Functions
static uint8_t	crc8_esc (uint8_t *p, uint8_t len)

static uint8_t	crc_packet (EscPacket &p)

void	select_responder (uint8_t sel)
	Select tap esc responder data for serial interface by 74hct151. More...

int	initialise_uart (const char *const device, int &uart_fd)
	Opens a device for use as UART. More...

int	deinitialise_uart (int &uart_fd)
	Closes a device previously opened with initialise_uart(). More...

int	enable_flow_control (int uart_fd, bool enabled)
	Enables/disables flow control for open UART device. More...

int	send_packet (int uart_fd, EscPacket &packet, int responder)
	Sends a packet to all ESCs and requests a specific ESC to respond. More...

int	read_data_from_uart (int uart_fd, ESC_UART_BUF *const uart_buf)
	Read data from the UART into a buffer. More...

int	parse_tap_esc_feedback (ESC_UART_BUF const serial_buf, EscPacket const packetdata)
	Parse feedback from an ESC. More...

Variables
const uint8_t	crc_table [256]
	Lookup-table for faster CRC computation when sending ESC packets. More...

Function Documentation

◆ crc8_esc()

static uint8_t tap_esc_common::crc8_esc	(	uint8_t *	p,
		uint8_t	len
	)

static

Definition at line 263 of file tap_esc_common.cpp.

References crc_table.

Referenced by crc_packet(), and parse_tap_esc_feedback().

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◆ crc_packet()

static uint8_t tap_esc_common::crc_packet ( EscPacket & p )

static

Definition at line 274 of file tap_esc_common.cpp.

References EscPacket::bytes, crc8_esc(), EscPacket::d, and EscPacket::len.

Referenced by send_packet().

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◆ deinitialise_uart()

int tap_esc_common::deinitialise_uart ( int & uart_fd )

Closes a device previously opened with initialise_uart().

Parameters

uart_fd file-descriptor of UART device as provided by initialise_uart()

Returns: 0 on success, -1 on error

Definition at line 106 of file tap_esc_common.cpp.

Referenced by TAP_ESC::~TAP_ESC().

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◆ enable_flow_control()

int tap_esc_common::enable_flow_control	(	int	uart_fd,
		bool	enabled
	)

Enables/disables flow control for open UART device.

Parameters

uart_fd	file-descriptor of UART device
enabled	Set true for enabling and false for disabling flow control

Returns: 0 on success, -1 on error

Definition at line 117 of file tap_esc_common.cpp.

Referenced by Mavlink::get_instance_id(), and initialise_uart().

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◆ initialise_uart()

int tap_esc_common::initialise_uart	(	const char *const	device,
		int &	uart_fd
	)

Opens a device for use as UART.

Parameters

device	UNIX path of UART device
uart_fd	file-descriptor of UART device

Returns: 0 on success, -1 on error

Definition at line 66 of file tap_esc_common.cpp.

References B250000, and enable_flow_control().

Referenced by TAP_ESC::init().

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◆ parse_tap_esc_feedback()

int tap_esc_common::parse_tap_esc_feedback	(	ESC_UART_BUF *const	serial_buf,
		EscPacket *const	packetdata
	)

Parse feedback from an ESC.

Parameters

serial_buf	Buffer where incoming data will be stored
packetdata	Packet that will be populated with information from buffer

Returns: 0 on success, -1 on error

Definition at line 177 of file tap_esc_common.cpp.

References EscPacket::bytes, CRC, crc8_esc(), EscPacket::crc_data, EscPacket::d, ESC_UART_BUF::dat_cnt, DATA, ESC_UART_BUF::esc_feedback_buf, ESCBUS_MSG_ID_MAX_NUM, EscPacket::head, ESC_UART_BUF::head, HEAD, ID, EscPacket::len, LEN, EscPacket::msg_id, PACKET_HEAD, state, and UART_BUFFER_SIZE.

Referenced by TAP_ESC::cycle().

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◆ read_data_from_uart()

int tap_esc_common::read_data_from_uart	(	int	uart_fd,
		ESC_UART_BUF *const	uart_buf
	)

Read data from the UART into a buffer.

Parameters

uart_fd	file-descriptor of UART device
uart_buf	Buffer where incoming data will be stored

Returns: 0 on success, -1 on error

Definition at line 154 of file tap_esc_common.cpp.

References arraySize, ESC_UART_BUF::dat_cnt, ESC_UART_BUF::esc_feedback_buf, read(), ESC_UART_BUF::tail, and UART_BUFFER_SIZE.

Referenced by TAP_ESC::cycle().

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◆ select_responder()

void tap_esc_common::select_responder ( uint8_t sel )

Select tap esc responder data for serial interface by 74hct151.

GPIOs to be defined in board_config.h

Parameters

sel	ID of the ESC (responder) of which feedback is requested

Definition at line 57 of file tap_esc_common.cpp.

Referenced by send_packet().

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◆ send_packet()

int tap_esc_common::send_packet	(	int	uart_fd,
		EscPacket &	packet,
		int	responder
	)

Sends a packet to all ESCs and requests a specific ESC to respond.

Parameters

uart_fd	file-descriptor of UART device
packet	Packet to be sent to ESCs. CRC information will be added.
responder	ID of the ESC (responder) that should return feedback

Returns: On success number of bytes written, on error -1

Definition at line 138 of file tap_esc_common.cpp.

References crc_packet(), EscPacket::head, select_responder(), and write().

Referenced by Mavlink::begin_send(), TAP_ESC::init(), and TAP_ESC::send_esc_outputs().

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Variable Documentation

◆ crc_table

const uint8_t tap_esc_common::crc_table

Initial value:

= {
    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
}

Lookup-table for faster CRC computation when sending ESC packets.

Definition at line 282 of file tap_esc_common.cpp.

Referenced by crc8_esc().

Functions

Variables

Function Documentation

◆ crc8_esc()

◆ crc_packet()

◆ deinitialise_uart()

◆ enable_flow_control()

◆ initialise_uart()

◆ parse_tap_esc_feedback()

◆ read_data_from_uart()

◆ select_responder()

◆ send_packet()

Variable Documentation

◆ crc_table