From 70a1bc7606ab76d34b5c77c6731e45815d876f15 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 26 Jul 2024 11:06:14 +1000
Subject: [PATCH] AP_Motors: make AP_Motors::PWMType enum class

Co-authored-by: muramura <ma2maru@gmail.com>
---
 libraries/AP_Motors/AP_MotorsMulticopter.cpp |  4 +-
 libraries/AP_Motors/AP_Motors_Class.cpp      | 54 ++++++++++----------
 libraries/AP_Motors/AP_Motors_Class.h        | 34 ++++++------
 3 files changed, 46 insertions(+), 46 deletions(-)

diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.cpp b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
index 11630bb775..abec6ab26e 100644
--- a/libraries/AP_Motors/AP_MotorsMulticopter.cpp
+++ b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
@@ -90,7 +90,7 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
     // @Values: 0:Normal,1:OneShot,2:OneShot125,3:Brushed,4:DShot150,5:DShot300,6:DShot600,7:DShot1200,8:PWMRange,9:PWMAngle
     // @User: Advanced
     // @RebootRequired: True
-    AP_GROUPINFO("PWM_TYPE", 15, AP_MotorsMulticopter, _pwm_type, PWM_TYPE_NORMAL),
+    AP_GROUPINFO("PWM_TYPE", 15, AP_MotorsMulticopter, _pwm_type, float(PWMType::NORMAL)),
 
     // @Param: PWM_MIN
     // @DisplayName: PWM output minimum
@@ -474,7 +474,7 @@ void AP_MotorsMulticopter::update_throttle_range()
 {
     // if all outputs are digital adjust the range. We also do this for type PWM_RANGE, as those use the
     // scaled output, which is then mapped to PWM via the SRV_Channel library
-    if (SRV_Channels::have_digital_outputs(get_motor_mask()) || (_pwm_type == PWM_TYPE_PWM_RANGE) || (_pwm_type == PWM_TYPE_PWM_ANGLE)) {
+    if (SRV_Channels::have_digital_outputs(get_motor_mask()) || (_pwm_type == PWMType::PWM_RANGE) || (_pwm_type == PWMType::PWM_ANGLE)) {
         _pwm_min.set_and_default(1000);
         _pwm_max.set_and_default(2000);
     }
diff --git a/libraries/AP_Motors/AP_Motors_Class.cpp b/libraries/AP_Motors/AP_Motors_Class.cpp
index 9995dca6b7..42d7deebda 100644
--- a/libraries/AP_Motors/AP_Motors_Class.cpp
+++ b/libraries/AP_Motors/AP_Motors_Class.cpp
@@ -135,35 +135,35 @@ void AP_Motors::rc_set_freq(uint32_t motor_mask, uint16_t freq_hz)
     hal.rcout->set_freq(mask, freq_hz);
     hal.rcout->set_dshot_esc_type(SRV_Channels::get_dshot_esc_type());
 
-    const pwm_type type = (pwm_type)_pwm_type.get();
+    const PWMType type = _pwm_type;
     switch (type) {
-    case PWM_TYPE_ONESHOT:
+    case PWMType::ONESHOT:
         if (freq_hz > 50 && mask != 0) {
             hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT);
         }
         break;
-    case PWM_TYPE_ONESHOT125:
+    case PWMType::ONESHOT125:
         if (freq_hz > 50 && mask != 0) {
             hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT125);
         }
         break;
-    case PWM_TYPE_BRUSHED:
+    case PWMType::BRUSHED:
         hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_BRUSHED);
         break;
-    case PWM_TYPE_DSHOT150:
+    case PWMType::DSHOT150:
         hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_DSHOT150);
         break;
-    case PWM_TYPE_DSHOT300:
+    case PWMType::DSHOT300:
         hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_DSHOT300);
         break;
-    case PWM_TYPE_DSHOT600:
+    case PWMType::DSHOT600:
         hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_DSHOT600);
         break;
-    case PWM_TYPE_DSHOT1200:
+    case PWMType::DSHOT1200:
         hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_DSHOT1200);
         break;
-    case PWM_TYPE_PWM_RANGE:
-    case PWM_TYPE_PWM_ANGLE:
+    case PWMType::PWM_RANGE:
+    case PWMType::PWM_ANGLE:
         /*
           this is a motor output type for multirotors which honours
           the SERVOn_MIN/MAX (and TRIM for angle) values per channel
@@ -173,20 +173,20 @@ void AP_Motors::rc_set_freq(uint32_t motor_mask, uint16_t freq_hz)
           Angle type offsets by 1500 to get -500 to 500.
          */
 
-        if (type == PWM_TYPE_PWM_RANGE) {
+        if (type == PWMType::PWM_RANGE) {
             _motor_pwm_scaled.offset = 1000.0;
         } else {
-            // PWM_TYPE_PWM_ANGLE
+            // PWMType::PWM_ANGLE
             _motor_pwm_scaled.offset = 1500.0;
         }
 
