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AP_HAL: move ESC scaling up to AP_HAL level

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This commit is contained in:
Andrew Tridgell 2023-08-19 16:08:25 +10:00 committed by Peter Barker
parent 19ce28a49d
commit 64040bfab4
3 changed files with 16 additions and 14 deletions
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8
libraries/AP_HAL/RCOutput.cpp
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@ -114,3 +114,11 @@ uint32_t AP_HAL::RCOutput::calculate_bitrate_prescaler(uint32_t timer_clock, uin
return prescaler; return prescaler;
} }
/*
returns the pwm value scaled to [-1;1] regrading to set_esc_scaling ranges range without constraints.
*/
float AP_HAL::RCOutput::scale_esc_to_unity(uint16_t pwm) const
{
return 2.0 * ((float) pwm - _esc_pwm_min) / (_esc_pwm_max - _esc_pwm_min) - 1.0;
}

15
libraries/AP_HAL/RCOutput.h
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@ -139,17 +139,15 @@ public:
microseconds, and represent minimum and maximum PWM values which microseconds, and represent minimum and maximum PWM values which
will be used to convert channel writes into a percentage will be used to convert channel writes into a percentage
*/ */
virtual void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) {} void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) {
_esc_pwm_min = min_pwm;
_esc_pwm_max = max_pwm;
}
/*
return ESC scaling value from set_esc_scaling()
*/
virtual bool get_esc_scaling(uint16_t &min_pwm, uint16_t &max_pwm) { return false; }
/* /*
returns the pwm value scaled to [-1;1] regrading to set_esc_scaling ranges range without constraints. returns the pwm value scaled to [-1;1] regrading to set_esc_scaling ranges range without constraints.
*/ */
virtual float scale_esc_to_unity(uint16_t pwm) { return 0; } float scale_esc_to_unity(uint16_t pwm) const;
/* /*
return the erpm and error rate for a channel if available return the erpm and error rate for a channel if available
@ -415,4 +413,7 @@ protected:
// helper functions for implementation of get_output_mode_banner // helper functions for implementation of get_output_mode_banner
void append_to_banner(char banner_msg[], uint8_t banner_msg_len, output_mode out_mode, uint8_t low_ch, uint8_t high_ch) const; void append_to_banner(char banner_msg[], uint8_t banner_msg_len, output_mode out_mode, uint8_t low_ch, uint8_t high_ch) const;
const char* get_output_mode_string(enum output_mode out_mode) const; const char* get_output_mode_string(enum output_mode out_mode) const;
uint16_t _esc_pwm_min;
uint16_t _esc_pwm_max;
}; };

7
libraries/AP_HAL/utility/RCOutput_Tap.h
View File

@ -66,11 +66,6 @@ public:
uint16_t read(uint8_t ch) override; uint16_t read(uint8_t ch) override;
void read(uint16_t *period_us, uint8_t len) override; void read(uint16_t *period_us, uint8_t len) override;
void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override {
_esc_pwm_min = min_pwm;
_esc_pwm_max = max_pwm;
}
void cork() override; void cork() override;
void push() override; void push() override;
@ -92,8 +87,6 @@ private:
uint8_t _channels_count = MAX_MOTORS; uint8_t _channels_count = MAX_MOTORS;
uint16_t _period[MAX_MOTORS]; uint16_t _period[MAX_MOTORS];
uint16_t _esc_pwm_min;
uint16_t _esc_pwm_max;
uint32_t _last_led_update_msec; uint32_t _last_led_update_msec;
int _uart_fd = -1; int _uart_fd = -1;
}; };