2016-02-17 21:25:25 -04:00
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#pragma once
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2012-08-27 15:44:50 -03:00
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#include "AP_HAL_Namespace.h"
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2017-11-22 13:38:34 -04:00
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#include <stdint.h>
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2012-08-27 15:44:50 -03:00
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2015-06-04 20:54:54 -03:00
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#define RC_OUTPUT_MIN_PULSEWIDTH 400
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#define RC_OUTPUT_MAX_PULSEWIDTH 2100
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2012-08-28 01:05:19 -03:00
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/* Define the CH_n names, indexed from 1, if we don't have them already */
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#ifndef CH_1
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#define CH_1 0
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#define CH_2 1
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#define CH_3 2
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#define CH_4 3
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#define CH_5 4
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#define CH_6 5
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#define CH_7 6
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#define CH_8 7
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#define CH_9 8
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#define CH_10 9
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#define CH_11 10
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#define CH_12 11
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#define CH_13 12
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#define CH_14 13
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#define CH_15 14
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#define CH_16 15
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#define CH_17 16
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#define CH_18 17
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#define CH_19 18
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#define CH_20 19
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#define CH_21 20
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#define CH_22 21
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#define CH_23 22
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#define CH_24 23
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#define CH_25 24
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#define CH_26 25
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#define CH_27 26
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#define CH_28 27
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#define CH_29 28
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#define CH_30 29
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#define CH_31 30
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#define CH_32 31
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#define CH_NONE 255
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2012-08-28 01:05:19 -03:00
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#endif
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2018-03-16 18:49:11 -03:00
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class ByteBuffer;
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2022-02-10 10:41:44 -04:00
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class ExpandingString;
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2012-08-27 15:44:50 -03:00
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class AP_HAL::RCOutput {
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public:
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2015-12-02 11:37:22 -04:00
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virtual void init() = 0;
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2012-08-27 20:45:46 -03:00
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/* Output freq (1/period) control */
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virtual void set_freq(uint32_t chmask, uint16_t freq_hz) = 0;
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virtual uint16_t get_freq(uint8_t chan) = 0;
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2012-08-27 20:45:46 -03:00
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/* Output active/highZ control, either by single channel at a time
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* or a mask of channels */
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2018-05-02 09:50:06 -03:00
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virtual void enable_ch(uint8_t chan) = 0;
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virtual void disable_ch(uint8_t chan) = 0;
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2015-09-28 17:19:08 -03:00
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/*
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* Output a single channel, possibly grouped with previous writes if
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* cork() has been called before.
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*/
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2018-05-02 09:50:06 -03:00
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virtual void write(uint8_t chan, uint16_t period_us) = 0;
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2012-08-27 20:45:46 -03:00
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2018-11-09 06:25:13 -04:00
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/*
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* mark the channels in chanmask as reversible. This is needed for some ESC types (such as DShot)
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2021-07-29 17:45:51 -03:00
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* so that output scaling can be performed correctly. The chanmask passed is added (ORed) into any existing mask.
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* The mask uses servo channel numbering
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2018-11-09 06:25:13 -04:00
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*/
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virtual void set_reversible_mask(uint32_t chanmask) {}
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/*
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* mark the channels in chanmask as reversed.
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* The chanmask passed is added (ORed) into any existing mask.
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* The mask uses servo channel numbering
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*/
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virtual void set_reversed_mask(uint32_t chanmask) {}
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virtual uint32_t get_reversed_mask() { return 0; }
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2021-06-16 06:27:02 -03:00
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/*
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* Update channel masks at 1Hz allowing for actions such as dshot commands to be sent
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*/
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virtual void update_channel_masks() {}
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2021-07-29 17:45:51 -03:00
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/*
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* Allow channel mask updates to be temporarily suspended
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*/
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virtual void disable_channel_mask_updates() {}
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virtual void enable_channel_mask_updates() {}
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2015-09-28 17:19:08 -03:00
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/*
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* Delay subsequent calls to write() going to the underlying hardware in
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* order to group related writes together. When all the needed writes are
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* done, call push() to commit the changes.
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*/
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2016-10-11 08:01:49 -03:00
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virtual void cork() = 0;
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2015-09-28 17:19:08 -03:00
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/*
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* Push pending changes to the underlying hardware. All changes between a
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* call to cork() and push() are pushed together in a single transaction.
