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AP_Motors: also wrap set_freq and enable_ch for motor mapping

This commit is contained in:
Andrew Tridgell 2016-01-04 21:24:06 +11:00
parent 77af00c5e1
commit dfccf8f713
7 changed files with 58 additions and 27 deletions
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12
libraries/AP_Motors/AP_MotorsCoax.cpp
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@ -88,23 +88,23 @@ void AP_MotorsCoax::set_update_rate( uint16_t speed_hz )
uint32_t mask2 =
1U << AP_MOTORS_MOT_3 |
1U << AP_MOTORS_MOT_4 ;
hal.rcout->set_freq(mask2, _speed_hz);
rc_set_freq(mask2, _speed_hz);
// set update rate for the two servos
uint32_t mask =
1U << AP_MOTORS_MOT_1 |
1U << AP_MOTORS_MOT_2 ;
hal.rcout->set_freq(mask, _servo_speed);
rc_set_freq(mask, _servo_speed);
}
// enable - starts allowing signals to be sent to motors
void AP_MotorsCoax::enable()
{
// enable output channels
hal.rcout->enable_ch(AP_MOTORS_MOT_1);
hal.rcout->enable_ch(AP_MOTORS_MOT_2);
hal.rcout->enable_ch(AP_MOTORS_MOT_3);
hal.rcout->enable_ch(AP_MOTORS_MOT_4);
rc_enable_ch(AP_MOTORS_MOT_1);
rc_enable_ch(AP_MOTORS_MOT_2);
rc_enable_ch(AP_MOTORS_MOT_3);
rc_enable_ch(AP_MOTORS_MOT_4);
}
// output_min - sends minimum values out to the motor and trim values to the servos

14
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -131,19 +131,19 @@ void AP_MotorsHeli_Single::set_update_rate( uint16_t speed_hz )
1U << AP_MOTORS_MOT_2 |
1U << AP_MOTORS_MOT_3 |
1U << AP_MOTORS_MOT_4;
hal.rcout->set_freq(mask, _speed_hz);
rc_set_freq(mask, _speed_hz);
}
// enable - starts allowing signals to be sent to motors and servos
void AP_MotorsHeli_Single::enable()
{
// enable output channels
hal.rcout->enable_ch(AP_MOTORS_MOT_1); // swash servo 1
hal.rcout->enable_ch(AP_MOTORS_MOT_2); // swash servo 2
hal.rcout->enable_ch(AP_MOTORS_MOT_3); // swash servo 3
hal.rcout->enable_ch(AP_MOTORS_MOT_4); // yaw
hal.rcout->enable_ch(AP_MOTORS_HELI_SINGLE_AUX); // output for gyro gain or direct drive variable pitch tail motor
hal.rcout->enable_ch(AP_MOTORS_HELI_SINGLE_RSC); // output for main rotor esc
rc_enable_ch(AP_MOTORS_MOT_1); // swash servo 1
rc_enable_ch(AP_MOTORS_MOT_2); // swash servo 2
rc_enable_ch(AP_MOTORS_MOT_3); // swash servo 3
rc_enable_ch(AP_MOTORS_MOT_4); // yaw
rc_enable_ch(AP_MOTORS_HELI_SINGLE_AUX); // output for gyro gain or direct drive variable pitch tail motor
rc_enable_ch(AP_MOTORS_HELI_SINGLE_RSC); // output for main rotor esc
}
// init_outputs - initialise Servo/PWM ranges and endpoints

4
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -49,7 +49,7 @@ void AP_MotorsMatrix::set_update_rate( uint16_t speed_hz )
mask |= 1U << i;
}
}
hal.rcout->set_freq( mask, _speed_hz );
rc_set_freq( mask, _speed_hz );
}
// set frame orientation (normally + or X)
@ -78,7 +78,7 @@ void AP_MotorsMatrix::enable()
// enable output channels
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
hal.rcout->enable_ch(i);
rc_enable_ch(i);
}
}
}

