ardupilot/libraries/AP_HAL_ChibiOS/RCOutput.h

123 lines
3.5 KiB
C++

/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#pragma once
#include "AP_HAL_ChibiOS.h"
#include "ch.h"
#include "hal.h"
#if HAL_USE_PWM == TRUE
class ChibiOS::RCOutput : public AP_HAL::RCOutput {
public:
void init();
void set_freq(uint32_t chmask, uint16_t freq_hz);
uint16_t get_freq(uint8_t ch);
void enable_ch(uint8_t ch);
void disable_ch(uint8_t ch);
void write(uint8_t ch, uint16_t period_us);
uint16_t read(uint8_t ch);
void read(uint16_t* period_us, uint8_t len);
uint16_t read_last_sent(uint8_t ch) override;
void read_last_sent(uint16_t* period_us, uint8_t len) override;
void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override {
_esc_pwm_min = min_pwm;
_esc_pwm_max = max_pwm;
}
void set_output_mode(enum output_mode mode) override;
float scale_esc_to_unity(uint16_t pwm) override {
return 2.0 * ((float) pwm - _esc_pwm_min) / (_esc_pwm_max - _esc_pwm_min) - 1.0;
}
void cork(void) override;
void push(void) override;
/*
force the safety switch on, disabling PWM output from the IO board
*/
bool force_safety_on(void) override;
/*
force the safety switch off, enabling PWM output from the IO board
*/
void force_safety_off(void) override;
bool enable_px4io_sbus_out(uint16_t rate_hz) override;
/*
set default update rate
*/
void set_default_rate(uint16_t rate_hz) override;
/*
timer push (for oneshot min rate)
*/
void timer_tick(void) override;
private:
struct pwm_group {
// only advanced timers can do high clocks needed for more than 400Hz
bool advanced_timer;
uint8_t chan[4]; // chan number, zero based, 255 for disabled
PWMConfig pwm_cfg;
PWMDriver* pwm_drv;
};
enum output_mode _output_mode = MODE_PWM_NORMAL;
static pwm_group pwm_group_list[];
uint16_t _esc_pwm_min;
uint16_t _esc_pwm_max;
// offset of first local channel
uint8_t chan_offset;
// total number of channels
uint8_t total_channels;
// last sent values are for all channels
uint16_t last_sent[16];
// these values are for the local channels. Non-local channels are handled by IOMCU
uint32_t en_mask;
uint16_t period[16];
uint8_t num_channels;
bool corked;
// mask of channels that are running in high speed
uint16_t fast_channel_mask;
// min time to trigger next pulse to prevent overlap
uint64_t min_pulse_trigger_us;
// mutex for oneshot triggering
mutex_t trigger_mutex;
// which output groups need triggering
uint8_t trigger_groups;
// widest pulse for oneshot triggering
uint16_t trigger_widest_pulse;
// push out values to local PWM
void push_local(void);
// trigger oneshot pulses
void trigger_oneshot(void);
};
#endif // HAL_USE_PWM