         _motor_pwm_scaled.mask |= motor_mask;
         for (uint8_t i=0; i<16; i++) {
             if ((1U<<i) & motor_mask) {
-                if (type == PWM_TYPE_PWM_RANGE) {
+                if (type == PWMType::PWM_RANGE) {
                     SRV_Channels::set_range(SRV_Channels::get_motor_function(i), 1000);
                 } else {
-                    // PWM_TYPE_PWM_ANGLE
+                    // PWMType::PWM_ANGLE
                     SRV_Channels::set_angle(SRV_Channels::get_motor_function(i), 500);
                 }
             }
@@ -251,19 +251,19 @@ void AP_Motors::set_external_limits(bool roll, bool pitch, bool yaw, bool thrott
 // returns true if the configured PWM type is digital and should have fixed endpoints
 bool AP_Motors::is_digital_pwm_type() const
 {
-    switch (_pwm_type) {
-        case PWM_TYPE_DSHOT150:
-        case PWM_TYPE_DSHOT300:
-        case PWM_TYPE_DSHOT600:
-        case PWM_TYPE_DSHOT1200:
-            return true;
-        case PWM_TYPE_NORMAL:
-        case PWM_TYPE_ONESHOT:
-        case PWM_TYPE_ONESHOT125:
-        case PWM_TYPE_BRUSHED:
-        case PWM_TYPE_PWM_RANGE:
-        case PWM_TYPE_PWM_ANGLE:
-            break;
+    switch ((PWMType)_pwm_type) {
+    case PWMType::DSHOT150:
+    case PWMType::DSHOT300:
+    case PWMType::DSHOT600:
+    case PWMType::DSHOT1200:
+        return true;
+    case PWMType::NORMAL:
+    case PWMType::ONESHOT:
+    case PWMType::ONESHOT125:
+    case PWMType::BRUSHED:
+    case PWMType::PWM_RANGE:
+    case PWMType::PWM_ANGLE:
+        break;
     }
     return false;
 }
diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h
index d33b117909..c4456029fb 100644
--- a/libraries/AP_Motors/AP_Motors_Class.h
+++ b/libraries/AP_Motors/AP_Motors_Class.h
@@ -262,10 +262,10 @@ public:
     bool is_digital_pwm_type() const;
 
     // returns true is pwm type is brushed
-    bool is_brushed_pwm_type() const { return _pwm_type == PWM_TYPE_BRUSHED; }
+    bool is_brushed_pwm_type() const { return _pwm_type == PWMType::BRUSHED; }
 
     // returns true is pwm type is normal
-    bool is_normal_pwm_type() const { return (_pwm_type == PWM_TYPE_NORMAL) || (_pwm_type == PWM_TYPE_PWM_RANGE) || (_pwm_type == PWM_TYPE_PWM_ANGLE); }
+    bool is_normal_pwm_type() const { return (_pwm_type == PWMType::NORMAL) || (_pwm_type == PWMType::PWM_RANGE) || (_pwm_type == PWMType::PWM_ANGLE); }
 
     MAV_TYPE get_frame_mav_type() const { return _mav_type; }
 
@@ -333,7 +333,7 @@ protected:
     // mask of what channels need fast output
     uint32_t            _motor_fast_mask;
 
-    // Used with PWM_TYPE_PWM_RANGE and PWM_TYPE_PWM_ANGLE
+    // Used with PWMType::PWM_RANGE and PWMType::PWM_ANGLE
     struct {
         // Mask of motors using scaled output
         uint32_t mask;
@@ -349,7 +349,20 @@ protected:
     float _throttle_radio_passthrough; // throttle/collective input from pilot in 0 ~ 1 range.  used for setup and providing servo feedback while landed
     float _yaw_radio_passthrough;      // yaw input from pilot in -1 ~ +1 range.  used for setup and providing servo feedback while landed
 
-    AP_Int8             _pwm_type;            // PWM output type
+    enum class PWMType : uint8_t {
+        NORMAL     = 0,
+        ONESHOT    = 1,
+        ONESHOT125 = 2,
+        BRUSHED    = 3,
+        DSHOT150   = 4,
+        DSHOT300   = 5,
+        DSHOT600   = 6,
+        DSHOT1200  = 7,
+        PWM_RANGE  = 8,
+        PWM_ANGLE  = 9,
+    };
+
+    AP_Enum<PWMType>             _pwm_type;            // PWM output type
 
     // motor failure handling
     bool                _thrust_boost;          // true if thrust boost is enabled to handle motor failure
@@ -361,19 +374,6 @@ protected:
 
     MAV_TYPE _mav_type; // MAV_TYPE_GENERIC = 0;
 
-    enum pwm_type {
-        PWM_TYPE_NORMAL     = 0,
-        PWM_TYPE_ONESHOT    = 1,
-        PWM_TYPE_ONESHOT125 = 2,
-        PWM_TYPE_BRUSHED    = 3,
-        PWM_TYPE_DSHOT150   = 4,
-        PWM_TYPE_DSHOT300   = 5,
-        PWM_TYPE_DSHOT600   = 6,
-        PWM_TYPE_DSHOT1200  = 7,
-        PWM_TYPE_PWM_RANGE  = 8,
-        PWM_TYPE_PWM_ANGLE  = 9
-    };
-
     // return string corresponding to frame_class
     virtual const char* _get_frame_string() const = 0;