mirror of https://github.com/ArduPilot/ardupilot
117 lines
2.8 KiB
C++
117 lines
2.8 KiB
C++
/*
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* Copyright (C) 2016 Andrew Tridgell. 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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/*
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RCOutput on the Disco combines I2C motor output (for channel 3) with
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PWM output for the other channels. This class is a wrapper around
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the two other classes
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*/
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#include "RCOutput_Disco.h"
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#include <AP_HAL/AP_HAL.h>
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#include <stdio.h>
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namespace Linux {
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RCOutput_Disco::RCOutput_Disco(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
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: bebop_out(std::move(dev))
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{
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}
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void RCOutput_Disco::init()
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{
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sysfs_out.init();
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bebop_out.init();
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printf("RCOutput_Disco: initialised\n");
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}
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void RCOutput_Disco::set_freq(uint32_t chmask, uint16_t freq_hz)
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{
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for (uint8_t i = 0; i < ARRAY_SIZE(output_table); i++) {
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if (chmask & (1U << i)) {
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output_table[i].output.set_freq(1U<<output_table[i].channel, freq_hz);
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}
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}
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}
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uint16_t RCOutput_Disco::get_freq(uint8_t ch)
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{
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if (ch >= ARRAY_SIZE(output_table)) {
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return 0;
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}
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return output_table[ch].output.get_freq(output_table[ch].channel);
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}
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void RCOutput_Disco::enable_ch(uint8_t ch)
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{
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if (ch >= ARRAY_SIZE(output_table)) {
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return;
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}
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output_table[ch].output.enable_ch(output_table[ch].channel);
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}
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void RCOutput_Disco::disable_ch(uint8_t ch)
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{
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if (ch >= ARRAY_SIZE(output_table)) {
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return;
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}
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output_table[ch].output.disable_ch(output_table[ch].channel);
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}
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void RCOutput_Disco::write(uint8_t ch, uint16_t period_us)
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{
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if (ch >= ARRAY_SIZE(output_table)) {
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return;
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}
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output_table[ch].output.write(output_table[ch].channel, period_us);
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}
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uint16_t RCOutput_Disco::read(uint8_t ch)
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{
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if (ch >= ARRAY_SIZE(output_table)) {
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return 0;
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}
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return output_table[ch].output.read(output_table[ch].channel);
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}
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void RCOutput_Disco::read(uint16_t *period_us, uint8_t len)
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{
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for (int i = 0; i < len; i++) {
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period_us[i] = read(i);
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}
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}
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void RCOutput_Disco::cork(void)
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{
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sysfs_out.cork();
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bebop_out.cork();
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}
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void RCOutput_Disco::push(void)
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{
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sysfs_out.push();
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bebop_out.push();
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}
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void RCOutput_Disco::set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm)
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{
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sysfs_out.set_esc_scaling(min_pwm, max_pwm);
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bebop_out.set_esc_scaling(min_pwm, max_pwm);
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}
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}
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