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114 lines
3.3 KiB
114 lines
3.3 KiB
/* |
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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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* Code by Andrew Tridgell and Siddharth Bharat Purohit |
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*/ |
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#pragma once |
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#include "AP_HAL_ChibiOS.h" |
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#include "ch.h" |
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#include "hal.h" |
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class ChibiOS::RCOutput : public AP_HAL::RCOutput { |
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public: |
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void init(); |
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void set_freq(uint32_t chmask, uint16_t freq_hz); |
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uint16_t get_freq(uint8_t ch); |
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void enable_ch(uint8_t ch); |
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void disable_ch(uint8_t ch); |
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void write(uint8_t ch, uint16_t period_us); |
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uint16_t read(uint8_t ch); |
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void read(uint16_t* period_us, uint8_t len); |
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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_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 set_output_mode(enum output_mode mode) override; |
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void cork(void) override; |
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void push(void) override; |
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/* |
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force the safety switch on, disabling PWM output from the IO board |
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*/ |
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bool force_safety_on(void) override; |
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/* |
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force the safety switch off, enabling PWM output from the IO board |
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*/ |
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void force_safety_off(void) override; |
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bool enable_px4io_sbus_out(uint16_t rate_hz) override; |
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/* |
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set default update rate |
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*/ |
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void set_default_rate(uint16_t rate_hz) override; |
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/* |
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timer push (for oneshot min rate) |
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*/ |
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void timer_tick(void) override; |
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private: |
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struct pwm_group { |
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// only advanced timers can do high clocks needed for more than 400Hz |
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bool advanced_timer; |
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uint8_t chan[4]; // chan number, zero based, 255 for disabled |
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PWMConfig pwm_cfg; |
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PWMDriver* pwm_drv; |
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}; |
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enum output_mode _output_mode = MODE_PWM_NORMAL; |
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static pwm_group pwm_group_list[]; |
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uint16_t _esc_pwm_min; |
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uint16_t _esc_pwm_max; |
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// offset of first local channel |
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uint8_t chan_offset; |
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// total number of channels |
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uint8_t total_channels; |
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// last sent values are for all channels |
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uint16_t last_sent[16]; |
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// these values are for the local channels. Non-local channels are handled by IOMCU |
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uint32_t en_mask; |
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uint16_t period[16]; |
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uint8_t num_channels; |
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bool corked; |
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// mask of channels that are running in high speed |
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uint16_t fast_channel_mask; |
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// min time to trigger next pulse to prevent overlap |
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uint64_t min_pulse_trigger_us; |
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// mutex for oneshot triggering |
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mutex_t trigger_mutex; |
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// which output groups need triggering |
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uint8_t trigger_groups; |
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// widest pulse for oneshot triggering |
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uint16_t trigger_widest_pulse; |
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// push out values to local PWM |
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void push_local(void); |
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// trigger oneshot pulses |
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void trigger_oneshot(void); |
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};
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