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AP_Periph: support actuator type with PWM 

this makes debugging much easier in CAN analyser
This commit is contained in:
Andrew Tridgell 2022-09-12 13:27:22 +10:00 committed by Randy Mackay
parent 7f0fd504f7
commit 1f2def905e
3 changed files with 20 additions and 6 deletions
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3
Tools/AP_Periph/AP_Periph.h
View File

@ -219,7 +219,8 @@ public:
void rcout_init(); void rcout_init();
void rcout_init_1Hz(); void rcout_init_1Hz();
void rcout_esc(int16_t *rc, uint8_t num_channels); void rcout_esc(int16_t *rc, uint8_t num_channels);
void rcout_srv(const uint8_t actuator_id, const float command_value); void rcout_srv_unitless(const uint8_t actuator_id, const float command_value);
void rcout_srv_PWM(const uint8_t actuator_id, const float command_value);
void rcout_update(); void rcout_update();
void rcout_handle_safety_state(uint8_t safety_state); void rcout_handle_safety_state(uint8_t safety_state);
#endif #endif

11
Tools/AP_Periph/can.cpp
View File

@ -796,11 +796,14 @@ static void handle_act_command(CanardInstance* ins, CanardRxTransfer* transfer)
} }
for (uint8_t i=0; i < data_count; i++) { for (uint8_t i=0; i < data_count; i++) {
if (data[i].command_type != UAVCAN_EQUIPMENT_ACTUATOR_COMMAND_COMMAND_TYPE_UNITLESS) { switch (data[i].command_type) {
// this is the only type we support case UAVCAN_EQUIPMENT_ACTUATOR_COMMAND_COMMAND_TYPE_UNITLESS:
continue; periph.rcout_srv_unitless(data[i].actuator_id, data[i].command_value);
break;
case UAVCAN_EQUIPMENT_ACTUATOR_COMMAND_COMMAND_TYPE_PWM:
periph.rcout_srv_PWM(data[i].actuator_id, data[i].command_value);
break;
} }
periph.rcout_srv(data[i].actuator_id, data[i].command_value);
} }
} }
#endif // HAL_PERIPH_ENABLE_RC_OUT #endif // HAL_PERIPH_ENABLE_RC_OUT

12
Tools/AP_Periph/rc_out.cpp
View File

@ -99,7 +99,7 @@ void AP_Periph_FW::rcout_esc(int16_t *rc, uint8_t num_channels)
rcout_has_new_data_to_update = true; rcout_has_new_data_to_update = true;
} }
void AP_Periph_FW::rcout_srv(uint8_t actuator_id, const float command_value) void AP_Periph_FW::rcout_srv_unitless(uint8_t actuator_id, const float command_value)
{ {
#if HAL_PWM_COUNT > 0 #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); const SRV_Channel::Aux_servo_function_t function = SRV_Channel::Aux_servo_function_t(SRV_Channel::k_rcin1 + actuator_id - 1);
@ -109,6 +109,16 @@ void AP_Periph_FW::rcout_srv(uint8_t actuator_id, const float command_value)
#endif #endif
} }
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
}
void AP_Periph_FW::rcout_handle_safety_state(uint8_t safety_state) void AP_Periph_FW::rcout_handle_safety_state(uint8_t safety_state)
{ {
if (safety_state == 255) { if (safety_state == 255) {