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HAL_VRBrain: handle oneshot125 separately

This commit is contained in:
Andrew Tridgell 2018-04-03 18:10:59 +10:00
parent c3f0418333
commit a1ba582a5d
1 changed files with 15 additions and 6 deletions
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21
libraries/AP_HAL_VRBRAIN/RCOutput.cpp
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@ -111,7 +111,7 @@ void VRBRAINRCOutput::set_freq_fd(int fd, uint32_t chmask, uint16_t freq_hz, uin
// we can't set this per channel
if (freq_hz > 50 || freq_hz == 1) {
// we're being asked to set the alt rate
if (_output_mode == MODE_PWM_ONESHOT) {
if (_output_mode == MODE_PWM_ONESHOT || _output_mode == MODE_PWM_ONESHOT125) {
/*
set a 1Hz update for oneshot. This periodic output will
never actually trigger, instead we will directly trigger
@ -219,7 +219,7 @@ void VRBRAINRCOutput::set_freq_fd(int fd, uint32_t chmask, uint16_t freq_hz, uin
*/
void VRBRAINRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
{
if (freq_hz > 50 && _output_mode == MODE_PWM_ONESHOT) {
if (freq_hz > 50 && (_output_mode == MODE_PWM_ONESHOT || _output_mode == MODE_PWM_ONESHOT125)) {
// rate is irrelevent in oneshot
return;
}
@ -374,6 +374,13 @@ void VRBRAINRCOutput::write(uint8_t ch, uint16_t period_us)
_max_channel = ch + 1;
}
if (_output_mode == MODE_PWM_ONESHOT125) {
// we treat oneshot125 very simply on HAL_PX4, with 1us
// resolution. Correctly handling it would use a 125 nsec
// step size, to give the full 1000 steps
period_us /= 8;
}
// keep unscaled value
_last_sent[ch] = period_us;
@ -397,7 +404,8 @@ void VRBRAINRCOutput::write(uint8_t ch, uint16_t period_us)
output
*/
if (period_us != _period[ch] ||
_output_mode == MODE_PWM_ONESHOT) {
_output_mode == MODE_PWM_ONESHOT ||
_output_mode == MODE_PWM_ONESHOT125) {
_period[ch] = period_us;
_need_update = true;
// up_pwm_servo_set(ch, period_us);
@ -596,7 +604,7 @@ void VRBRAINRCOutput::push()
#endif
if (_corking) {
_corking = false;
if (_output_mode == MODE_PWM_ONESHOT) {
if (_output_mode == MODE_PWM_ONESHOT || _output_mode == MODE_PWM_ONESHOT125) {
// run timer immediately in oneshot mode
_send_outputs();
}
@ -605,7 +613,7 @@ void VRBRAINRCOutput::push()
void VRBRAINRCOutput::timer_tick(void)
{
if (_output_mode != MODE_PWM_ONESHOT && !_corking) {
if (_output_mode != MODE_PWM_ONESHOT && _output_mode != MODE_PWM_ONESHOT125 && !_corking) {
/* in oneshot mode the timer does nothing as the outputs are
* sent from push() */
_send_outputs();
@ -647,7 +655,7 @@ void VRBRAINRCOutput::set_output_mode(uint16_t mask, enum output_mode mode)
// no change
return;
}
if (mode == MODE_PWM_ONESHOT) {
if (mode == MODE_PWM_ONESHOT || mode == MODE_PWM_ONESHOT125) {
// when using oneshot we don't want the regular pulses. The
// best we can do with the current PX4Firmware code is ask for
// 1Hz. This does still produce pulses, but the trigger calls
@ -662,6 +670,7 @@ void VRBRAINRCOutput::set_output_mode(uint16_t mask, enum output_mode mode)
_output_mode = mode;
switch (_output_mode) {
case MODE_PWM_ONESHOT:
case MODE_PWM_ONESHOT125:
ioctl(_pwm_fd, PWM_SERVO_SET_ONESHOT, 1);
if (_alt_fd != -1) {
ioctl(_alt_fd, PWM_SERVO_SET_ONESHOT, 1);