Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_MotorsUGV: make pwm_type private and add is_digital_pwm_type method

Browse Source
This commit is contained in:
Iampete1 2021-09-22 16:16:06 +01:00 committed by Andrew Tridgell
parent 86e56934b6
commit b472300191
2 changed files with 34 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
libraries/AR_Motors/AP_MotorsUGV.cpp
View File

@ -1004,6 +1004,24 @@ bool AP_MotorsUGV::active() const
return false;
}
// returns true if the configured PWM type is digital and should have fixed endpoints
bool AP_MotorsUGV::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_WITH_RELAY:
case PWM_TYPE_BRUSHED_BIPOLAR:
break;
}
return false;
}
namespace AP {
AP_MotorsUGV *motors_ugv()

31
libraries/AR_Motors/AP_MotorsUGV.h
View File

@ -12,18 +12,6 @@ public:
// singleton support
static AP_MotorsUGV *get_singleton(void) { return _singleton; }
enum pwm_type {
PWM_TYPE_NORMAL = 0,
PWM_TYPE_ONESHOT = 1,
PWM_TYPE_ONESHOT125 = 2,
PWM_TYPE_BRUSHED_WITH_RELAY = 3,
PWM_TYPE_BRUSHED_BIPOLAR = 4,
PWM_TYPE_DSHOT150 = 5,
PWM_TYPE_DSHOT300 = 6,
PWM_TYPE_DSHOT600 = 7,
PWM_TYPE_DSHOT1200 = 8
};
enum motor_test_order {
MOTOR_TEST_THROTTLE = 1,
MOTOR_TEST_STEERING = 2,
@ -120,8 +108,8 @@ public:
// return the motor mask
uint16_t get_motor_mask() const { return _motor_mask; }
// returns the configured PWM type
uint8_t get_pwm_type() const { return _pwm_type; }
// returns true if the configured PWM type is digital and should have fixed endpoints
bool is_digital_pwm_type() const;
// structure for holding motor limit flags
struct AP_MotorsUGV_limit {
@ -134,7 +122,20 @@ public:
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
protected:
private:
enum pwm_type {
PWM_TYPE_NORMAL = 0,
PWM_TYPE_ONESHOT = 1,
PWM_TYPE_ONESHOT125 = 2,
PWM_TYPE_BRUSHED_WITH_RELAY = 3,
PWM_TYPE_BRUSHED_BIPOLAR = 4,
PWM_TYPE_DSHOT150 = 5,
PWM_TYPE_DSHOT300 = 6,
PWM_TYPE_DSHOT600 = 7,
PWM_TYPE_DSHOT1200 = 8
};
// sanity check parameters
void sanity_check_parameters();