mirror of https://github.com/ArduPilot/ardupilot
SRV_Channel: add upto 32 servo outs
This commit is contained in:
Iampete1
Andrew Tridgell
parent
c4df741af9
commit
077401df69
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@ -28,10 +28,15 @@
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#define NUM_SERVO_CHANNELS HAL_PWM_COUNT
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#elif defined(HAL_BUILD_AP_PERIPH)
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#define NUM_SERVO_CHANNELS 0
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#else
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#if !HAL_MINIMIZE_FEATURES
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#define NUM_SERVO_CHANNELS 32
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#else
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#define NUM_SERVO_CHANNELS 16
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#endif
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#endif
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#endif
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static_assert(NUM_SERVO_CHANNELS <= 32, "More than 32 servos not supported");
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class SRV_Channels;
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@ -319,7 +324,7 @@ private:
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float get_output_norm(void);
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// a bitmask type wide enough for NUM_SERVO_CHANNELS
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typedef uint16_t servo_mask_t;
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typedef uint32_t servo_mask_t;
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// mask of channels where we have a output_pwm value. Cleared when a
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// scaled value is written.
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@ -383,7 +388,7 @@ public:
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static void set_output_norm(SRV_Channel::Aux_servo_function_t function, float value);
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// get output channel mask for a function
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static uint16_t get_output_channel_mask(SRV_Channel::Aux_servo_function_t function);
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static uint32_t get_output_channel_mask(SRV_Channel::Aux_servo_function_t function);
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// limit slew rate to given limit in percent per second
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static void set_slew_rate(SRV_Channel::Aux_servo_function_t function, float slew_rate, uint16_t range, float dt);
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@ -434,7 +439,7 @@ public:
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static void copy_radio_in_out(SRV_Channel::Aux_servo_function_t function, bool do_input_output=false);
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// copy radio_in to servo_out by channel mask
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static void copy_radio_in_out_mask(uint16_t mask);
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static void copy_radio_in_out_mask(uint32_t mask);
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// setup failsafe for an auxiliary channel function, by pwm
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static void set_failsafe_pwm(SRV_Channel::Aux_servo_function_t function, uint16_t pwm);
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@ -456,7 +461,7 @@ public:
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static void enable_aux_servos(void);
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// enable channels by mask
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static void enable_by_mask(uint16_t mask);
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static void enable_by_mask(uint32_t mask);
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// return the current function for a channel
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static SRV_Channel::Aux_servo_function_t channel_function(uint8_t channel);
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@ -520,14 +525,14 @@ public:
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static void push();
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// disable PWM output to a set of channels given by a mask. This is used by the AP_BLHeli code
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static void set_disabled_channel_mask(uint16_t mask) { disabled_mask = mask; }
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static uint16_t get_disabled_channel_mask() { return disabled_mask; }
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static void set_disabled_channel_mask(uint32_t mask) { disabled_mask = mask; }
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static uint32_t get_disabled_channel_mask() { return disabled_mask; }
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// add to mask of outputs which use digital (non-PWM) output and optionally can reverse thrust, such as DShot
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static void set_digital_outputs(uint16_t dig_mask, uint16_t rev_mask);
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static void set_digital_outputs(uint32_t dig_mask, uint32_t rev_mask);
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// return true if all of the outputs in mask are digital
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static bool have_digital_outputs(uint16_t mask) { return mask != 0 && (mask & digital_mask) == mask; }
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static bool have_digital_outputs(uint32_t mask) { return mask != 0 && (mask & digital_mask) == mask; }
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// return true if any of the outputs are digital
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static bool have_digital_outputs() { return digital_mask != 0; }
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@ -606,14 +611,14 @@ private:
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#endif // AP_FETTEC_ONEWIRE_ENABLED
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// mask of disabled channels
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static uint16_t disabled_mask;
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static uint32_t disabled_mask;
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// mask of outputs which use a digital output protocol, not
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// PWM (eg. DShot)
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static uint16_t digital_mask;
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static uint32_t digital_mask;
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// mask of outputs which are digitally reversible (eg. DShot-3D)
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static uint16_t reversible_mask;
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static uint32_t reversible_mask;
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SRV_Channel obj_channels[NUM_SERVO_CHANNELS];
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@ -244,7 +244,7 @@ void SRV_Channels::enable_aux_servos()
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set TRIM to either 1000 or 1500 depending on whether the channel
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is reversible
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*/
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void SRV_Channels::set_digital_outputs(uint16_t dig_mask, uint16_t rev_mask) {
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void SRV_Channels::set_digital_outputs(uint32_t dig_mask, uint32_t rev_mask) {
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digital_mask |= dig_mask;
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reversible_mask |= rev_mask;
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@ -284,7 +284,7 @@ void SRV_Channels::set_digital_outputs(uint16_t dig_mask, uint16_t rev_mask) {
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}
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/// enable output channels using a channel mask
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void SRV_Channels::enable_by_mask(uint16_t mask)
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void SRV_Channels::enable_by_mask(uint32_t mask)
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{
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for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
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if (mask & (1U<<i)) {
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@ -378,7 +378,7 @@ SRV_Channels::copy_radio_in_out(SRV_Channel::Aux_servo_function_t function, bool
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copy radio_in to radio_out for a channel mask
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*/
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void
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SRV_Channels::copy_radio_in_out_mask(uint16_t mask)
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SRV_Channels::copy_radio_in_out_mask(uint32_t mask)
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{
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for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
