Functions
void	uart_esc_rotate_motors (int16_t *motor_rpm, int num_rotors)
	Rotate the motor rpm values based on the motor mappings configuration stored in motor_mapping. More...

static void	usage ()
	Print out the usage information. More...

static void	start (const char *device) __attribute__((unused))
	uart_esc start More...

static void	stop ()
	uart_esc stop More...

static void	task_main_trampoline (int argc, char *argv[])
	task main trampoline function More...

static void	task_main (int argc, char *argv[])
	uart_esc thread primary entry point More...

static int	initialize_mixer (const char *mixer_filename)

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

static void	parameters_init ()

static void	parameters_update ()

void	start ()
	Attempt to start driver on all available I2C busses. More...

Variables
volatile bool	_task_should_exit = false

static char	_device [MAX_LEN_DEV_PATH]

static bool	_is_running = false

static px4_task_t	_task_handle = -1

UartEsc *	esc

int	_controls_sub

int	_armed_sub

int	_param_sub

static const char *	MIXER_FILENAME = "/dev/fs/mixer_config.mix"

orb_advert_t	_outputs_pub

actuator_controls_s	_controls

actuator_armed_s	_armed

parameter_update_s	_param_update

actuator_outputs_s	_outputs

static MultirotorMixer *	mixer
	mixer initialization More...

struct {
int uart_esc::model

int uart_esc::baudrate

int uart_esc::px4_motor_mapping [UART_ESC_MAX_MOTORS]

}	_parameters

struct {
param_t uart_esc::model

param_t uart_esc::baudrate

param_t uart_esc::px4_motor_mapping [UART_ESC_MAX_MOTORS]

}	_parameter_handles

Function Documentation

◆ initialize_mixer()

int uart_esc::initialize_mixer ( const char * mixer_filename )

static

Definition at line 195 of file uart_esc_main.cpp.

References MultirotorMixer::from_text(), mixer_control_callback(), and read().

Referenced by task_main().

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◆ mixer_control_callback()

int uart_esc::mixer_control_callback	(	uintptr_t	handle,
		uint8_t	control_group,
		uint8_t	control_index,
		float &	input
	)

static

Definition at line 171 of file uart_esc_main.cpp.

References actuator_controls_s::control.

Referenced by initialize_mixer().

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◆ parameters_init()

void uart_esc::parameters_init ( )

static

Definition at line 131 of file uart_esc_main.cpp.

References _parameter_handles, param_find(), parameters_update(), and UART_ESC_MAX_MOTORS.

Referenced by task_main().

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◆ parameters_update()

void uart_esc::parameters_update ( )

static

Definition at line 148 of file uart_esc_main.cpp.

References _parameter_handles, _parameters, param_get(), and UART_ESC_MAX_MOTORS.

Referenced by parameters_init(), and task_main().

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◆ start() [1/2]

static void uart_esc::start ( const char * device )

static

uart_esc start

Referenced by uart_esc_main().

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◆ start() [2/2]

void uart_esc::start ( )

Attempt to start driver on all available I2C busses.

This function will return as soon as the first sensor is detected on one of the available busses or if no sensors are detected.

Attempt to start driver on all available I2C busses.

Definition at line 423 of file uart_esc_main.cpp.

References i2c_bus_options, NUM_I2C_BUS_OPTIONS, ets_airspeed::start_bus(), task_main_trampoline(), and warn.

Referenced by spektrum_rc_main().

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◆ stop()

void uart_esc::stop ( )

static

uart_esc stop

Definition at line 443 of file uart_esc_main.cpp.

Referenced by uart_esc_main().

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◆ task_main()

void uart_esc::task_main	(	int	argc,
		char *	argv[]
	)

static

uart_esc thread primary entry point

Definition at line 275 of file uart_esc_main.cpp.

References _controls_sub, _parameters, actuator_armed_s::armed, esc, hrt_absolute_time(), initialize_mixer(), actuator_armed_s::lockdown, actuator_armed_s::manual_lockdown, MultirotorMixer::mix(), actuator_outputs_s::noutputs, orb_advertise(), orb_check(), orb_copy(), ORB_ID, orb_publish(), orb_subscribe(), actuator_outputs_s::output, parameters_init(), parameters_update(), px4_poll(), actuator_outputs_s::timestamp, UART_ESC_MAX_MOTORS, and uart_esc_rotate_motors().

Referenced by task_main_trampoline().

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◆ task_main_trampoline()

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

static

task main trampoline function

uart_esc main entrance

Definition at line 417 of file uart_esc_main.cpp.

References task_main().

Referenced by start().

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◆ uart_esc_rotate_motors()

void uart_esc::uart_esc_rotate_motors	(	int16_t *	motor_rpm,
		int	num_rotors
	)

Rotate the motor rpm values based on the motor mappings configuration stored in motor_mapping.

