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AR_Motors: make AP_Motors::PWMType enum class 

Co-authored-by: muramura <ma2maru@gmail.com>
This commit is contained in:
Peter Barker 2024-07-26 11:06:14 +10:00 committed by Peter Barker
parent 70a1bc7606
commit 70b23733ac
2 changed files with 34 additions and 34 deletions
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48
libraries/AR_Motors/AP_MotorsUGV.cpp
View File

@ -33,7 +33,7 @@ const AP_Param::GroupInfo AP_MotorsUGV::var_info[] = {
// @Values: 0:Normal,1:OneShot,2:OneShot125,3:BrushedWithRelay,4:BrushedBiPolar,5:DShot150,6:DShot300,7:DShot600,8:DShot1200 // @Values: 0:Normal,1:OneShot,2:OneShot125,3:BrushedWithRelay,4:BrushedBiPolar,5:DShot150,6:DShot300,7:DShot600,8:DShot1200
// @User: Advanced // @User: Advanced
// @RebootRequired: True // @RebootRequired: True
AP_GROUPINFO("PWM_TYPE", 1, AP_MotorsUGV, _pwm_type, PWM_TYPE_NORMAL), AP_GROUPINFO("PWM_TYPE", 1, AP_MotorsUGV, _pwm_type, PWMType::NORMAL),
// @Param: PWM_FREQ // @Param: PWM_FREQ
// @DisplayName: Motor Output PWM freq for brushed motors // @DisplayName: Motor Output PWM freq for brushed motors
@ -149,7 +149,7 @@ void AP_MotorsUGV::init(uint8_t frtype)
bool AP_MotorsUGV::get_legacy_relay_index(int8_t &index1, int8_t &index2, int8_t &index3, int8_t &index4) const bool AP_MotorsUGV::get_legacy_relay_index(int8_t &index1, int8_t &index2, int8_t &index3, int8_t &index4) const
{ {
if (_pwm_type != PWM_TYPE_BRUSHED_WITH_RELAY) { if (_pwm_type != PWMType::BRUSHED_WITH_RELAY) {
// Relays only used if PWM type is set to brushed with relay // Relays only used if PWM type is set to brushed with relay
return false; return false;
} }
@ -177,7 +177,7 @@ bool AP_MotorsUGV::get_legacy_relay_index(int8_t &index1, int8_t &index2, int8_t
// setup output in case of main CPU failure // setup output in case of main CPU failure
void AP_MotorsUGV::setup_safety_output() void AP_MotorsUGV::setup_safety_output()
{ {
if (_pwm_type == PWM_TYPE_BRUSHED_WITH_RELAY) { if (_pwm_type == PWMType::BRUSHED_WITH_RELAY) {
// set trim to min to set duty cycle range (0 - 100%) to servo range // set trim to min to set duty cycle range (0 - 100%) to servo range
// ignore servo revese flag, it is used by the relay // ignore servo revese flag, it is used by the relay
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttle, true); SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttle, true);
@ -529,7 +529,7 @@ bool AP_MotorsUGV::pre_arm_check(bool report) const
// Check relays are configured for brushed with relay outputs // Check relays are configured for brushed with relay outputs
#if AP_RELAY_ENABLED #if AP_RELAY_ENABLED
AP_Relay*relay = AP::relay(); AP_Relay*relay = AP::relay();
if ((_pwm_type == PWM_TYPE_BRUSHED_WITH_RELAY) && (relay != nullptr)) { if ((_pwm_type == PWMType::BRUSHED_WITH_RELAY) && (relay != nullptr)) {
// If a output is configured its relay must be enabled // If a output is configured its relay must be enabled
struct RelayTable { struct RelayTable {
bool output_assigned; bool output_assigned;
@ -581,27 +581,27 @@ void AP_MotorsUGV::setup_pwm_type()
} }
switch (_pwm_type) { switch (_pwm_type) {
case PWM_TYPE_ONESHOT: case PWMType::ONESHOT:
hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT); hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT);
