mirror of https://github.com/ArduPilot/ardupilot
AR_Motors: make AP_Motors::PWMType enum class
Co-authored-by: muramura <ma2maru@gmail.com>
This commit is contained in:
Peter Barker
Peter Barker
parent
70a1bc7606
commit
70b23733ac
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@ -33,7 +33,7 @@ const AP_Param::GroupInfo AP_MotorsUGV::var_info[] = {
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// @Values: 0:Normal,1:OneShot,2:OneShot125,3:BrushedWithRelay,4:BrushedBiPolar,5:DShot150,6:DShot300,7:DShot600,8:DShot1200
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO("PWM_TYPE", 1, AP_MotorsUGV, _pwm_type, PWM_TYPE_NORMAL),
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AP_GROUPINFO("PWM_TYPE", 1, AP_MotorsUGV, _pwm_type, PWMType::NORMAL),
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// @Param: PWM_FREQ
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// @DisplayName: Motor Output PWM freq for brushed motors
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@ -149,7 +149,7 @@ void AP_MotorsUGV::init(uint8_t frtype)
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bool AP_MotorsUGV::get_legacy_relay_index(int8_t &index1, int8_t &index2, int8_t &index3, int8_t &index4) const
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{
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if (_pwm_type != PWM_TYPE_BRUSHED_WITH_RELAY) {
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if (_pwm_type != PWMType::BRUSHED_WITH_RELAY) {
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// Relays only used if PWM type is set to brushed with relay
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return false;
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}
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@ -177,7 +177,7 @@ bool AP_MotorsUGV::get_legacy_relay_index(int8_t &index1, int8_t &index2, int8_t
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// setup output in case of main CPU failure
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void AP_MotorsUGV::setup_safety_output()
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{
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if (_pwm_type == PWM_TYPE_BRUSHED_WITH_RELAY) {
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if (_pwm_type == PWMType::BRUSHED_WITH_RELAY) {
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// set trim to min to set duty cycle range (0 - 100%) to servo range
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// ignore servo revese flag, it is used by the relay
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SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttle, true);
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@ -529,7 +529,7 @@ bool AP_MotorsUGV::pre_arm_check(bool report) const
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// Check relays are configured for brushed with relay outputs
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#if AP_RELAY_ENABLED
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AP_Relay*relay = AP::relay();
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if ((_pwm_type == PWM_TYPE_BRUSHED_WITH_RELAY) && (relay != nullptr)) {
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if ((_pwm_type == PWMType::BRUSHED_WITH_RELAY) && (relay != nullptr)) {
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// If a output is configured its relay must be enabled
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struct RelayTable {
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bool output_assigned;
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@ -581,27 +581,27 @@ void AP_MotorsUGV::setup_pwm_type()
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}
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switch (_pwm_type) {
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case PWM_TYPE_ONESHOT:
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case PWMType::ONESHOT:
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hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT);
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break;
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case PWM_TYPE_ONESHOT125:
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case PWMType::ONESHOT125:
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hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT125);
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break;
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case PWM_TYPE_BRUSHED_WITH_RELAY:
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case PWM_TYPE_BRUSHED_BIPOLAR:
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case PWMType::BRUSHED_WITH_RELAY:
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case PWMType::BRUSHED_BIPOLAR:
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hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_BRUSHED);
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hal.rcout->set_freq(_motor_mask, uint16_t(_pwm_freq * 1000));
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break;
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case PWM_TYPE_DSHOT150:
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case PWMType::DSHOT150:
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hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_DSHOT150);
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break;
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case PWM_TYPE_DSHOT300:
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case PWMType::DSHOT300:
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hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_DSHOT300);
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break;
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case PWM_TYPE_DSHOT600:
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case PWMType::DSHOT600:
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hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_DSHOT600);
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break;
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case PWM_TYPE_DSHOT1200:
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case PWMType::DSHOT1200:
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hal.rcout->set_output_mode(_motor_mask, AP_HAL::RCOutput::MODE_PWM_DSHOT1200);
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break;
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default:
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@ -988,7 +988,7 @@ void AP_MotorsUGV::output_throttle(SRV_Channel::Aux_servo_function_t function, f
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// set relay if necessary
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#if AP_RELAY_ENABLED
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AP_Relay*relay = AP::relay();
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if ((_pwm_type == PWM_TYPE_BRUSHED_WITH_RELAY) && (relay != nullptr)) {
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if ((_pwm_type == PWMType::BRUSHED_WITH_RELAY) && (relay != nullptr)) {
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// find the output channel, if not found return
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const SRV_Channel *out_chan = SRV_Channels::get_channel_for(function);
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@ -1153,17 +1153,17 @@ bool AP_MotorsUGV::active() const
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bool AP_MotorsUGV::is_digital_pwm_type() const
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{
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switch (_pwm_type) {
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case PWM_TYPE_DSHOT150:
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case PWM_TYPE_DSHOT300:
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case PWM_TYPE_DSHOT600:
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case PWM_TYPE_DSHOT1200:
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return true;
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case PWM_TYPE_NORMAL:
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case PWM_TYPE_ONESHOT:
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case PWM_TYPE_ONESHOT125:
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case PWM_TYPE_BRUSHED_WITH_RELAY:
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case PWM_TYPE_BRUSHED_BIPOLAR:
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break;
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case PWMType::DSHOT150:
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case PWMType::DSHOT300:
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case PWMType::DSHOT600:
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case PWMType::DSHOT1200:
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return true;
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case PWMType::NORMAL:
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case PWMType::ONESHOT:
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case PWMType::ONESHOT125:
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case PWMType::BRUSHED_WITH_RELAY:
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case PWMType::BRUSHED_BIPOLAR:
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break;
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}
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return false;
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}
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@ -131,16 +131,16 @@ public:
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private:
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enum pwm_type {
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PWM_TYPE_NORMAL = 0,
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PWM_TYPE_ONESHOT = 1,
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PWM_TYPE_ONESHOT125 = 2,
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PWM_TYPE_BRUSHED_WITH_RELAY = 3,
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PWM_TYPE_BRUSHED_BIPOLAR = 4,
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PWM_TYPE_DSHOT150 = 5,
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PWM_TYPE_DSHOT300 = 6,
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PWM_TYPE_DSHOT600 = 7,
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PWM_TYPE_DSHOT1200 = 8
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enum PWMType {
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NORMAL = 0,
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ONESHOT = 1,
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ONESHOT125 = 2,
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BRUSHED_WITH_RELAY = 3,
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BRUSHED_BIPOLAR = 4,
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DSHOT150 = 5,
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DSHOT300 = 6,
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DSHOT600 = 7,
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DSHOT1200 = 8
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};
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// sanity check parameters
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