Definition at line 260 of file uart_esc_main.cpp.

References _parameters, and UART_ESC_MAX_MOTORS.

Referenced by task_main().

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◆ usage()

void uart_esc::usage ( void )

static

Print out the usage information.

Definition at line 451 of file uart_esc_main.cpp.

Referenced by uart_esc_main().

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Variable Documentation

◆ _armed

actuator_armed_s uart_esc::_armed

Definition at line 92 of file uart_esc_main.cpp.

◆ _armed_sub

int uart_esc::_armed_sub

Definition at line 79 of file uart_esc_main.cpp.

◆ _controls

actuator_controls_s uart_esc::_controls

Definition at line 91 of file uart_esc_main.cpp.

◆ _controls_sub

int uart_esc::_controls_sub

Definition at line 78 of file uart_esc_main.cpp.

Referenced by task_main().

◆ _device

char uart_esc::_device[MAX_LEN_DEV_PATH]

static

Definition at line 71 of file uart_esc_main.cpp.

Referenced by uart_esc_main().

◆ _is_running

bool uart_esc::_is_running = false

static

Definition at line 72 of file uart_esc_main.cpp.

Referenced by uart_esc_main().

◆ _outputs

actuator_outputs_s uart_esc::_outputs

Definition at line 94 of file uart_esc_main.cpp.

◆ _outputs_pub

orb_advert_t uart_esc::_outputs_pub

Definition at line 88 of file uart_esc_main.cpp.

◆ _param_sub

int uart_esc::_param_sub

Definition at line 80 of file uart_esc_main.cpp.

◆ _param_update

parameter_update_s uart_esc::_param_update

Definition at line 93 of file uart_esc_main.cpp.

◆ _parameter_handles

struct { ... } uart_esc::_parameter_handles

Referenced by parameters_init(), parameters_update(), RCUpdate::RCUpdate::parameters_updated(), RCUpdate::RCUpdate::rc_parameter_map_poll(), RCUpdate::RCUpdate::RCUpdate(), and RCUpdate::RCUpdate::set_params_from_rc().

◆ _parameters

struct { ... } uart_esc::_parameters

Referenced by parameters_update(), RCUpdate::RCUpdate::parameters_updated(), RCUpdate::RCUpdate::Run(), task_main(), uart_esc_rotate_motors(), and RCUpdate::RCUpdate::update_rc_functions().

◆ _task_handle

px4_task_t uart_esc::_task_handle = -1

static

Definition at line 73 of file uart_esc_main.cpp.

◆ _task_should_exit

volatile bool uart_esc::_task_should_exit = false

Definition at line 70 of file uart_esc_main.cpp.

◆ baudrate

param_t uart_esc::baudrate

Definition at line 121 of file uart_esc_main.cpp.

Referenced by GPSDriverUBX::configure(), and GPS::pollOrRead().

◆ esc

UartEsc* uart_esc::esc

Definition at line 74 of file uart_esc_main.cpp.

Referenced by task_main(), and MK::task_main().

◆ mixer

MultirotorMixer* uart_esc::mixer

static

mixer initialization

Definition at line 112 of file uart_esc_main.cpp.

Referenced by MixerGroup::get_multirotor_count(), MixerGroup::get_saturation_status(), MixerGroup::get_trims(), MixerGroup::groups_required(), main(), MixerGroup::mix(), MixerGroup::set_airmode(), MixerGroup::set_max_delta_out_once(), MixerGroup::set_thrust_factor(), and MixerGroup::set_trims().

◆ MIXER_FILENAME

const char* uart_esc::MIXER_FILENAME = "/dev/fs/mixer_config.mix"

static

Definition at line 84 of file uart_esc_main.cpp.

◆ model

param_t uart_esc::model

Definition at line 120 of file uart_esc_main.cpp.

◆ px4_motor_mapping

param_t uart_esc::px4_motor_mapping[UART_ESC_MAX_MOTORS]

Definition at line 122 of file uart_esc_main.cpp.

Functions

Variables

Function Documentation

◆ initialize_mixer()

◆ mixer_control_callback()

◆ parameters_init()

◆ parameters_update()

◆ start() [1/2]

◆ start() [2/2]

◆ stop()

◆ task_main()

◆ task_main_trampoline()

◆ uart_esc_rotate_motors()

◆ usage()

Variable Documentation

◆ _armed

◆ _armed_sub

◆ _controls

◆ _controls_sub

◆ _device

◆ _is_running

◆ _outputs

◆ _outputs_pub

◆ _param_sub

◆ _param_update

◆ _parameter_handles

◆ _parameters

◆ _task_handle

◆ _task_should_exit

◆ baudrate

◆ esc

◆ mixer

◆ MIXER_FILENAME

◆ model

◆ px4_motor_mapping