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AP_Motors: add new PWM_TYPE_ANGLE

This commit is contained in:
Iampete1 2024-03-06 01:03:28 +00:00 committed by Willian Galvani
parent 1766bfe45a
commit 727f28bb99
3 changed files with 50 additions and 20 deletions
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4
libraries/AP_Motors/AP_MotorsMulticopter.cpp
View File

@ -87,7 +87,7 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
// @Param: PWM_TYPE
// @DisplayName: Output PWM type
// @Description: This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output
// @Values: 0:Normal,1:OneShot,2:OneShot125,3:Brushed,4:DShot150,5:DShot300,6:DShot600,7:DShot1200,8:PWMRange
// @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),
@ -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)) {
if (SRV_Channels::have_digital_outputs(get_motor_mask()) || (_pwm_type == PWM_TYPE_PWM_RANGE) || (_pwm_type == PWM_TYPE_PWM_ANGLE)) {
_pwm_min.set_and_default(1000);
_pwm_max.set_and_default(2000);
}

30
libraries/AP_Motors/AP_Motors_Class.cpp
View File

@ -105,9 +105,9 @@ void AP_Motors::set_radio_passthrough(float roll_input, float pitch_input, float
void AP_Motors::rc_write(uint8_t chan, uint16_t pwm)
{
SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(chan);
if ((1U<<chan) & _motor_pwm_range_mask) {
if ((1U<<chan) & _motor_pwm_scaled.mask) {
// note that PWM_MIN/MAX has been forced to 1000/2000
SRV_Channels::set_output_scaled(function, pwm - 1000);
SRV_Channels::set_output_scaled(function, float(pwm) - _motor_pwm_scaled.offset);
} else {
SRV_Channels::set_output_pwm(function, pwm);
}
@ -135,7 +135,8 @@ 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());
switch (pwm_type(_pwm_type.get())) {
const pwm_type type = (pwm_type)_pwm_type.get();
switch (type) {
case PWM_TYPE_ONESHOT:
if (freq_hz > 50 && mask != 0) {
hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT);
@ -162,14 +163,32 @@ void AP_Motors::rc_set_freq(uint32_t motor_mask, uint16_t freq_hz)
hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_DSHOT1200);
break;
case PWM_TYPE_PWM_RANGE:
case PWM_TYPE_PWM_ANGLE:
/*
this is a motor output type for multirotors which honours
the SERVOn_MIN/MAX values per channel
the SERVOn_MIN/MAX (and TRIM for angle) values per channel
Motor PWM min and max are hard coded to 1000 to 2000.
Range type offsets by 1000 to get 0 to 1000.
Angle type offsets by 1500 to get -500 to 500.
*/
_motor_pwm_range_mask |= motor_mask;
if (type == PWM_TYPE_PWM_RANGE) {
_motor_pwm_scaled.offset = 1000.0;
} else {
// PWM_TYPE_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) {
SRV_Channels::set_range(SRV_Channels::get_motor_function(i), 1000);
} else {
// PWM_TYPE_PWM_ANGLE
SRV_Channels::set_angle(SRV_Channels::get_motor_function(i), 500);
}
}
}
hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_NORMAL);
@ -243,6 +262,7 @@ bool AP_Motors::is_digital_pwm_type() const
case PWM_TYPE_ONESHOT125:
case PWM_TYPE_BRUSHED:
case PWM_TYPE_PWM_RANGE:
case PWM_TYPE_PWM_ANGLE:
break;
}
return false;

20
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -265,7 +265,7 @@ public:
bool is_brushed_pwm_type() const { return _pwm_type == PWM_TYPE_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); }
bool is_normal_pwm_type() const { return (_pwm_type == PWM_TYPE_NORMAL) || (_pwm_type == PWM_TYPE_PWM_RANGE) || (_pwm_type == PWM_TYPE_PWM_ANGLE); }
MAV_TYPE get_frame_mav_type() const { return _mav_type; }
@ -333,8 +333,15 @@ protected:
// mask of what channels need fast output
uint32_t _motor_fast_mask;
// mask of what channels need to use SERVOn_MIN/MAX for output mapping
uint32_t _motor_pwm_range_mask;
// Used with PWM_TYPE_PWM_RANGE and PWM_TYPE_PWM_ANGLE
struct {
// Mask of motors using scaled output
uint32_t mask;
// Offset used to convert from PWM to scaled value
float offset;
} _motor_pwm_scaled;
// pass through variables
float _roll_radio_passthrough; // roll input from pilot in -1 ~ +1 range. used for setup and providing servo feedback while landed
@ -354,7 +361,8 @@ protected:
MAV_TYPE _mav_type; // MAV_TYPE_GENERIC = 0;
enum pwm_type { PWM_TYPE_NORMAL = 0,
enum pwm_type {
PWM_TYPE_NORMAL = 0,
PWM_TYPE_ONESHOT = 1,
PWM_TYPE_ONESHOT125 = 2,
PWM_TYPE_BRUSHED = 3,
@ -362,7 +370,9 @@ protected:
PWM_TYPE_DSHOT300 = 5,
PWM_TYPE_DSHOT600 = 6,
PWM_TYPE_DSHOT1200 = 7,
PWM_TYPE_PWM_RANGE = 8 };
PWM_TYPE_PWM_RANGE = 8,
PWM_TYPE_PWM_ANGLE = 9
};
// return string corresponding to frame_class
virtual const char* _get_frame_string() const = 0;