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if ((1U<<i) & mask) {
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@ -587,7 +587,7 @@ float SRV_Channels::get_slew_limited_output_scaled(SRV_Channel::Aux_servo_functi
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/*
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get mask of output channels for a function
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*/
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uint16_t SRV_Channels::get_output_channel_mask(SRV_Channel::Aux_servo_function_t function)
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uint32_t SRV_Channels::get_output_channel_mask(SRV_Channel::Aux_servo_function_t function)
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{
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if (!initialised) {
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update_aux_servo_function();
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@ -824,7 +824,7 @@ void SRV_Channels::upgrade_parameters(void)
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// set RC output frequency on a function output
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void SRV_Channels::set_rc_frequency(SRV_Channel::Aux_servo_function_t function, uint16_t frequency_hz)
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{
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uint16_t mask = 0;
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uint32_t mask = 0;
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for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
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SRV_Channel &c = channels[i];
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if (c.function == function) {
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@ -65,9 +65,9 @@ uint16_t SRV_Channels::override_counter[NUM_SERVO_CHANNELS];
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AP_BLHeli *SRV_Channels::blheli_ptr;
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#endif
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uint16_t SRV_Channels::disabled_mask;
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uint16_t SRV_Channels::digital_mask;
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uint16_t SRV_Channels::reversible_mask;
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uint32_t SRV_Channels::disabled_mask;
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uint32_t SRV_Channels::digital_mask;
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uint32_t SRV_Channels::reversible_mask;
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bool SRV_Channels::disabled_passthrough;
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bool SRV_Channels::initialised;
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@ -236,12 +236,108 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
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// @Param: _GPIO_MASK
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// @DisplayName: Servo GPIO mask
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// @Description: This sets a bitmask of outputs which will be available as GPIOs. Any auxiliary output with either the function set to -1 or with the corresponding bit set in this mask will be available for use as a GPIO pin
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// @Bitmask: 0:Servo 1, 1:Servo 2, 2:Servo 3, 3:Servo 4, 4:Servo 5, 5:Servo 6, 6:Servo 7, 7:Servo 8, 8:Servo 9, 9:Servo 10, 10:Servo 11, 11:Servo 12, 12:Servo 13, 13:Servo 14, 14:Servo 15, 15:Servo 16
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// @Description: This sets a bitmask of outputs which will be available as GPIOs. Any auxillary output with either the function set to -1 or with the corresponding bit set in this mask will be available for use as a GPIO pin
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// @Bitmask: 0:Servo 1, 1:Servo 2, 2:Servo 3, 3:Servo 4, 4:Servo 5, 5:Servo 6, 6:Servo 7, 7:Servo 8, 8:Servo 9, 9:Servo 10, 10:Servo 11, 11:Servo 12, 12:Servo 13, 13:Servo 14, 14:Servo 15, 15:Servo 16, 16:Servo 17, 17:Servo 18, 18:Servo 19, 19:Servo 20, 20:Servo 21, 21:Servo 22, 22:Servo 23, 23:Servo 24, 24:Servo 25, 25:Servo 26, 26:Servo 27, 27:Servo 28, 28:Servo 29, 29:Servo 30, 30:Servo 31, 31:Servo 32
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("_GPIO_MASK", 26, SRV_Channels, gpio_mask, 0),
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#if (NUM_SERVO_CHANNELS >= 17)
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// @Group: 17_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[16], "17_", 27, SRV_Channels, SRV_Channel),
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#endif
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#if (NUM_SERVO_CHANNELS >= 18)
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// @Group: 18_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[17], "18_", 28, SRV_Channels, SRV_Channel),
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#endif
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#if (NUM_SERVO_CHANNELS >= 19)
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// @Group: 19_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[18], "19_", 29, SRV_Channels, SRV_Channel),
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#endif
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#if (NUM_SERVO_CHANNELS >= 20)
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// @Group: 20_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[19], "20_", 30, SRV_Channels, SRV_Channel),
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#endif
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#if (NUM_SERVO_CHANNELS >= 21)
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// @Group: 21_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[20], "21_", 31, SRV_Channels, SRV_Channel),
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#endif
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#if (NUM_SERVO_CHANNELS >= 22)
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// @Group: 22_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[21], "22_", 32, SRV_Channels, SRV_Channel),
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#endif
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#if (NUM_SERVO_CHANNELS >= 23)
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// @Group: 23_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[22], "23_", 33, SRV_Channels, SRV_Channel),
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#endif
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#if (NUM_SERVO_CHANNELS >= 24)
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// @Group: 24_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[23], "24_", 34, SRV_Channels, SRV_Channel),
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#endif
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#if (NUM_SERVO_CHANNELS >= 25)
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// @Group: 25_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[24], "25_", 35, SRV_Channels, SRV_Channel),
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#endif
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#if (NUM_SERVO_CHANNELS >= 26)
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// @Group: 26_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[25], "26_", 36, SRV_Channels, SRV_Channel),
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#endif
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#if (NUM_SERVO_CHANNELS >= 27)
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// @Group: 27_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[26], "27_", 37, SRV_Channels, SRV_Channel),
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#endif
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#if (NUM_SERVO_CHANNELS >= 28)
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// @Group: 28_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[27], "28_", 38, SRV_Channels, SRV_Channel),
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#endif
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#if (NUM_SERVO_CHANNELS >= 29)
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// @Group: 29_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[28], "29_", 39, SRV_Channels, SRV_Channel),
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#endif
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#if (NUM_SERVO_CHANNELS >= 30)
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// @Group: 30_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[29], "30_", 40, SRV_Channels, SRV_Channel),
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#endif
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#if (NUM_SERVO_CHANNELS >= 31)
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// @Group: 31_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[30], "31_", 41, SRV_Channels, SRV_Channel),
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#endif
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#if (NUM_SERVO_CHANNELS >= 32)
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// @Group: 32_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[31], "32_", 42, SRV_Channels, SRV_Channel),
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#endif
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AP_GROUPEND
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};
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