMAX, RPMSTOPPED, RUN_BLUE_LED_ON_MASK, RUN_FEEDBACK_ENABLE_MASK, tap_esc_common::send_packet(), and TAP_ESC_MAX_MOTOR_NUM.

Referenced by cycle().

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◆ task_spawn()

int TAP_ESC::task_spawn	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 724 of file tap_esc.cpp.

Member Data Documentation

◆ _armed

actuator_armed_s TAP_ESC::_armed = {}

private

Definition at line 122 of file tap_esc.cpp.

Referenced by control_callback(), and cycle().

◆ _armed_sub

int TAP_ESC::_armed_sub = -1

private

Definition at line 115 of file tap_esc.cpp.

Referenced by cycle(), init(), and ~TAP_ESC().

◆ _channels_count

uint8_t TAP_ESC::_channels_count = 0

private

nnumber of ESC channels

Definition at line 135 of file tap_esc.cpp.

Referenced by cycle(), init(), and send_esc_outputs().

◆ _control_subs

int TAP_ESC::_control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]

private

Definition at line 126 of file tap_esc.cpp.

Referenced by cycle(), init(), TAP_ESC(), and ~TAP_ESC().

◆ _control_topics

orb_id_t TAP_ESC::_control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]

private

Definition at line 128 of file tap_esc.cpp.

Referenced by cycle(), init(), and TAP_ESC().

◆ _controls

actuator_controls_s TAP_ESC::_controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]

private

Definition at line 127 of file tap_esc.cpp.

Referenced by control_callback(), cycle(), and TAP_ESC().

◆ _device

char TAP_ESC::_device[DEVICE_ARGUMENT_MAX_LENGTH]

private

Definition at line 110 of file tap_esc.cpp.

Referenced by init(), and TAP_ESC().

◆ _device_dir_map

const uint8_t TAP_ESC::_device_dir_map = ESC_DIR

staticprivate

Definition at line 113 of file tap_esc.cpp.

Referenced by init().

◆ _device_mux_map

const uint8_t TAP_ESC::_device_mux_map = ESC_POS

staticprivate

Definition at line 112 of file tap_esc.cpp.

Referenced by init().

◆ _esc_feedback

esc_status_s TAP_ESC::_esc_feedback = {}

private

Definition at line 134 of file tap_esc.cpp.

Referenced by cycle(), and init().

◆ _esc_feedback_pub

orb_advert_t TAP_ESC::_esc_feedback_pub = nullptr

private

Definition at line 132 of file tap_esc.cpp.

Referenced by cycle(), init(), and ~TAP_ESC().

◆ _groups_required

uint32_t TAP_ESC::_groups_required = 0

private

Definition at line 139 of file tap_esc.cpp.

Referenced by cycle(), init(), and ioctl().

◆ _groups_subscribed

uint32_t TAP_ESC::_groups_subscribed = 0

private

Definition at line 140 of file tap_esc.cpp.

Referenced by cycle(), and init().

◆ _is_armed

bool TAP_ESC::_is_armed = false

private

Definition at line 114 of file tap_esc.cpp.

Referenced by cycle().

◆ _mixers

MixerGroup* TAP_ESC::_mixers = nullptr

private

Definition at line 138 of file tap_esc.cpp.

Referenced by cycle(), and ioctl().

◆ _outputs

actuator_outputs_s TAP_ESC::_outputs = {}

private

Definition at line 121 of file tap_esc.cpp.

Referenced by cycle(), init(), and TAP_ESC().

◆ _outputs_pub

orb_advert_t TAP_ESC::_outputs_pub = nullptr

private

Definition at line 120 of file tap_esc.cpp.

Referenced by cycle(), init(), and ~TAP_ESC().

◆ _packet

EscPacket TAP_ESC::_packet = {}

private

Definition at line 142 of file tap_esc.cpp.

Referenced by cycle().

◆ _parameter_update_sub

uORB::Subscription TAP_ESC::_parameter_update_sub {ORB_ID(parameter_update)}

private

Definition at line 118 of file tap_esc.cpp.

Referenced by cycle().

◆ _perf_control_latency

perf_counter_t TAP_ESC::_perf_control_latency

private

Definition at line 124 of file tap_esc.cpp.

Referenced by cycle(), and ~TAP_ESC().

◆ _poll_fds

px4_pollfd_struct_t TAP_ESC::_poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]

private

Definition at line 129 of file tap_esc.cpp.

Referenced by cycle(), init(), and TAP_ESC().

◆ _poll_fds_num

unsigned TAP_ESC::_poll_fds_num = 0

private

Definition at line 130 of file tap_esc.cpp.

Referenced by cycle(), and init().

◆ _responding_esc

uint8_t TAP_ESC::_responding_esc = 0

private

Definition at line 136 of file tap_esc.cpp.

Referenced by send_esc_outputs().

◆ _test_motor_sub

int TAP_ESC::_test_motor_sub = -1

private

Definition at line 116 of file tap_esc.cpp.

Referenced by cycle(), init(), and ~TAP_ESC().

◆ _to_mixer_status

orb_advert_t TAP_ESC::_to_mixer_status = nullptr

private

mixer status flags

Definition at line 133 of file tap_esc.cpp.

Referenced by cycle(), init(), and ~TAP_ESC().

◆ _uart_fd

int TAP_ESC::_uart_fd = -1

private

Definition at line 111 of file tap_esc.cpp.

Referenced by cycle(), init(), send_esc_outputs(), and ~TAP_ESC().

◆ _uartbuf

ESC_UART_BUF TAP_ESC::_uartbuf = {}

private

Definition at line 141 of file tap_esc.cpp.

Referenced by cycle().

The documentation for this class was generated from the following file:

src/drivers/tap_esc/tap_esc.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TAP_ESC()

◆ ~TAP_ESC()

Member Function Documentation

◆ control_callback()

◆ control_callback_trampoline()

◆ custom_command()

◆ cycle()

◆ DEFINE_PARAMETERS()

◆ init()

◆ instantiate()

◆ ioctl()

◆ print_usage()

◆ run()

◆ send_esc_outputs()

◆ task_spawn()

Member Data Documentation

◆ _armed

◆ _armed_sub

◆ _channels_count

◆ _control_subs

◆ _control_topics

◆ _controls

◆ _device

◆ _device_dir_map

◆ _device_mux_map

◆ _esc_feedback

◆ _esc_feedback_pub

◆ _groups_required

◆ _groups_subscribed

◆ _is_armed

◆ _mixers

◆ _outputs

◆ _outputs_pub

◆ _packet

◆ _parameter_update_sub

◆ _perf_control_latency

◆ _poll_fds

◆ _poll_fds_num

◆ _responding_esc

◆ _test_motor_sub

◆ _to_mixer_status

◆ _uart_fd

◆ _uartbuf