mirror of https://github.com/ArduPilot/ardupilot
87 lines
2.9 KiB
C++
87 lines
2.9 KiB
C++
#pragma once
|
|
|
|
#include "AP_HAL_PX4.h"
|
|
#include <systemlib/perf_counter.h>
|
|
#include <uORB/topics/actuator_outputs.h>
|
|
#include <uORB/topics/actuator_armed.h>
|
|
|
|
#define PX4_NUM_OUTPUT_CHANNELS 16
|
|
|
|
class PX4::PX4RCOutput : public AP_HAL::RCOutput
|
|
{
|
|
public:
|
|
void init() override;
|
|
void set_freq(uint32_t chmask, uint16_t freq_hz) override;
|
|
uint16_t get_freq(uint8_t ch) override;
|
|
void enable_ch(uint8_t ch) override;
|
|
void disable_ch(uint8_t ch) override;
|
|
void write(uint8_t ch, uint16_t period_us) override;
|
|
uint16_t read(uint8_t ch) override;
|
|
void read(uint16_t* period_us, uint8_t len) override;
|
|
uint16_t read_last_sent(uint8_t ch) override;
|
|
void read_last_sent(uint16_t* period_us, uint8_t len) override;
|
|
void set_safety_pwm(uint32_t chmask, uint16_t period_us) override;
|
|
void set_failsafe_pwm(uint32_t chmask, uint16_t period_us) override;
|
|
bool force_safety_on(void) override;
|
|
void force_safety_off(void) override;
|
|
void force_safety_no_wait(void) override;
|
|
void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override {
|
|
_esc_pwm_min = min_pwm;
|
|
_esc_pwm_max = max_pwm;
|
|
}
|
|
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 push();
|
|
|
|
void set_output_mode(enum output_mode mode) override;
|
|
|
|
void timer_tick(void) override;
|
|
bool enable_sbus_out(uint16_t rate_hz) override;
|
|
|
|
// set default output update rate
|
|
void set_default_rate(uint16_t rate_hz) override;
|
|
|
|
private:
|
|
int _pwm_fd;
|
|
int _alt_fd;
|
|
uint16_t _freq_hz;
|
|
uint16_t _period[PX4_NUM_OUTPUT_CHANNELS];
|
|
// we keep the last_sent value separately, as we need to keep the unscaled
|
|
// value for systems with brushed motors which scale outputs
|
|
uint16_t _last_sent[PX4_NUM_OUTPUT_CHANNELS];
|
|
volatile uint8_t _max_channel;
|
|
volatile bool _need_update;
|
|
bool _sbus_enabled:1;
|
|
perf_counter_t _perf_rcout;
|
|
uint32_t _last_output;
|
|
uint32_t _last_config_us;
|
|
unsigned _servo_count;
|
|
unsigned _alt_servo_count;
|
|
uint32_t _rate_mask_main;
|
|
uint32_t _rate_mask_alt;
|
|
uint16_t _enabled_channels;
|
|
uint32_t _period_max;
|
|
struct {
|
|
int pwm_sub;
|
|
actuator_outputs_s outputs;
|
|
} _outputs[ORB_MULTI_MAX_INSTANCES] {};
|
|
actuator_armed_s _armed;
|
|
|
|
orb_advert_t _actuator_armed_pub;
|
|
uint16_t _esc_pwm_min;
|
|
uint16_t _esc_pwm_max;
|
|
|
|
void _init_alt_channels(void);
|
|
void _arm_actuators(bool arm);
|
|
void set_freq_fd(int fd, uint32_t chmask, uint16_t freq_hz, uint32_t &rate_mask);
|
|
bool _corking;
|
|
enum output_mode _output_mode = MODE_PWM_NORMAL;
|
|
void _send_outputs(void);
|
|
enum AP_HAL::Util::safety_state _safety_state_request = AP_HAL::Util::SAFETY_NONE;
|
|
uint32_t _safety_state_request_last_ms = 0;
|
|
void force_safety_pending_requests(void);
|
|
uint16_t _default_rate_hz = 50;
|
|
};
|