ardupilot/Tools/AP_Periph/rc_out.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL/AP_HAL.h>
#ifdef HAL_PERIPH_ENABLE_RC_OUT
#include "AP_Periph.h"
// magic value from UAVCAN driver packet
// dsdl/uavcan/equipment/esc/1030.RawCommand.uavcan
// Raw ESC command normalized into [-8192, 8191]
#define UAVCAN_ESC_MAX_VALUE 8191
#define SERVO_OUT_RCIN_MAX 32 // note that we allow for more than is in the enum
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#define SERVO_OUT_MOTOR_MAX 12 // SRV_Channel::k_motor1 ... SRV_Channel::k_motor8, SRV_Channel::k_motor9 ... SRV_Channel::k_motor12
extern const AP_HAL::HAL &hal;
void AP_Periph_FW::rcout_init()
{
#if AP_PERIPH_SAFETY_SWITCH_ENABLED
// start up with safety enabled. This disables the pwm output until we receive an packet from the rempte system
hal.rcout->force_safety_on();
#else
hal.rcout->force_safety_off();
#endif
#if HAL_WITH_ESC_TELEM && !HAL_GCS_ENABLED
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if (g.esc_telem_port >= 0) {
serial_manager.set_protocol_and_baud(g.esc_telem_port, AP_SerialManager::SerialProtocol_ESCTelemetry, 115200);
}
#endif
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#if HAL_PWM_COUNT > 0
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for (uint8_t i=0; i<HAL_PWM_COUNT; i++) {
servo_channels.set_default_function(i, SRV_Channel::Aux_servo_function_t(SRV_Channel::k_rcin1 + i));
}
#endif
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for (uint8_t i=0; i<SERVO_OUT_RCIN_MAX; i++) {
SRV_Channels::set_angle(SRV_Channel::Aux_servo_function_t(SRV_Channel::k_rcin1 + i), 1000);
}
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uint32_t esc_mask = 0;
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for (uint8_t i=0; i<SERVO_OUT_MOTOR_MAX; i++) {
SRV_Channels::set_range(SRV_Channels::get_motor_function(i), UAVCAN_ESC_MAX_VALUE);
uint8_t chan;
if (SRV_Channels::find_channel(SRV_Channels::get_motor_function(i), chan)) {
esc_mask |= 1U << chan;
}
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}
// run this once and at 1Hz to configure aux and esc ranges
rcout_init_1Hz();
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#if HAL_DSHOT_ENABLED
hal.rcout->set_dshot_esc_type(SRV_Channels::get_dshot_esc_type());
#endif
// run PWM ESCs at configured rate
hal.rcout->set_freq(esc_mask, g.esc_rate.get());
// setup ESCs with the desired PWM type, allowing for DShot
SRV_Channels::init(esc_mask, (AP_HAL::RCOutput::output_mode)g.esc_pwm_type.get());
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// run DShot at 1kHz
hal.rcout->set_dshot_rate(SRV_Channels::get_dshot_rate(), 400);
#if HAL_WITH_ESC_TELEM
esc_telem_update_period_ms = 1000 / constrain_int32(g.esc_telem_rate.get(), 1, 1000);
#endif
}
void AP_Periph_FW::rcout_init_1Hz()
{
// this runs at 1Hz to allow for run-time param changes
SRV_Channels::enable_aux_servos();
for (uint8_t i=0; i<SERVO_OUT_MOTOR_MAX; i++) {
servo_channels.set_esc_scaling_for(SRV_Channels::get_motor_function(i));
}
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}
void AP_Periph_FW::rcout_esc(int16_t *rc, uint8_t num_channels)
{
if (rc == nullptr) {
return;
}
const uint8_t channel_count = MIN(num_channels, SERVO_OUT_MOTOR_MAX);
for (uint8_t i=0; i<channel_count; i++) {
// we don't support motor reversal yet on ESCs in AP_Periph
SRV_Channels::set_output_scaled(SRV_Channels::get_motor_function(i), MAX(0,rc[i]));
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}
rcout_has_new_data_to_update = true;
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}
void AP_Periph_FW::rcout_srv_unitless(uint8_t actuator_id, const float command_value)
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{
#if HAL_PWM_COUNT > 0
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const SRV_Channel::Aux_servo_function_t function = SRV_Channel::Aux_servo_function_t(SRV_Channel::k_rcin1 + actuator_id - 1);
SRV_Channels::set_output_norm(function, command_value);
rcout_has_new_data_to_update = true;
#endif
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}
void AP_Periph_FW::rcout_srv_PWM(uint8_t actuator_id, const float command_value)
{
#if HAL_PWM_COUNT > 0
const SRV_Channel::Aux_servo_function_t function = SRV_Channel::Aux_servo_function_t(SRV_Channel::k_rcin1 + actuator_id - 1);
SRV_Channels::set_output_pwm(function, uint16_t(command_value+0.5));
rcout_has_new_data_to_update = true;
#endif
}
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void AP_Periph_FW::rcout_handle_safety_state(uint8_t safety_state)
{
if (safety_state == 255) {
hal.rcout->force_safety_off();
} else {
hal.rcout->force_safety_on();
}
rcout_has_new_data_to_update = true;
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}
void AP_Periph_FW::rcout_update()
{
uint32_t now_ms = AP_HAL::millis();
const uint16_t esc_timeout_ms = g.esc_command_timeout_ms >= 0 ? g.esc_command_timeout_ms : 0; // Don't allow negative timeouts!
const bool has_esc_rawcommand_timed_out = esc_timeout_ms != 0 && ((now_ms - last_esc_raw_command_ms) >= esc_timeout_ms);
if (last_esc_num_channels > 0 && has_esc_rawcommand_timed_out) {
// If we've seen ESCs previously, and a timeout has occurred, then zero the outputs
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int16_t esc_output[last_esc_num_channels];
memset(esc_output, 0, sizeof(esc_output));
rcout_esc(esc_output, last_esc_num_channels);
// register that the output has been changed
rcout_has_new_data_to_update = true;
}
if (!rcout_has_new_data_to_update) {
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return;
}
rcout_has_new_data_to_update = false;
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SRV_Channels::calc_pwm();
SRV_Channels::cork();
SRV_Channels::output_ch_all();
SRV_Channels::push();
#if HAL_WITH_ESC_TELEM
if (now_ms - last_esc_telem_update_ms >= esc_telem_update_period_ms) {
last_esc_telem_update_ms = now_ms;
esc_telem_update();
}
#if AP_EXTENDED_ESC_TELEM_ENABLED
esc_telem_extended_update(now_ms);
#endif
#endif
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}
#endif // HAL_PERIPH_ENABLE_RC_OUT