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AP_Motors: make pwm_type protected and add helpers

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This commit is contained in:
Iampete1 2021-09-22 16:18:05 +01:00 committed by Andrew Tridgell
parent 1f163453fc
commit bc29735cb2
2 changed files with 37 additions and 10 deletions
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19
libraries/AP_Motors/AP_Motors_Class.cpp
View File

@ -208,6 +208,25 @@ void AP_Motors::set_limit_flag_pitch_roll_yaw(bool flag)
limit.yaw = flag;
}
// returns true if the configured PWM type is digital and should have fixed endpoints
bool AP_Motors::is_digital_pwm_type() const
{
switch (_pwm_type) {
case PWM_TYPE_DSHOT150:
case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT600:
case PWM_TYPE_DSHOT1200:
return true;
case PWM_TYPE_NORMAL:
case PWM_TYPE_ONESHOT:
case PWM_TYPE_ONESHOT125:
case PWM_TYPE_BRUSHED:
case PWM_TYPE_PWM_RANGE:
break;
}
return false;
}
namespace AP {
AP_Motors *motors()
{

28
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -219,16 +219,14 @@ public:
// This function is overriden in motors_heli class. Always true for multicopters.
virtual bool init_targets_on_arming() const { return true; }
enum pwm_type { PWM_TYPE_NORMAL = 0,
PWM_TYPE_ONESHOT = 1,
PWM_TYPE_ONESHOT125 = 2,
PWM_TYPE_BRUSHED = 3,
PWM_TYPE_DSHOT150 = 4,
PWM_TYPE_DSHOT300 = 5,
PWM_TYPE_DSHOT600 = 6,
PWM_TYPE_DSHOT1200 = 7,
PWM_TYPE_PWM_RANGE = 8 };
pwm_type get_pwm_type(void) const { return (pwm_type)_pwm_type.get(); }
// returns true if the configured PWM type is digital and should have fixed endpoints
bool is_digital_pwm_type() const;
// returns true is pwm type is brushed
bool is_brushed_pwm_type() const { return _pwm_type == PWM_TYPE_BRUSHED; }
// returns true is pwm type is normal
bool is_normal_pwm_type() const { return (_pwm_type == PWM_TYPE_NORMAL) || (_pwm_type == PWM_TYPE_PWM_RANGE); }
MAV_TYPE get_frame_mav_type() const { return _mav_type; }
@ -300,6 +298,16 @@ protected:
MAV_TYPE _mav_type; // MAV_TYPE_GENERIC = 0;
enum pwm_type { PWM_TYPE_NORMAL = 0,
PWM_TYPE_ONESHOT = 1,
PWM_TYPE_ONESHOT125 = 2,
PWM_TYPE_BRUSHED = 3,
PWM_TYPE_DSHOT150 = 4,
PWM_TYPE_DSHOT300 = 5,
PWM_TYPE_DSHOT600 = 6,
PWM_TYPE_DSHOT1200 = 7,
PWM_TYPE_PWM_RANGE = 8 };
private:
bool _armed; // 0 if disarmed, 1 if armed