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*/
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2016-10-11 08:01:49 -03:00
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virtual void push() = 0;
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2012-08-27 20:45:46 -03:00
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/* Read back current output state, as either single channel or
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2016-03-10 17:55:42 -04:00
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* array of channels. On boards that have a separate IO controller,
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* this returns the latest output value that the IO controller has
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* reported */
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2018-05-02 09:50:06 -03:00
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virtual uint16_t read(uint8_t chan) = 0;
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2012-08-28 01:05:19 -03:00
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virtual void read(uint16_t* period_us, uint8_t len) = 0;
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2014-01-15 07:25:22 -04:00
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2016-03-10 17:55:42 -04:00
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/* Read the current input state. This returns the last value that was written. */
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virtual uint16_t read_last_sent(uint8_t chan) { return read(chan); }
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virtual void read_last_sent(uint16_t* period_us, uint8_t len) { read(period_us, len); };
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2014-04-20 19:36:52 -03:00
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/*
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set PWM to send to a set of channels if the FMU firmware dies
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*/
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virtual void set_failsafe_pwm(uint32_t chmask, uint16_t period_us) {}
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2014-09-14 05:23:13 -03:00
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/*
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force the safety switch on, disabling PWM output from the IO board
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return false (indicating failure) by default so that boards with no safety switch
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do not need to implement this method
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*/
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virtual bool force_safety_on(void) { return false; }
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2014-02-11 00:56:44 -04:00
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/*
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force the safety switch off, enabling PWM output from the IO board
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*/
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virtual void force_safety_off(void) {}
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2014-11-20 03:30:10 -04:00
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/*
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setup scaling of ESC output for ESCs that can output a
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percentage of power (such as UAVCAN ESCs). The values are in
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microseconds, and represent minimum and maximum PWM values which
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will be used to convert channel writes into a percentage
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*/
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2023-08-19 03:08:25 -03:00
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void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) {
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_esc_pwm_min = min_pwm;
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_esc_pwm_max = max_pwm;
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}
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2016-04-13 03:23:11 -03:00
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2017-04-06 16:09:37 -03:00
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/*
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returns the pwm value scaled to [-1;1] regrading to set_esc_scaling ranges range without constraints.
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*/
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2023-08-19 03:08:25 -03:00
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float scale_esc_to_unity(uint16_t pwm) const;
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2017-04-06 16:09:37 -03:00
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2020-10-23 17:23:34 -03:00
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/*
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return the erpm and error rate for a channel if available
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*/
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virtual uint16_t get_erpm(uint8_t chan) const { return 0; }
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virtual float get_erpm_error_rate(uint8_t chan) const { return 100.0f; }
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2016-04-15 03:38:09 -03:00
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/*
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enable PX4IO SBUS out at the given rate
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2016-04-15 03:38:09 -03:00
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*/
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2017-11-22 13:38:34 -04:00
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virtual bool enable_px4io_sbus_out(uint16_t rate_hz) { return false; }
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2017-02-07 23:45:50 -04:00
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/*
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* Optional method to control the update of the motors. Derived classes
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* can implement it if their HAL layer requires.
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*/
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virtual void timer_tick(void) { }
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2016-04-13 03:23:11 -03:00
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/*
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2018-03-16 18:49:11 -03:00
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setup for serial output to an ESC using the given
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baudrate. Assumes 1 start bit, 1 stop bit, LSB first and 8
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databits. This is used for passthrough ESC configuration and
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firmware flashing
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2018-08-04 05:26:49 -03:00
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While serial output is active normal output to all channels in
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the chanmask is suspended. Output to some other channels (such
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as those in the same channel timer groups) may also be stopped,
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depending on the implementation
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2018-03-16 18:49:11 -03:00
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*/
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2021-01-11 22:01:25 -04:00
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virtual bool serial_setup_output(uint8_t chan, uint32_t baudrate, uint32_t chanmask) { return false; }
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2018-03-16 18:49:11 -03:00
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/*
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write a set of bytes to an ESC, using settings from
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serial_setup_output. This is a blocking call
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*/
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virtual bool serial_write_bytes(const uint8_t *bytes, uint16_t len) { return false; }
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/*
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read a series of bytes from a port, using serial parameters from serial_setup_output()
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return the number of bytes read. This is a blocking call
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*/
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virtual uint16_t serial_read_bytes(uint8_t *buf, uint16_t len) { return 0; }
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/*
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stop serial output. This restores the previous output mode for
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the channel and any other channels that were stopped by
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serial_setup_output()
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*/
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virtual void serial_end(void) {}
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/*
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output modes. Allows for support of PWM, oneshot and dshot
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2021-09-22 12:20:03 -03:00
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*/
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// this enum is used by BLH_OTYPE and ESC_PWM_TYPE on AP_Periph
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// double check params are still correct when changing
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enum output_mode {
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MODE_PWM_NONE,
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MODE_PWM_NORMAL,
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MODE_PWM_ONESHOT,
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MODE_PWM_ONESHOT125,
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MODE_PWM_BRUSHED,
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MODE_PWM_DSHOT150,
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MODE_PWM_DSHOT300,
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MODE_PWM_DSHOT600,
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MODE_PWM_DSHOT1200,
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2020-02-22 19:55:21 -04:00
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MODE_NEOPIXEL, // same as MODE_PWM_DSHOT at 800kHz but it's an LED
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MODE_PROFILED, // same as MODE_PWM_DSHOT using separate clock and data
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MODE_NEOPIXELRGB, // same as MODE_NEOPIXEL but RGB ordering
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};
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// true when the output mode is of type dshot
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// static to allow use in the ChibiOS thread stuff
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static bool is_dshot_protocol(const enum output_mode mode);
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2023-02-23 08:35:05 -04:00
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static bool is_led_protocol(const enum output_mode mode) {
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switch (mode) {
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case MODE_NEOPIXEL:
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case MODE_NEOPIXELRGB:
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case MODE_PROFILED:
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return true;
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default:
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return false;
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}
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}
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2021-04-03 19:01:40 -03:00
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2022-05-19 16:57:50 -03:00
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// BLHeli32: https://github.com/bitdump/BLHeli/blob/master/BLHeli_32%20ARM/BLHeli_32%20Firmware%20specs/Digital_Cmd_Spec.txt
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// BLHeli_S: https://github.com/bitdump/BLHeli/blob/master/BLHeli_S%20SiLabs/Dshotprog%20spec%20BLHeli_S.txt
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enum BLHeliDshotCommand : uint8_t {
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DSHOT_RESET = 0,
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DSHOT_BEEP1 = 1,
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DSHOT_BEEP2 = 2,
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DSHOT_BEEP3 = 3,
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DSHOT_BEEP4 = 4,
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DSHOT_BEEP5 = 5,
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DSHOT_ESC_INFO = 6,
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DSHOT_ROTATE = 7,
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DSHOT_ROTATE_ALTERNATE = 8,
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DSHOT_3D_OFF = 9,
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DSHOT_3D_ON = 10,
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DSHOT_SAVE = 12,
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2023-05-29 16:44:47 -03:00
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DSHOT_EXTENDED_TELEMETRY_ENABLE = 13,
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DSHOT_EXTENDED_TELEMETRY_DISABLE = 14,
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DSHOT_NORMAL = 20,
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DSHOT_REVERSE = 21,
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2022-05-19 16:57:50 -03:00
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// The following options are only available on BLHeli32
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2021-04-03 19:01:40 -03:00
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DSHOT_LED0_ON = 22,
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DSHOT_LED1_ON = 23,
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DSHOT_LED2_ON = 24,
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DSHOT_LED3_ON = 25,
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DSHOT_LED0_OFF = 26,
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DSHOT_LED1_OFF = 27,
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DSHOT_LED2_OFF = 28,
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DSHOT_LED3_OFF = 29,
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};
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2021-07-29 17:45:51 -03:00
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const uint8_t DSHOT_ZERO_THROTTLE = 48;
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2021-04-03 19:01:40 -03:00
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enum DshotEscType {
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DSHOT_ESC_NONE = 0,
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2022-05-19 16:57:50 -03:00
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DSHOT_ESC_BLHELI = 1,
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2023-05-29 16:44:47 -03:00
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DSHOT_ESC_BLHELI_S = 2,
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DSHOT_ESC_BLHELI_EDT = 3,
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DSHOT_ESC_BLHELI_EDT_S = 4
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};
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2021-01-11 22:01:25 -04:00
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virtual void set_output_mode(uint32_t mask, enum output_mode mode) {}
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2017-07-16 20:18:49 -03:00
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2023-06-21 18:42:25 -03:00
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virtual enum output_mode get_output_mode(uint32_t& mask) {
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mask = 0;
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return MODE_PWM_NORMAL;
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}
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2020-01-28 04:28:36 -04:00
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/*
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* get output mode banner to inform user of how outputs are configured
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*/
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virtual bool get_output_mode_banner(char banner_msg[], uint8_t banner_msg_len) const { return false; }
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2022-04-19 14:15:53 -03:00
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/*
