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AP_Motors: support MODE_PWM_BRUSHED16KHZ

This commit is contained in:
Andrew Tridgell 2016-11-29 21:10:41 +11:00
parent b3286c3da0
commit ce517384e1
3 changed files with 5 additions and 3 deletions
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4
libraries/AP_Motors/AP_MotorsMulticopter.cpp
View File

@ -82,8 +82,8 @@ 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 or OneShot125
// @Values: 0:Normal,1:OneShot,2:OneShot125
// @Description: This selects the output PWM type, allowing for normal PWM continuous output, OneShot or brushed motor output
// @Values: 0:Normal,1:OneShot,2:OneShot125,3:Brushed16kHz
// @User: Advanced
AP_GROUPINFO("PWM_TYPE", 15, AP_MotorsMulticopter, _pwm_type, PWM_TYPE_NORMAL),

2
libraries/AP_Motors/AP_Motors_Class.cpp
View File

@ -118,6 +118,8 @@ void AP_Motors::rc_set_freq(uint32_t mask, uint16_t freq_hz)
mask != 0) {
// tell HAL to do immediate output
hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_ONESHOT);
} else if (_pwm_type == PWM_TYPE_BRUSHED16kHz) {
hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_BRUSHED16KHZ);
}
}

2
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -134,7 +134,7 @@ public:
// set loop rate. Used to support loop rate as a parameter
void set_loop_rate(uint16_t loop_rate) { _loop_rate = loop_rate; }
enum pwm_type { PWM_TYPE_NORMAL=0, PWM_TYPE_ONESHOT=1, PWM_TYPE_ONESHOT125=2 };
enum pwm_type { PWM_TYPE_NORMAL=0, PWM_TYPE_ONESHOT=1, PWM_TYPE_ONESHOT125=2, PWM_TYPE_BRUSHED16kHz=3 };
pwm_type get_pwm_type(void) const { return (pwm_type)_pwm_type.get(); }
protected: