mirror of https://github.com/ArduPilot/ardupilot
87 lines
3.0 KiB
C++
87 lines
3.0 KiB
C++
#pragma once
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#include "AP_HAL_VRBRAIN.h"
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#include <systemlib/perf_counter.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/actuator_armed.h>
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#define VRBRAIN_NUM_OUTPUT_CHANNELS 16
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class VRBRAIN::VRBRAINRCOutput : public AP_HAL::RCOutput
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{
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public:
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void init() override;
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void set_freq(uint32_t chmask, uint16_t freq_hz) override;
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uint16_t get_freq(uint8_t ch) override;
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void enable_ch(uint8_t ch) override;
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void disable_ch(uint8_t ch) override;
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void write(uint8_t ch, uint16_t period_us) override;
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uint16_t read(uint8_t ch) override;
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void read(uint16_t* period_us, uint8_t len) override;
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uint16_t read_last_sent(uint8_t ch) override;
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void read_last_sent(uint16_t* period_us, uint8_t len) override;
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void set_safety_pwm(uint32_t chmask, uint16_t period_us) override;
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void set_failsafe_pwm(uint32_t chmask, uint16_t period_us) override;
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bool force_safety_on(void) override;
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void force_safety_off(void) override;
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void force_safety_no_wait(void) override;
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void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override {
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_esc_pwm_min = min_pwm;
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_esc_pwm_max = max_pwm;
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}
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float scale_esc_to_unity(uint16_t pwm) override {
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return 2.0 * ((float) pwm - _esc_pwm_min) / (_esc_pwm_max - _esc_pwm_min) - 1.0;
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}
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void cork();
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void push();
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void set_output_mode(uint16_t mask, enum output_mode mode) override;
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void timer_tick(void) override;
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bool enable_px4io_sbus_out(uint16_t rate_hz) override;
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// set default output update rate
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void set_default_rate(uint16_t rate_hz) override;
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private:
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int _pwm_fd;
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int _alt_fd;
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uint16_t _freq_hz;
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uint16_t _period[VRBRAIN_NUM_OUTPUT_CHANNELS];
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// we keep the last_sent value separately, as we need to keep the unscaled
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// value for systems with brushed motors which scale outputs
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uint16_t _last_sent[VRBRAIN_NUM_OUTPUT_CHANNELS];
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volatile uint8_t _max_channel;
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volatile bool _need_update;
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bool _sbus_enabled:1;
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perf_counter_t _perf_rcout;
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uint32_t _last_output;
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uint32_t _last_config_us;
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unsigned _servo_count;
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unsigned _alt_servo_count;
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uint32_t _rate_mask_main;
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uint32_t _rate_mask_alt;
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uint16_t _enabled_channels;
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uint32_t _period_max;
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struct {
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int pwm_sub;
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actuator_outputs_s outputs;
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} _outputs[ORB_MULTI_MAX_INSTANCES] {};
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actuator_armed_s _armed;
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orb_advert_t _actuator_armed_pub;
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uint16_t _esc_pwm_min;
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uint16_t _esc_pwm_max;
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void _init_alt_channels(void);
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void _arm_actuators(bool arm);
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void set_freq_fd(int fd, uint32_t chmask, uint16_t freq_hz, uint32_t &rate_mask);
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bool _corking;
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enum output_mode _output_mode = MODE_PWM_NORMAL;
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void _send_outputs(void);
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enum AP_HAL::Util::safety_state _safety_state_request = AP_HAL::Util::SAFETY_NONE;
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uint32_t _safety_state_request_last_ms = 0;
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void force_safety_pending_requests(void);
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uint16_t _default_rate_hz = 50;
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};
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