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* return mask of channels that must be disabled because they share a group with a digital channel
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*/
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2022-05-15 18:30:16 -03:00
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virtual uint32_t get_disabled_channels(uint32_t digital_mask) { return 0; }
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2022-04-19 14:15:53 -03:00
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2017-07-16 20:18:49 -03:00
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/*
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set default update rate
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*/
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virtual void set_default_rate(uint16_t rate_hz) {}
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2018-04-02 01:20:42 -03:00
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/*
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enable telemetry request for a mask of channels. This is used
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with DShot to get telemetry feedback
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*/
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2021-01-11 22:01:25 -04:00
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virtual void set_telem_request_mask(uint32_t mask) {}
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2019-03-29 18:45:12 -03:00
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2020-10-23 17:23:34 -03:00
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/*
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enable bi-directional telemetry request for a mask of channels. This is used
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with DShot to get telemetry feedback
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*/
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2021-01-11 22:01:25 -04:00
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virtual void set_bidir_dshot_mask(uint32_t mask) {}
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2020-10-23 17:23:34 -03:00
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2021-04-03 19:01:40 -03:00
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/*
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mark escs as active for the purpose of sending dshot commands
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*/
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2021-01-11 22:01:25 -04:00
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virtual void set_active_escs_mask(uint32_t mask) {}
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2021-04-03 19:01:40 -03:00
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2021-03-02 18:17:19 -04:00
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/*
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Set the dshot rate as a multiple of the loop rate
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*/
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virtual void set_dshot_rate(uint8_t dshot_rate, uint16_t loop_rate_hz) {}
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2023-05-24 17:41:56 -03:00
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/*
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Set the dshot period in us, only for use by the IOMCU
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*/
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virtual void set_dshot_period(uint32_t period_us, uint8_t dshot_rate) {}
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virtual uint32_t get_dshot_period_us() const { return 0; }
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2021-04-03 19:01:40 -03:00
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/*
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Set the dshot ESC type
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*/
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virtual void set_dshot_esc_type(DshotEscType esc_type) {}
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virtual DshotEscType get_dshot_esc_type() const { return DSHOT_ESC_NONE; }
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const static uint32_t ALL_CHANNELS = 255;
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/*
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2023-10-11 04:41:53 -03:00
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Send a dshot command, if command timeout is 0 then 10 commands are sent
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2021-04-03 19:01:40 -03:00
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chan is the servo channel to send the command to
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*/
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virtual void send_dshot_command(uint8_t command, uint8_t chan = ALL_CHANNELS, uint32_t command_timeout_ms = 0, uint16_t repeat_count = 10, bool priority = false) {}
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2021-03-01 16:40:15 -04:00
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/*
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set the number of motor poles to be used in rpm calculations
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*/
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virtual void set_motor_poles(uint8_t poles) {}
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2021-04-03 19:01:40 -03:00
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2019-09-09 05:56:23 -03:00
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/*
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2020-02-22 19:55:21 -04:00
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setup serial led output for a given channel number, with
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2019-09-09 05:56:23 -03:00
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the given max number of LEDs in the chain.
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*/
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2021-01-11 22:01:25 -04:00
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virtual bool set_serial_led_num_LEDs(const uint16_t chan, uint8_t num_leds, output_mode mode = MODE_PWM_NONE, uint32_t clock_mask = 0) { return false; }
|
2019-09-09 05:56:23 -03:00
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/*
|
2020-02-22 19:55:21 -04:00
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setup serial led output data for a given output channel
|
2020-02-09 06:34:12 -04:00
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and led number. A led number of -1 means all LEDs. LED 0 is the first LED
|
2019-09-09 05:56:23 -03:00
|
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|
*/
|
2020-02-22 19:55:21 -04:00
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virtual void set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t red, uint8_t green, uint8_t blue) {}
|
2023-09-28 17:48:50 -03:00
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|
2019-09-09 05:56:23 -03:00
|
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|
/*
|
2020-02-22 19:55:21 -04:00
|
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|
trigger send of serial led
|
2019-09-09 05:56:23 -03:00
|
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|
*/
|
2020-02-22 19:55:21 -04:00
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virtual void serial_led_send(const uint16_t chan) {}
|
2020-01-28 04:28:36 -04:00
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|
2022-02-10 10:41:44 -04:00
|
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virtual void timer_info(ExpandingString &str) {}
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|
2022-05-27 16:51:46 -03:00
|
|
|
/*
|
|
|
|
Can this driver handle gpio as well as RC
|
|
|
|
*/
|
|
|
|
virtual bool supports_gpio() { return false; };
|
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|
|
|
|
|
|
/*
|
|
|
|
Writes gpio state to a channel
|
|
|
|
*/
|
|
|
|
virtual void write_gpio(uint8_t chan, bool active) {};
|
|
|
|
|
2022-02-10 10:41:44 -04:00
|
|
|
/*
|
|
|
|
* calculate the prescaler required to achieve the desire bitrate
|
|
|
|
*/
|
2023-09-17 08:29:15 -03:00
|
|
|
static uint32_t calculate_bitrate_prescaler(uint32_t timer_clock, uint32_t target_frequency, bool at_least_freq = false);
|
2022-02-10 10:41:44 -04:00
|
|
|
|
2022-04-02 10:56:25 -03:00
|
|
|
/*
|
|
|
|
* bit width values for different protocols
|
|
|
|
*/
|
2022-05-19 16:57:50 -03:00
|
|
|
/*
|
|
|
|
* It seems ESCs are quite sensitive to the DSHOT duty cycle.
