Inheritance diagram for MK:

Collaboration diagram for MK:

Public Types
enum	MappingMode { MAPPING_MK = 0, MAPPING_PX4 }

enum	FrameType { FRAME_PLUS = 0, FRAME_X }

Public Member Functions
	MK (int bus, const char *_device_path)

	~MK ()

virtual int	ioctl (file *filp, int cmd, unsigned long arg)

virtual int	init (unsigned motors)

virtual ssize_t	write (file filp, const char buffer, size_t len)

int	set_motor_count (unsigned count)

int	set_motor_test (bool motortest)

int	set_overrideSecurityChecks (bool overrideSecurityChecks)

void	set_px4mode (int px4mode)

void	set_frametype (int frametype)

unsigned int	mk_check_for_blctrl (unsigned int count, bool showOutput, bool initI2C)

void	set_rc_min_value (unsigned value)

void	set_rc_max_value (unsigned value)

Private Member Functions
int	task_main ()

int	pwm_ioctl (file *filp, int cmd, unsigned long arg)

int	mk_servo_arm (bool status)

int	mk_servo_set (unsigned int chan, short val)

int	mk_servo_test (unsigned int chan)

int	mk_servo_locate ()

short	scaling (float val, float inMin, float inMax, float outMin, float outMax)

void	play_beep (int count)

Static Private Member Functions
static int	task_main_trampoline (int argc, char *argv[])

static int	control_callback (uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input)

Private Attributes
int	_update_rate

int	_task

int	_t_actuators

int	_t_actuator_armed

unsigned int	_motor

int	_px4mode

int	_frametype

char	_device [20]

orb_advert_t	_t_outputs

orb_advert_t	_t_esc_status

orb_advert_t	_tune_control_sub

unsigned int	_num_outputs

bool	_primary_pwm_device

bool	_motortest

bool	_overrideSecurityChecks

volatile bool	_task_should_exit

bool	_armed

unsigned long	debugCounter

MixerGroup *	_mixers

bool	_indicate_esc

unsigned	_rc_min_value

unsigned	_rc_max_value

param_t	_param_indicate_esc

actuator_controls_s	_controls

MotorData_t	Motor [MAX_MOTORS]

Static Private Attributes
static const unsigned	_max_actuators = MAX_MOTORS

static const bool	showDebug = false

Detailed Description

Definition at line 121 of file mkblctrl.cpp.

Member Enumeration Documentation

◆ FrameType

enum MK::FrameType

Enumerator
FRAME_PLUS
FRAME_X

Definition at line 129 of file mkblctrl.cpp.

◆ MappingMode

enum MK::MappingMode

Enumerator
MAPPING_MK
MAPPING_PX4

Definition at line 124 of file mkblctrl.cpp.

Constructor & Destructor Documentation

◆ MK()

MK::MK	(	int	bus,
		const char *	_device_path
	)

Definition at line 220 of file mkblctrl.cpp.

References _device.

◆ ~MK()

MK::~MK ( )

Definition at line 247 of file mkblctrl.cpp.

References _device, _primary_pwm_device, _task, _task_should_exit, and unregister_driver().

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Member Function Documentation

◆ control_callback()

int MK::control_callback	(	uintptr_t	handle,
		uint8_t	control_group,
		uint8_t	control_index,
		float &	input
	)

staticprivate

Definition at line 946 of file mkblctrl.cpp.

References actuator_controls_s::control.

Referenced by pwm_ioctl().

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◆ init()

int MK::init ( unsigned motors )

virtual

Definition at line 277 of file mkblctrl.cpp.

References _device, _num_outputs, _param_indicate_esc, _primary_pwm_device, _task, debugCounter, DEVICE_DEBUG, DEVICE_LOG, ToneAlarmInterface::init(), OK, param_find(), register_driver(), task_main_trampoline(), and warnx.

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◆ ioctl()

int MK::ioctl	(	file *	filp,
		int	cmd,
		unsigned long	arg
	)

virtual

Definition at line 958 of file mkblctrl.cpp.

References pwm_ioctl().

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◆ mk_check_for_blctrl()

unsigned int MK::mk_check_for_blctrl	(	unsigned int	count,
		bool	showOutput,
		bool	initI2C
	)

Definition at line 668 of file mkblctrl.cpp.

References _overrideSecurityChecks, _task_should_exit, BLCTRL_BASE_ADDR, BLCTRL_NEW, BLCTRL_OLD, MotorData_t::Current, ToneAlarmInterface::init(), MAX_MOTORS, MotorData_t::MaxPWM, Motor, MOTOR_STATE_PRESENT_MASK, msg, OK, MotorData_t::RawPwmValue, MotorData_t::ReadMode, MotorData_t::RoundCount, MotorData_t::SetPoint, MotorData_t::SetPointLowerBits, MotorData_t::State, MotorData_t::Temperature, and MotorData_t::Version.