break; break;
case PWM_TYPE_ONESHOT125: case PWMType::ONESHOT125:
hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT125); hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT125);
break; break;
case PWM_TYPE_BRUSHED_WITH_RELAY: case PWMType::BRUSHED_WITH_RELAY:
case PWM_TYPE_BRUSHED_BIPOLAR: case PWMType::BRUSHED_BIPOLAR:
hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_BRUSHED); hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_BRUSHED);
hal.rcout->set_freq(_motor_mask, uint16_t(_pwm_freq * 1000)); hal.rcout->set_freq(_motor_mask, uint16_t(_pwm_freq * 1000));
break; break;
case PWM_TYPE_DSHOT150: case PWMType::DSHOT150:
hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_DSHOT150); hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_DSHOT150);
break; break;
case PWM_TYPE_DSHOT300: case PWMType::DSHOT300:
hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_DSHOT300); hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_DSHOT300);
break; break;
case PWM_TYPE_DSHOT600: case PWMType::DSHOT600:
hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_DSHOT600); hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_DSHOT600);
break; break;
case PWM_TYPE_DSHOT1200: case PWMType::DSHOT1200:
hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_DSHOT1200); hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_DSHOT1200);
break; break;
default: default:
@ -988,7 +988,7 @@ void AP_MotorsUGV::output_throttle(SRV_Channel::Aux_servo_function_t function, f
// set relay if necessary // set relay if necessary
#if AP_RELAY_ENABLED #if AP_RELAY_ENABLED
AP_Relay*relay = AP::relay(); AP_Relay*relay = AP::relay();
if ((_pwm_type == PWM_TYPE_BRUSHED_WITH_RELAY) && (relay != nullptr)) { if ((_pwm_type == PWMType::BRUSHED_WITH_RELAY) && (relay != nullptr)) {
// find the output channel, if not found return // find the output channel, if not found return
const SRV_Channel *out_chan = SRV_Channels::get_channel_for(function); const SRV_Channel *out_chan = SRV_Channels::get_channel_for(function);
@ -1153,17 +1153,17 @@ bool AP_MotorsUGV::active() const
bool AP_MotorsUGV::is_digital_pwm_type() const bool AP_MotorsUGV::is_digital_pwm_type() const
{ {
switch (_pwm_type) { switch (_pwm_type) {
case PWM_TYPE_DSHOT150: case PWMType::DSHOT150:
case PWM_TYPE_DSHOT300: case PWMType::DSHOT300:
case PWM_TYPE_DSHOT600: case PWMType::DSHOT600:
case PWM_TYPE_DSHOT1200: case PWMType::DSHOT1200:
return true; return true;
case PWM_TYPE_NORMAL: case PWMType::NORMAL:
case PWM_TYPE_ONESHOT: case PWMType::ONESHOT:
case PWM_TYPE_ONESHOT125: case PWMType::ONESHOT125:
case PWM_TYPE_BRUSHED_WITH_RELAY: case PWMType::BRUSHED_WITH_RELAY:
case PWM_TYPE_BRUSHED_BIPOLAR: case PWMType::BRUSHED_BIPOLAR:
break; break;
} }
return false; return false;
} }

20
libraries/AR_Motors/AP_MotorsUGV.h
View File

@ -131,16 +131,16 @@ public:
private: private:
enum pwm_type { enum PWMType {
PWM_TYPE_NORMAL = 0, NORMAL = 0,
PWM_TYPE_ONESHOT = 1, ONESHOT = 1,
PWM_TYPE_ONESHOT125 = 2, ONESHOT125 = 2,
PWM_TYPE_BRUSHED_WITH_RELAY = 3, BRUSHED_WITH_RELAY = 3,
PWM_TYPE_BRUSHED_BIPOLAR = 4, BRUSHED_BIPOLAR = 4,
PWM_TYPE_DSHOT150 = 5, DSHOT150 = 5,
PWM_TYPE_DSHOT300 = 6, DSHOT300 = 6,
PWM_TYPE_DSHOT600 = 7, DSHOT600 = 7,
PWM_TYPE_DSHOT1200 = 8 DSHOT1200 = 8
}; };
// sanity check parameters // sanity check parameters