14
libraries/AP_Motors/AP_MotorsSingle.cpp
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@ -96,20 +96,20 @@ void AP_MotorsSingle::set_update_rate( uint16_t speed_hz )
1U << AP_MOTORS_MOT_2 |
1U << AP_MOTORS_MOT_3 |
1U << AP_MOTORS_MOT_4 ;
hal.rcout->set_freq(mask, _servo_speed);
rc_set_freq(mask, _servo_speed);
uint32_t mask2 = 1U << AP_MOTORS_MOT_7;
hal.rcout->set_freq(mask2, _speed_hz);
rc_set_freq(mask2, _speed_hz);
}
// enable - starts allowing signals to be sent to motors
void AP_MotorsSingle::enable()
{
// enable output channels
hal.rcout->enable_ch(AP_MOTORS_MOT_1);
hal.rcout->enable_ch(AP_MOTORS_MOT_2);
hal.rcout->enable_ch(AP_MOTORS_MOT_3);
hal.rcout->enable_ch(AP_MOTORS_MOT_4);
hal.rcout->enable_ch(AP_MOTORS_MOT_7);
rc_enable_ch(AP_MOTORS_MOT_1);
rc_enable_ch(AP_MOTORS_MOT_2);
rc_enable_ch(AP_MOTORS_MOT_3);
rc_enable_ch(AP_MOTORS_MOT_4);
rc_enable_ch(AP_MOTORS_MOT_7);
}
// output_min - sends minimum values out to the motor and trim values to the servos

10
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -97,17 +97,17 @@ void AP_MotorsTri::set_update_rate( uint16_t speed_hz )
1U << AP_MOTORS_MOT_1 |
1U << AP_MOTORS_MOT_2 |
1U << AP_MOTORS_MOT_4;
hal.rcout->set_freq(mask, _speed_hz);
rc_set_freq(mask, _speed_hz);
}
// enable - starts allowing signals to be sent to motors
void AP_MotorsTri::enable()
{
// enable output channels
hal.rcout->enable_ch(AP_MOTORS_MOT_1);
hal.rcout->enable_ch(AP_MOTORS_MOT_2);
hal.rcout->enable_ch(AP_MOTORS_MOT_4);
hal.rcout->enable_ch(AP_MOTORS_CH_TRI_YAW);
rc_enable_ch(AP_MOTORS_MOT_1);
rc_enable_ch(AP_MOTORS_MOT_2);
rc_enable_ch(AP_MOTORS_MOT_4);
rc_enable_ch(AP_MOTORS_CH_TRI_YAW);
}
// output_min - sends minimum values out to the motors

29
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -76,3 +76,32 @@ void AP_Motors::rc_write(uint8_t chan, uint16_t pwm)
}
hal.rcout->write(chan, pwm);
}
/*
set frequency of a set of channels
*/
void AP_Motors::rc_set_freq(uint32_t mask, uint16_t freq_hz)
{
uint32_t mask2 = 0;
for (uint8_t i=0; i<32; i++) {
uint32_t bit = 1UL<<i;
if (mask & bit) {
if (_motor_map_mask & bit) {
// we have a mapped motor number for this channel
mask2 |= (1UL << _motor_map[i]);
} else {
mask2 |= bit;
}
}
}
hal.rcout->set_freq(mask2, freq_hz);
}
void AP_Motors::rc_enable_ch(uint8_t chan)
{
if (_motor_map_mask & (1U<<chan)) {
// we have a mapped motor number for this channel
chan = _motor_map[chan];
}
hal.rcout->enable_ch(chan);
}

2
libraries/AP_Motors/AP_Motors_Class.h
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@ -130,6 +130,8 @@ protected:
virtual void output_armed_zero_throttle() { output_min(); }
virtual void output_disarmed()=0;
virtual void rc_write(uint8_t chan, uint16_t pwm);
virtual void rc_set_freq(uint32_t mask, uint16_t freq_hz);
virtual void rc_enable_ch(uint8_t chan);
// update the throttle input filter
virtual void update_throttle_filter() = 0;