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◆ mk_servo_arm()

int MK::mk_servo_arm ( bool status )

private

Definition at line 660 of file mkblctrl.cpp.

References _armed, and status.

Referenced by pwm_ioctl(), and task_main().

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◆ mk_servo_locate()

int MK::mk_servo_locate ( )

private

Definition at line 913 of file mkblctrl.cpp.

References _num_outputs, addrTranslator, BLCTRL_BASE_ADDR, hrt_absolute_time(), MOTOR_LOCATE_DELAY, msg, and play_beep().

Referenced by task_main().

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◆ mk_servo_set()

int MK::mk_servo_set	(	unsigned int	chan,
		short	val
	)

private

Definition at line 736 of file mkblctrl.cpp.

References _armed, _num_outputs, addrTranslator, BLCTRL_BASE_ADDR, BLCTRL_OLD, MotorData_t::Current, debugCounter, MotorData_t::MaxPWM, Motor, MOTOR_STATE_ERROR_MASK, MOTOR_STATE_PRESENT_MASK, msg, OK, MotorData_t::RoundCount, MotorData_t::SetPoint, MotorData_t::SetPointLowerBits, showDebug, MotorData_t::State, and MotorData_t::Temperature.

Referenced by pwm_ioctl(), task_main(), and write().

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◆ mk_servo_test()

int MK::mk_servo_test ( unsigned int chan )

private

Definition at line 846 of file mkblctrl.cpp.

References _motor, _motortest, _num_outputs, addrTranslator, BLCTRL_BASE_ADDR, BLCTRL_MIN_VALUE, BLCTRL_OLD, debugCounter, Motor, MOTOR_SPINUP_COUNTER, msg, MotorData_t::SetPoint, and MotorData_t::SetPointLowerBits.

Referenced by task_main().

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◆ play_beep()

void MK::play_beep ( int count )

private

Definition at line 449 of file mkblctrl.cpp.

References _tune_control_sub, ORB_ID, orb_publish(), tune_control, and tune_control_s::tune_id.

Referenced by mk_servo_locate().

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◆ pwm_ioctl()

int MK::pwm_ioctl	(	file *	filp,
		int	cmd,
		unsigned long	arg
	)

private

Definition at line 973 of file mkblctrl.cpp.

References _controls, _max_actuators, _mixers, _num_outputs, _rc_max_value, _rc_min_value, _update_rate, pwm_output_values::channel_count, control_callback(), DEVICE_DEBUG, MixerGroup::load_from_buf(), MicroBenchHRT::lock(), MIXERIOCLOADBUF, MIXERIOCRESET, mk_servo_arm(), mk_servo_set(), Motor, OK, PWM_SERVO_ARM, PWM_SERVO_CLEAR_ARM_OK, PWM_SERVO_DISARM, PWM_SERVO_GET, PWM_SERVO_GET_COUNT, PWM_SERVO_GET_MAX_PWM, PWM_SERVO_GET_MIN_PWM, PWM_SERVO_GET_RATEGROUP, PWM_SERVO_GET_UPDATE_RATE, PWM_SERVO_SET, PWM_SERVO_SET_ARM_OK, PWM_SERVO_SET_MAX_PWM, PWM_SERVO_SET_MIN_PWM, PWM_SERVO_SET_SELECT_UPDATE_RATE, PWM_SERVO_SET_UPDATE_RATE, MotorData_t::RawPwmValue, scaling(), set_rc_max_value(), set_rc_min_value(), MicroBenchHRT::unlock(), and pwm_output_values::values.

Referenced by ioctl().

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◆ scaling()

short MK::scaling	(	float	val,
		float	inMin,
		float	inMax,
		float	outMin,
		float	outMax
	)

private

Definition at line 432 of file mkblctrl.cpp.

Referenced by pwm_ioctl(), task_main(), and write().

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◆ set_frametype()

void MK::set_frametype ( int frametype )

Definition at line 335 of file mkblctrl.cpp.

References _frametype.

◆ set_motor_count()

int MK::set_motor_count ( unsigned count )

Definition at line 355 of file mkblctrl.cpp.

References _frametype, _num_outputs, _px4mode, addrTranslator, blctrlAddr_hexa_plus, blctrlAddr_hexa_x, blctrlAddr_octo_plus, blctrlAddr_octo_x, blctrlAddr_px4, blctrlAddr_quad_plus, blctrlAddr_quad_x, FRAME_PLUS, FRAME_X, MAPPING_MK, and OK.

◆ set_motor_test()

int MK::set_motor_test ( bool motortest )

Definition at line 418 of file mkblctrl.cpp.

References _motortest, and OK.

