ardupilot/libraries/AP_HAL/RCOutput.cpp

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#include "AP_HAL.h"
extern const AP_HAL::HAL &hal;
uint32_t AP_HAL::RCOutput::DSHOT_BIT_WIDTH_TICKS = DSHOT_BIT_WIDTH_TICKS_DEFAULT;
uint32_t AP_HAL::RCOutput::DSHOT_BIT_0_TICKS = DSHOT_BIT_0_TICKS_DEFAULT;
uint32_t AP_HAL::RCOutput::DSHOT_BIT_1_TICKS = DSHOT_BIT_1_TICKS_DEFAULT;
// helper function for implementation of get_output_mode_banner
const char* AP_HAL::RCOutput::get_output_mode_string(enum output_mode out_mode) const
{
// convert mode to string
switch (out_mode) {
case MODE_PWM_NONE:
return "None";
case MODE_PWM_NORMAL:
return "PWM";
case MODE_PWM_ONESHOT:
return "OneS";
case MODE_PWM_ONESHOT125:
return "OS125";
case MODE_PWM_BRUSHED:
return "Brush";
case MODE_PWM_DSHOT150:
return "DS150";
case MODE_PWM_DSHOT300:
return "DS300";
case MODE_PWM_DSHOT600:
return "DS600";
case MODE_PWM_DSHOT1200:
return "DS1200";
case MODE_NEOPIXEL:
return "NeoP";
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case MODE_PROFILED:
return "ProfiLED";
}
// we should never reach here but just in case
return "Unknown";
}
// convert output mode to string. helper function for implementation of get_output_mode_banner
void AP_HAL::RCOutput::append_to_banner(char banner_msg[], uint8_t banner_msg_len, output_mode out_mode, uint8_t low_ch, uint8_t high_ch) const
{
const char* mode_str = get_output_mode_string(out_mode);
// make copy of banner_msg
char banner_msg_temp[banner_msg_len];
memcpy(banner_msg_temp, banner_msg, banner_msg_len);
if (low_ch == high_ch) {
// handle single channel case
hal.util->snprintf(banner_msg, banner_msg_len, "%s %s:%u", banner_msg_temp, mode_str, (unsigned)low_ch);
} else {
// the general case
hal.util->snprintf(banner_msg, banner_msg_len, "%s %s:%u-%u", banner_msg_temp, mode_str, (unsigned)low_ch, (unsigned)high_ch);
}
}
/*
true when the output mode is of type dshot
*/
bool AP_HAL::RCOutput::is_dshot_protocol(const enum output_mode mode)
{
switch (mode) {
case MODE_PWM_DSHOT150:
case MODE_PWM_DSHOT300:
case MODE_PWM_DSHOT600:
case MODE_PWM_DSHOT1200:
return true;
default:
return false;
}
}
/*
* calculate the prescaler required to achieve the desire bitrate
*/
uint32_t AP_HAL::RCOutput::calculate_bitrate_prescaler(uint32_t timer_clock, uint32_t target_frequency, bool is_dshot)
{
uint32_t prescaler;
if (is_dshot) {
// original prescaler calculation from betaflight. bi-dir dshot is incredibly sensitive to the bitrate
prescaler = uint32_t(lrintf((float) timer_clock / target_frequency + 0.01f) - 1);
} else {
// adjust frequency to give an allowed value given the clock, erring on the high side
prescaler = timer_clock / target_frequency;
while ((timer_clock / prescaler) < target_frequency && prescaler > 1) {
prescaler--;
}
}
const uint32_t freq = timer_clock / prescaler;
// if using dshot then always pick the high value. choosing low seems to not agree with some
// ESCs despite the fact that BLHeli32 is supposed not to care what the bitrate is
if (is_dshot) {
if (freq < target_frequency) {
prescaler--;
}
} else {
// find the closest value
const float delta = fabsf(float(freq) - target_frequency);
if (freq > target_frequency
&& delta > fabsf(float(timer_clock / (prescaler+1)) - target_frequency)) {
prescaler++;
} else if (freq < target_frequency
&& delta > fabsf(float(timer_clock / (prescaler-1)) - target_frequency)) {
prescaler--;
}
}
return prescaler;
}