mirror of https://github.com/ArduPilot/ardupilot
128 lines
4.0 KiB
C++
128 lines
4.0 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#ifdef HAL_PERIPH_ENABLE_RC_OUT
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#include "AP_Periph.h"
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// magic value from UAVCAN driver packet
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// dsdl/uavcan/equipment/esc/1030.RawCommand.uavcan
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// Raw ESC command normalized into [-8192, 8191]
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#define UAVCAN_ESC_MAX_VALUE 8191
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#define SERVO_OUT_RCIN_MAX 16 // SRV_Channel::k_rcin1 ... SRV_Channel::k_rcin16
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#define SERVO_OUT_MOTOR_MAX 12 // SRV_Channel::k_motor1 ... SRV_Channel::k_motor8, SRV_Channel::k_motor9 ... SRV_Channel::k_motor12
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extern const AP_HAL::HAL &hal;
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void AP_Periph_FW::rcout_init()
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{
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// start up with safety enabled. This disables the pwm output until we receive an packet from the rempte system
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hal.rcout->force_safety_on();
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#if HAL_PWM_COUNT > 0
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for (uint8_t i=0; i<HAL_PWM_COUNT; i++) {
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servo_channels.set_default_function(i, SRV_Channel::Aux_servo_function_t(SRV_Channel::k_rcin1 + i));
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}
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#endif
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for (uint8_t i=0; i<SERVO_OUT_RCIN_MAX; i++) {
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SRV_Channels::set_angle(SRV_Channel::Aux_servo_function_t(SRV_Channel::k_rcin1 + i), 1000);
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}
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uint16_t esc_mask = 0;
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for (uint8_t i=0; i<SERVO_OUT_MOTOR_MAX; i++) {
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SRV_Channels::set_range(SRV_Channels::get_motor_function(i), UAVCAN_ESC_MAX_VALUE);
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uint8_t chan;
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if (SRV_Channels::find_channel(SRV_Channels::get_motor_function(i), chan)) {
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esc_mask |= 1U << chan;
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}
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}
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// setup ESCs with the desired PWM type, allowing for DShot
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hal.rcout->set_output_mode(esc_mask, (AP_HAL::RCOutput::output_mode)g.esc_pwm_type.get());
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// run this once and at 1Hz to configure aux and esc ranges
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rcout_init_1Hz();
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// run DShot at 1kHz
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hal.rcout->set_dshot_rate(0, 400);
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}
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void AP_Periph_FW::rcout_init_1Hz()
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{
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// this runs at 1Hz to allow for run-time param changes
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SRV_Channels::enable_aux_servos();
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for (uint8_t i=0; i<SERVO_OUT_MOTOR_MAX; i++) {
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servo_channels.set_esc_scaling_for(SRV_Channels::get_motor_function(i));
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}
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}
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void AP_Periph_FW::rcout_esc(int16_t *rc, uint8_t num_channels)
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{
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if (rc == nullptr) {
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return;
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}
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const uint8_t channel_count = MIN(num_channels, SERVO_OUT_MOTOR_MAX);
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for (uint8_t i=0; i<channel_count; i++) {
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// we don't support motor reversal yet on ESCs in AP_Periph
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SRV_Channels::set_output_scaled(SRV_Channels::get_motor_function(i), MAX(0,rc[i]));
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}
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rcout_has_new_data_to_update = true;
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}
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void AP_Periph_FW::rcout_srv(uint8_t actuator_id, const float command_value)
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{
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#if HAL_PWM_COUNT > 0
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if ((actuator_id == 0) || (actuator_id > HAL_PWM_COUNT)) {
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// not supported or out of range
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return;
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}
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const SRV_Channel::Aux_servo_function_t function = SRV_Channel::Aux_servo_function_t(SRV_Channel::k_rcin1 + actuator_id - 1);
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SRV_Channels::set_output_norm(function, command_value);
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rcout_has_new_data_to_update = true;
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#endif
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}
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void AP_Periph_FW::rcout_handle_safety_state(uint8_t safety_state)
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{
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if (safety_state == 255) {
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hal.rcout->force_safety_off();
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} else {
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hal.rcout->force_safety_on();
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}
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rcout_has_new_data_to_update = true;
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}
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void AP_Periph_FW::rcout_update()
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{
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if (!rcout_has_new_data_to_update) {
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return;
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}
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rcout_has_new_data_to_update = false;
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SRV_Channels::calc_pwm();
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SRV_Channels::cork();
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SRV_Channels::output_ch_all();
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SRV_Channels::push();
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}
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#endif // HAL_PERIPH_ENABLE_RC_OUT
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