◆ set_overrideSecurityChecks()

int MK::set_overrideSecurityChecks ( bool overrideSecurityChecks )

Definition at line 425 of file mkblctrl.cpp.

References _overrideSecurityChecks, and OK.

◆ set_px4mode()

void MK::set_px4mode ( int px4mode )

Definition at line 329 of file mkblctrl.cpp.

References _px4mode.

◆ set_rc_max_value()

void MK::set_rc_max_value ( unsigned value )

Definition at line 348 of file mkblctrl.cpp.

References _rc_max_value.

Referenced by pwm_ioctl().

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◆ set_rc_min_value()

void MK::set_rc_min_value ( unsigned value )

Definition at line 341 of file mkblctrl.cpp.

References _rc_min_value.

Referenced by pwm_ioctl().

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◆ task_main()

int MK::task_main ( )

private

Definition at line 462 of file mkblctrl.cpp.

References _controls, _indicate_esc, _mixers, _motortest, _num_outputs, _overrideSecurityChecks, _param_indicate_esc, _t_actuator_armed, _t_actuators, _t_esc_status, _t_outputs, _task, _task_should_exit, _tune_control_sub, _update_rate, actuator_armed_s::armed, BLCTRL_BASE_ADDR, BLCTRL_MIN_VALUE, CONTROL_INPUT_DROP_LIMIT_MS, esc_status_s::counter, MotorData_t::Current, DEVICE_LOG, esc_status_s::esc, uart_esc::esc, esc_report_s::esc_address, esc_status_s::esc_connectiontype, esc_status_s::esc_count, esc_report_s::esc_current, esc_report_s::esc_errorcount, esc_report_s::esc_rpm, esc_report_s::esc_state, esc_report_s::esc_temperature, ESC_UORB_PUBLISH_DELAY, esc_report_s::esc_voltage, hrt_absolute_time(), actuator_armed_s::lockdown, MixerGroup::mix(), mk_servo_arm(), mk_servo_locate(), mk_servo_set(), mk_servo_test(), Motor, actuator_outputs_s::noutputs, orb_advertise(), orb_advertise_multi(), orb_advertise_queue(), orb_check(), orb_copy(), ORB_ID, ORB_ID_VEHICLE_ATTITUDE_CONTROLS, ORB_PRIO_HIGH, orb_publish(), orb_set_interval(), orb_subscribe(), actuator_outputs_s::output, param_get(), scaling(), MotorData_t::SetPoint_PX4, MotorData_t::Temperature, actuator_outputs_s::timestamp, esc_status_s::timestamp, tune_control, up_pwm_servo_deinit(), and up_pwm_servo_set_rate().

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◆ task_main_trampoline()

int MK::task_main_trampoline	(	int	argc,
		char *	argv[]
	)

staticprivate

Definition at line 323 of file mkblctrl.cpp.

Referenced by init().

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◆ write()

ssize_t MK::write	(	file *	filp,
		const char *	buffer,
		size_t	len
	)

virtual

Definition at line 1120 of file mkblctrl.cpp.

References _num_outputs, _rc_max_value, _rc_min_value, mk_servo_set(), Motor, MotorData_t::RawPwmValue, scaling(), and pwm_output_values::values.

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Member Data Documentation

◆ _armed

bool MK::_armed

private

Definition at line 170 of file mkblctrl.cpp.

Referenced by mk_servo_arm(), and mk_servo_set().

◆ _controls

actuator_controls_s MK::_controls

private

Definition at line 177 of file mkblctrl.cpp.

Referenced by pwm_ioctl(), and task_main().

◆ _device

char MK::_device[20]

private

Definition at line 161 of file mkblctrl.cpp.

Referenced by init(), MK(), and ~MK().

◆ _frametype

int MK::_frametype

private

Definition at line 160 of file mkblctrl.cpp.

Referenced by set_frametype(), and set_motor_count().

◆ _indicate_esc

bool MK::_indicate_esc

private

Definition at line 173 of file mkblctrl.cpp.

Referenced by task_main().

◆ _max_actuators

const unsigned MK::_max_actuators = MAX_MOTORS

staticprivate

Definition at line 151 of file mkblctrl.cpp.

Referenced by pwm_ioctl().

◆ _mixers

MixerGroup* MK::_mixers

private

Definition at line 172 of file mkblctrl.cpp.

Referenced by pwm_ioctl(), and task_main().

◆ _motor

unsigned int MK::_motor

private

Definition at line 158 of file mkblctrl.cpp.

Referenced by mk_servo_test().

◆ _motortest

bool MK::_motortest

private

Definition at line 167 of file mkblctrl.cpp.

Referenced by mk_servo_test(), set_motor_test(), and task_main().

