ardupilot/libraries/AP_HAL_VRBRAIN/RCOutput.h

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C
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#pragma once
#include "AP_HAL_VRBRAIN.h"
#include <systemlib/perf_counter.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#define VRBRAIN_NUM_OUTPUT_CHANNELS 16
class VRBRAIN::VRBRAINRCOutput : public AP_HAL::RCOutput
{
public:
void init() override;
void set_freq(uint32_t chmask, uint16_t freq_hz) override;
uint16_t get_freq(uint8_t ch) override;
void enable_ch(uint8_t ch) override;
void disable_ch(uint8_t ch) override;
void write(uint8_t ch, uint16_t period_us) override;
uint16_t read(uint8_t ch) override;
void read(uint16_t* period_us, uint8_t len) override;
uint16_t read_last_sent(uint8_t ch) override;
void read_last_sent(uint16_t* period_us, uint8_t len) override;
void set_safety_pwm(uint32_t chmask, uint16_t period_us) override;
void set_failsafe_pwm(uint32_t chmask, uint16_t period_us) override;
bool force_safety_on(void) override;
void force_safety_off(void) override;
void force_safety_no_wait(void) override;
void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override {
_esc_pwm_min = min_pwm;
_esc_pwm_max = max_pwm;
}
float scale_esc_to_unity(uint16_t pwm) override {
return 2.0 * ((float) pwm - _esc_pwm_min) / (_esc_pwm_max - _esc_pwm_min) - 1.0;
}
void cork();
void push();
void set_output_mode(enum output_mode mode) override;
void timer_tick(void) override;
bool enable_px4io_sbus_out(uint16_t rate_hz) override;
// set default output update rate
void set_default_rate(uint16_t rate_hz) override;
private:
int _pwm_fd;
int _alt_fd;
uint16_t _freq_hz;
uint16_t _period[VRBRAIN_NUM_OUTPUT_CHANNELS];
// we keep the last_sent value separately, as we need to keep the unscaled
// value for systems with brushed motors which scale outputs
uint16_t _last_sent[VRBRAIN_NUM_OUTPUT_CHANNELS];
volatile uint8_t _max_channel;
volatile bool _need_update;
bool _sbus_enabled:1;
perf_counter_t _perf_rcout;
uint32_t _last_output;
uint32_t _last_config_us;
unsigned _servo_count;
unsigned _alt_servo_count;
uint32_t _rate_mask_main;
uint32_t _rate_mask_alt;
uint16_t _enabled_channels;
uint32_t _period_max;
struct {
int pwm_sub;
actuator_outputs_s outputs;
} _outputs[ORB_MULTI_MAX_INSTANCES] {};
actuator_armed_s _armed;
orb_advert_t _actuator_armed_pub;
uint16_t _esc_pwm_min;
uint16_t _esc_pwm_max;
void _init_alt_channels(void);
void _arm_actuators(bool arm);
void set_freq_fd(int fd, uint32_t chmask, uint16_t freq_hz, uint32_t &rate_mask);
bool _corking;
enum output_mode _output_mode = MODE_PWM_NORMAL;
void _send_outputs(void);
enum AP_HAL::Util::safety_state _safety_state_request = AP_HAL::Util::SAFETY_NONE;
uint32_t _safety_state_request_last_ms = 0;
void force_safety_pending_requests(void);
uint16_t _default_rate_hz = 50;
};