mirror of https://github.com/ArduPilot/ardupilot
68 lines
2.0 KiB
C
68 lines
2.0 KiB
C
|
#ifndef __AP_HAL_LINUX_RCOUTPUT_BEBOP_H__
|
||
|
|
#define __AP_HAL_LINUX_RCOUTPUT_BEBOP_H__
|
||
|
|
|
||
|
|
#include <AP_HAL_Linux.h>
|
||
|
|
|
||
|
|
enum bebop_bldc_motor {
|
||
|
|
BEBOP_BLDC_RIGHT_FRONT = 0,
|
||
|
|
BEBOP_BLDC_LEFT_FRONT,
|
||
|
|
BEBOP_BLDC_LEFT_BACK,
|
||
|
|
BEBOP_BLDC_RIGHT_BACK,
|
||
|
|
BEBOP_BLDC_MOTORS_NUM,
|
||
|
|
};
|
||
|
|
|
||
|
|
enum bebop_bldc_sound {
|
||
|
|
BEBOP_BLDC_SOUND_NONE = 0,
|
||
|
|
BEBOP_BLDC_SOUND_SHORT_BEEP,
|
||
|
|
BEBOP_BLDC_SOUND_BOOT_BEEP,
|
||
|
|
BEBOP_BLDC_SOUND_BEBOP,
|
||
|
|
};
|
||
|
|
|
||
|
|
class Linux::LinuxRCOutput_Bebop : public AP_HAL::RCOutput {
|
||
|
|
public:
|
||
|
|
LinuxRCOutput_Bebop();
|
||
|
|
void init(void* dummy);
|
||
|
|
void set_freq(uint32_t chmask, uint16_t freq_hz);
|
||
|
|
uint16_t get_freq(uint8_t ch);
|
||
|
|
void enable_ch(uint8_t ch);
|
||
|
|
void disable_ch(uint8_t ch);
|
||
|
|
void write(uint8_t ch, uint16_t period_us);
|
||
|
|
void write(uint8_t ch, uint16_t* period_us, uint8_t len);
|
||
|
|
uint16_t read(uint8_t ch);
|
||
|
|
void read(uint16_t* period_us, uint8_t len);
|
||
|
|
void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm);
|
||
|
|
|
||
|
|
private:
|
||
|
|
AP_HAL::Semaphore *_i2c_sem;
|
||
|
|
uint16_t _period_us[BEBOP_BLDC_MOTORS_NUM];
|
||
|
|
uint16_t _rpm[BEBOP_BLDC_MOTORS_NUM];
|
||
|
|
uint16_t _frequency;
|
||
|
|
uint16_t _min_pwm;
|
||
|
|
uint16_t _max_pwm;
|
||
|
|
uint8_t _state;
|
||
|
|
|
||
|
|
uint8_t _checksum(uint8_t *data, unsigned int len);
|
||
|
|
void _start_prop();
|
||
|
|
void _set_ref_speed(uint16_t rpm[BEBOP_BLDC_MOTORS_NUM]);
|
||
|
|
void _get_obs_data(uint16_t rpm[BEBOP_BLDC_MOTORS_NUM],
|
||
|
|
uint16_t *batt_mv,
|
||
|
|
uint8_t *status,
|
||
|
|
uint8_t *error,
|
||
|
|
uint8_t *motors_err,
|
||
|
|
uint8_t *temp);
|
||
|
|
void _toggle_gpio(uint8_t mask);
|
||
|
|
void _stop_prop();
|
||
|
|
void _clear_error();
|
||
|
|
void _play_sound(uint8_t sound);
|
||
|
|
uint16_t _period_us_to_rpm(uint16_t period_us);
|
||
|
|
|
||
|
|
/* thread related members */
|
||
|
|
pthread_t _thread;
|
||
|
|
pthread_mutex_t _mutex;
|
||
|
|
pthread_cond_t _cond;
|
||
|
|
void _run_rcout();
|
||
|
|
static void *_control_thread(void *arg);
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif // __AP_HAL_LINUX_RCOUTPUT_BEBOP_H__
|