◆ _num_outputs

unsigned int MK::_num_outputs

private

Definition at line 165 of file mkblctrl.cpp.

Referenced by init(), mk_servo_locate(), mk_servo_set(), mk_servo_test(), pwm_ioctl(), set_motor_count(), task_main(), and write().

◆ _overrideSecurityChecks

bool MK::_overrideSecurityChecks

private

Definition at line 168 of file mkblctrl.cpp.

Referenced by mk_check_for_blctrl(), set_overrideSecurityChecks(), and task_main().

◆ _param_indicate_esc

param_t MK::_param_indicate_esc

private

Definition at line 176 of file mkblctrl.cpp.

Referenced by init(), and task_main().

◆ _primary_pwm_device

bool MK::_primary_pwm_device

private

Definition at line 166 of file mkblctrl.cpp.

Referenced by init(), and ~MK().

◆ _px4mode

int MK::_px4mode

private

Definition at line 159 of file mkblctrl.cpp.

Referenced by set_motor_count(), and set_px4mode().

◆ _rc_max_value

unsigned MK::_rc_max_value

private

Definition at line 175 of file mkblctrl.cpp.

Referenced by pwm_ioctl(), set_rc_max_value(), and write().

◆ _rc_min_value

unsigned MK::_rc_min_value

private

Definition at line 174 of file mkblctrl.cpp.

Referenced by pwm_ioctl(), set_rc_min_value(), and write().

◆ _t_actuator_armed

int MK::_t_actuator_armed

private

Definition at line 157 of file mkblctrl.cpp.

Referenced by task_main().

◆ _t_actuators

int MK::_t_actuators

private

Definition at line 156 of file mkblctrl.cpp.

Referenced by task_main().

◆ _t_esc_status

orb_advert_t MK::_t_esc_status

private

Definition at line 163 of file mkblctrl.cpp.

Referenced by task_main().

◆ _t_outputs

orb_advert_t MK::_t_outputs

private

Definition at line 162 of file mkblctrl.cpp.

Referenced by task_main().

◆ _task

int MK::_task

private

Definition at line 155 of file mkblctrl.cpp.

Referenced by init(), task_main(), and ~MK().

◆ _task_should_exit

volatile bool MK::_task_should_exit

private

Definition at line 169 of file mkblctrl.cpp.

Referenced by mk_check_for_blctrl(), task_main(), and ~MK().

◆ _tune_control_sub

orb_advert_t MK::_tune_control_sub

private

Definition at line 164 of file mkblctrl.cpp.

Referenced by play_beep(), and task_main().

◆ _update_rate

int MK::_update_rate

private

Definition at line 154 of file mkblctrl.cpp.

Referenced by pwm_ioctl(), and task_main().

◆ debugCounter

unsigned long MK::debugCounter

private

Definition at line 171 of file mkblctrl.cpp.

Referenced by init(), mk_servo_set(), and mk_servo_test().

◆ Motor

MotorData_t MK::Motor[MAX_MOTORS]

private

Definition at line 178 of file mkblctrl.cpp.

Referenced by mk_check_for_blctrl(), mk_servo_set(), mk_servo_test(), pwm_ioctl(), task_main(), and write().

◆ showDebug

const bool MK::showDebug = false

staticprivate

Definition at line 152 of file mkblctrl.cpp.

Referenced by mk_servo_set().

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

src/drivers/mkblctrl/mkblctrl.cpp

Public Types

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

◆ FrameType

◆ MappingMode

Constructor & Destructor Documentation

◆ MK()

◆ ~MK()

Member Function Documentation

◆ control_callback()

◆ init()

◆ ioctl()

◆ mk_check_for_blctrl()

◆ mk_servo_arm()

◆ mk_servo_locate()

◆ mk_servo_set()

◆ mk_servo_test()

◆ play_beep()

◆ pwm_ioctl()

◆ scaling()

◆ set_frametype()

◆ set_motor_count()

◆ set_motor_test()

◆ set_overrideSecurityChecks()

◆ set_px4mode()

◆ set_rc_max_value()

◆ set_rc_min_value()

◆ task_main()

◆ task_main_trampoline()

◆ write()

Member Data Documentation

◆ _armed

◆ _controls

◆ _device

◆ _frametype

◆ _indicate_esc

◆ _max_actuators

◆ _mixers

◆ _motor

◆ _motortest

◆ _num_outputs

◆ _overrideSecurityChecks

◆ _param_indicate_esc

◆ _primary_pwm_device

◆ _px4mode

◆ _rc_max_value

◆ _rc_min_value

◆ _t_actuator_armed

◆ _t_actuators

◆ _t_esc_status

◆ _t_outputs

◆ _task

◆ _task_should_exit

◆ _tune_control_sub

◆ _update_rate

◆ debugCounter

◆ Motor

◆ showDebug