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AP_Motors: many to one mapping of motors

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this allows multiple outputs for one motor number
This commit is contained in:
Andrew Tridgell 2017-04-17 18:15:55 +10:00
parent 39fd25bb36
commit 1e62b5d5c7
2 changed files with 13 additions and 21 deletions
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30
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -22,6 +22,7 @@
#include "AP_Motors_Class.h"
#include <AP_HAL/AP_HAL.h>
#include <SRV_Channel/SRV_Channel.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
@ -39,7 +40,6 @@ AP_Motors::AP_Motors(uint16_t loop_rate, uint16_t speed_hz) :
_batt_voltage(0.0f),
_batt_current(0.0f),
_air_density_ratio(1.0f),
_motor_map_mask(0),
_motor_fast_mask(0)
{
// init other flags
@ -83,10 +83,6 @@ void AP_Motors::set_radio_passthrough(float roll_input, float pitch_input, float
*/
void AP_Motors::rc_write(uint8_t chan, uint16_t pwm)
{
if (_motor_map_mask & (1U<<chan)) {
// we have a mapped motor number for this channel
chan = _motor_map[chan];
}
if (_pwm_type == PWM_TYPE_ONESHOT125 && (_motor_fast_mask & (1U<<chan))) {
// OneShot125 uses a PWM range from 125 to 250 usec
pwm /= 8;
@ -101,7 +97,8 @@ void AP_Motors::rc_write(uint8_t chan, uint16_t pwm)
pwm = 250;
}
}
hal.rcout->write(chan, pwm);
SRV_Channel::Aux_servo_function_t function = (SRV_Channel::Aux_servo_function_t)((uint8_t)SRV_Channel::k_motor1 + chan);
SRV_Channels::set_output_pwm(function, pwm);
}
/*
@ -109,10 +106,10 @@ void AP_Motors::rc_write(uint8_t chan, uint16_t pwm)
*/
void AP_Motors::rc_set_freq(uint32_t mask, uint16_t freq_hz)
{
mask = rc_map_mask(mask);
if (freq_hz > 50) {
_motor_fast_mask |= mask;
}
mask = rc_map_mask(mask);
hal.rcout->set_freq(mask, freq_hz);
if ((_pwm_type == PWM_TYPE_ONESHOT ||
_pwm_type == PWM_TYPE_ONESHOT125) &&
@ -126,7 +123,9 @@ void AP_Motors::rc_set_freq(uint32_t mask, uint16_t freq_hz)
}
/*
map an internal motor mask to real motor mask
map an internal motor mask to real motor mask, accounting for
SERVOn_FUNCTION mappings, and allowing for multiple outputs per
motor number
*/
uint32_t AP_Motors::rc_map_mask(uint32_t mask) const
{
@ -134,12 +133,8 @@ uint32_t AP_Motors::rc_map_mask(uint32_t mask) const
for (uint8_t i=0; i<32; i++) {
uint32_t bit = 1UL<<i;
if (mask & bit) {
if ((i < AP_MOTORS_MAX_NUM_MOTORS) && (_motor_map_mask & bit)) {
// we have a mapped motor number for this channel
mask2 |= (1UL << _motor_map[i]);
} else {
mask2 |= bit;
}
SRV_Channel::Aux_servo_function_t function = (SRV_Channel::Aux_servo_function_t)((uint8_t)SRV_Channel::k_motor1 + i);
mask2 |= SRV_Channels::get_output_channel_mask(function);
}
}
return mask2;
@ -182,7 +177,7 @@ int16_t AP_Motors::calc_pwm_output_0to1(float input, const SRV_Channel *servo)
}
/*
add a motor, setting up _motor_map and _motor_map_mask as needed
add a motor, setting up default output function as needed
*/
void AP_Motors::add_motor_num(int8_t motor_num)
{
@ -196,9 +191,8 @@ void AP_Motors::add_motor_num(int8_t motor_num)
function = (SRV_Channel::Aux_servo_function_t)(SRV_Channel::k_motor9+(motor_num-8));
}
SRV_Channels::set_aux_channel_default(function, motor_num);
if (SRV_Channels::find_channel(function, chan) && chan != motor_num) {
_motor_map[motor_num] = chan;
_motor_map_mask |= 1U<<motor_num;
if (!SRV_Channels::find_channel(function, chan)) {
gcs().send_text(MAV_SEVERITY_ERROR, "Motors: unable to setup motor %u", motor_num);
}
}
}

4
libraries/AP_Motors/AP_Motors_Class.h
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@ -214,9 +214,7 @@ protected:
float _batt_resistance; // latest battery resistance estimate in ohms
float _air_density_ratio; // air density / sea level density - decreases in altitude
// mapping to output channels
uint8_t _motor_map[AP_MOTORS_MAX_NUM_MOTORS];
uint16_t _motor_map_mask;
// mask of what channels need fast output
uint16_t _motor_fast_mask;
// pass through variables