mirror of
https://github.com/ArduPilot/ardupilot
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0203b4c1b1
cork()/push() will be called in the vehicle code.
The issue that led to this fix was as follows:
- on a Linux board (Navio 2) usage of this class didn't yield any PWM on
the expected outputs on Rover (Copter and Plane worked as expected)
After dicsussion at #6339 rover code was changed (541538f) to use make
proper use of SRV_Channels API.
This fix is also the consequence of the discussion. TL;DR: the output is
only done when commanded by the vehicle.
83 lines
2.8 KiB
C++
83 lines
2.8 KiB
C++
/*
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* Copyright (C) 2015 Intel Corporation. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "RCOutputRGBLed.h"
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#include <AP_Math/AP_Math.h>
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#include <SRV_Channel/SRV_Channel.h>
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static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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#define LED_OFF 0
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#define LED_FULL_BRIGHT 255
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#define LED_MEDIUM ((LED_FULL_BRIGHT / 5) * 4)
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#define LED_DIM ((LED_FULL_BRIGHT / 5) * 2)
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RCOutputRGBLed::RCOutputRGBLed(uint8_t red_channel, uint8_t green_channel, uint8_t blue_channel)
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: RCOutputRGBLed(red_channel, green_channel, blue_channel, LED_OFF,
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LED_FULL_BRIGHT, LED_MEDIUM, LED_DIM)
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{
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}
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RCOutputRGBLed::RCOutputRGBLed(uint8_t red_channel, uint8_t green_channel,
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uint8_t blue_channel, uint8_t led_off,
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uint8_t led_full, uint8_t led_medium,
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uint8_t led_dim)
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: RGBLed(led_off, led_full, led_medium, led_dim)
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, _red_channel(red_channel)
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, _green_channel(green_channel)
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, _blue_channel(blue_channel)
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{
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}
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bool RCOutputRGBLed::hw_init()
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{
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hal.rcout->enable_ch(_red_channel);
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hal.rcout->enable_ch(_green_channel);
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hal.rcout->enable_ch(_blue_channel);
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return true;
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}
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bool RCOutputRGBLed::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
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{
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const uint16_t freq_motor = hal.rcout->get_freq(0);
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const uint16_t freq = hal.rcout->get_freq(_red_channel);
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const uint16_t usec_period = hz_to_usec(freq);
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if (freq_motor != freq) {
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/*
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* keep at same frequency as the first RCOutput channel, some RCOutput
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* drivers can not operate in different frequency between channels
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*/
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const uint32_t mask = 1 << _red_channel | 1 << _green_channel
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| 1 << _blue_channel;
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hal.rcout->set_freq(mask, freq_motor);
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}
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uint16_t usec_duty = usec_period * red / _led_bright;
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SRV_Channels::set_output_pwm_chan(_red_channel, usec_duty);
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usec_duty = usec_period * green / _led_bright;
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SRV_Channels::set_output_pwm_chan(_green_channel, usec_duty);
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usec_duty = usec_period * blue / _led_bright;
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SRV_Channels::set_output_pwm_chan(_blue_channel, usec_duty);
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return true;
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}
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