mirror of https://github.com/ArduPilot/ardupilot
123 lines
3.4 KiB
C++
123 lines
3.4 KiB
C++
#pragma once
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#include "AP_HAL_F4Light_Namespace.h"
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#include <timer.h>
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#include <AP_HAL/RCOutput.h>
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#include "AP_HAL_F4Light.h"
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#include "GPIO.h"
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#include <AP_HAL/HAL.h>
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#define PWM_IGNORE_THIS_CHANNEL 1
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#define F4Light_MAX_OUTPUT_CHANNELS 12 // motors and servos
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enum BOARD_PWM_MODES {
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BOARD_PWM_NORMAL=0,
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BOARD_PWM_ONESHOT,
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BOARD_PWM_ONESHOT125,
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BOARD_PWM_BRUSHED,
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BOARD_PWM_ONESHOT42,
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BOARD_PWM_PWM125,
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};
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#define MOTORID1 0
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#define MOTORID2 1
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#define MOTORID3 2
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#define MOTORID4 3
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#define MOTORID5 4
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#define MOTORID6 5
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#define MOTORID7 6
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#define MOTORID8 7
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#define MOTORID9 8
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#define MOTORID10 9
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#define MOTORID11 10
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#define MOTORID12 11
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class F4Light::RCOutput : public AP_HAL::RCOutput {
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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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void write(uint8_t ch, uint16_t* period_us, uint8_t len);
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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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void cork() override{ _corked = true; }
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void push() override;
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static void lateInit(); // 2nd stage with loaded parameters
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void set_output_mode(enum output_mode mode) override { _set_output_mode(mode); };
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static void _set_output_mode(enum output_mode mode);
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static void do_4way_if(AP_HAL::UARTDriver* uart);
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/* can be overrided
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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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void _timer_tick(void);
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bool enable_sbus_out(uint16_t rate_hz) override;
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*/
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static uint32_t inline _timer_period(uint16_t speed_hz, const timer_dev *dev) {
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return (uint32_t)((float)(dev->state->freq + speed_hz/2) / speed_hz);
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}
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private:
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static void InitPWM(void);
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static void set_pwm(uint8_t ch, uint16_t pwm);
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static uint16_t _period[F4Light_MAX_OUTPUT_CHANNELS];
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static uint16_t _freq[F4Light_MAX_OUTPUT_CHANNELS];
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static void _set_pin_output_mode(uint8_t ch);
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static bool is_servo_enabled(uint8_t ch);
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static void init_channel(uint8_t ch);
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static void init_channels();
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static uint16_t _enabled_channels;
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static bool _sbus_enabled;
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static bool _corked;
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static void _init_alt_channels() {}// we don't has channels more than 8
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static uint8_t _used_channels;
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static enum BOARD_PWM_MODES _mode;
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static bool _once_mode;
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static uint8_t _servo_mask;
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static uint8_t _initialized[F4Light_MAX_OUTPUT_CHANNELS];
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//static uint32_t _timer_frequency[F4Light_MAX_OUTPUT_CHANNELS];
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static void _timer3_isr_event(TIM_TypeDef*);
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static uint32_t _timer2_preload;
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static uint16_t _timer3_preload;
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static uint8_t _pwm_type;
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// static float _freq_scale;
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static const timer_dev* out_timers[16]; // array of timers, used to rc_out
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static uint8_t num_out_timers;
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static void fill_timers();
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};
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