|
|
|
|
* Options are (ticks, percentage):
|
|
|
|
* 20/7/14, 35/70
|
|
|
|
* 11/4/8, 36/72
|
2023-05-24 17:41:56 -03:00
|
|
|
* 8/3/6, 37/75 <-- this is the preferred duty cycle and has some support on the interwebs
|
2022-05-19 16:57:50 -03:00
|
|
|
*/
|
|
|
|
// bitwidths: 8/3/6 == 37%/75%
|
|
|
|
static constexpr uint32_t DSHOT_BIT_WIDTH_TICKS_DEFAULT = 8;
|
|
|
|
static constexpr uint32_t DSHOT_BIT_0_TICKS_DEFAULT = 3;
|
|
|
|
static constexpr uint32_t DSHOT_BIT_1_TICKS_DEFAULT = 6;
|
|
|
|
// bitwidths: 11/4/8 == 36%/72%
|
|
|
|
static constexpr uint32_t DSHOT_BIT_WIDTH_TICKS_S = 11;
|
|
|
|
static constexpr uint32_t DSHOT_BIT_0_TICKS_S = 4;
|
|
|
|
static constexpr uint32_t DSHOT_BIT_1_TICKS_S = 8;
|
|
|
|
|
|
|
|
static uint32_t DSHOT_BIT_WIDTH_TICKS;
|
|
|
|
static uint32_t DSHOT_BIT_0_TICKS;
|
|
|
|
static uint32_t DSHOT_BIT_1_TICKS;
|
2022-04-02 10:56:25 -03:00
|
|
|
|
|
|
|
// See WS2812B spec for expected pulse widths
|
2022-09-28 18:25:41 -03:00
|
|
|
static constexpr uint32_t NEOP_BIT_WIDTH_TICKS = 8;
|
|
|
|
static constexpr uint32_t NEOP_BIT_0_TICKS = 3;
|
|
|
|
static constexpr uint32_t NEOP_BIT_1_TICKS = 6;
|
2022-04-02 10:56:25 -03:00
|
|
|
// neopixel does not use pulse widths at all
|
|
|
|
static constexpr uint32_t PROFI_BIT_0_TICKS = 7;
|
|
|
|
static constexpr uint32_t PROFI_BIT_1_TICKS = 14;
|
2023-11-11 17:54:00 -04:00
|
|
|
static constexpr uint32_t PROFI_BIT_WIDTH_TICKS = 20;
|
2022-04-02 10:56:25 -03:00
|
|
|
|
2023-02-23 08:35:05 -04:00
|
|
|
// suitably long LED output period to support high LED counts
|
|
|
|
static constexpr uint32_t LED_OUTPUT_PERIOD_US = 10000;
|
|
|
|
|
2020-01-28 04:28:36 -04:00
|
|
|
protected:
|
|
|
|
|
|
|
|
// helper functions for implementation of get_output_mode_banner
|
|
|
|
void 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* get_output_mode_string(enum output_mode out_mode) const;
|
2023-08-19 03:08:25 -03:00
|
|
|
|
|
|
|
uint16_t _esc_pwm_min;
|
|
|
|
uint16_t _esc_pwm_max;
|
2012-08-27 15:44:50 -03:00
|
|
|
};
|