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115 lines
3.0 KiB
115 lines
3.0 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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* AP_Motors.cpp - ArduCopter motors library |
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* Code by RandyMackay. DIYDrones.com |
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* |
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*/ |
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#include "AP_Motors_Class.h" |
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#include <AP_HAL/AP_HAL.h> |
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extern const AP_HAL::HAL& hal; |
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// Constructor |
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AP_Motors::AP_Motors(uint16_t loop_rate, uint16_t speed_hz) : |
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_roll_control_input(0.0f), |
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_pitch_control_input(0.0f), |
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_throttle_control_input(0.0f), |
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_yaw_control_input(0.0f), |
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_throttle_pwm_scalar(1.0f), |
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_rpy_pwm_scalar(0.074f), |
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_loop_rate(loop_rate), |
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_speed_hz(speed_hz), |
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_throttle_radio_min(1100), |
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_throttle_radio_max(1900), |
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_throttle_in(0.0f), |
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_throttle_filter(), |
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_batt_voltage(0.0f), |
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_batt_current(0.0f), |
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_air_density_ratio(1.0f) |
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{ |
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// init other flags |
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_flags.armed = false; |
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_flags.stabilizing = false; |
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_flags.frame_orientation = AP_MOTORS_X_FRAME; |
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_flags.interlock = false; |
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// setup throttle filtering |
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_throttle_filter.set_cutoff_frequency(0.0f); |
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_throttle_filter.reset(0.0f); |
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// init limit flags |
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limit.roll_pitch = true; |
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limit.yaw = true; |
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limit.throttle_lower = true; |
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limit.throttle_upper = true; |
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}; |
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void AP_Motors::armed(bool arm) |
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{ |
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_flags.armed = arm; |
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AP_Notify::flags.armed = arm; |
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}; |
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/* |
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write to an output channel |
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*/ |
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void AP_Motors::rc_write(uint8_t chan, uint16_t pwm) |
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{ |
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if (_motor_map_mask & (1U<<chan)) { |
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// we have a mapped motor number for this channel |
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chan = _motor_map[chan]; |
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} |
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hal.rcout->write(chan, pwm); |
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} |
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/* |
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set frequency of a set of channels |
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*/ |
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void AP_Motors::rc_set_freq(uint32_t mask, uint16_t freq_hz) |
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{ |
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hal.rcout->set_freq(rc_map_mask(mask), freq_hz); |
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} |
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void AP_Motors::rc_enable_ch(uint8_t chan) |
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{ |
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if (_motor_map_mask & (1U<<chan)) { |
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// we have a mapped motor number for this channel |
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chan = _motor_map[chan]; |
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} |
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hal.rcout->enable_ch(chan); |
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} |
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/* |
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map an internal motor mask to real motor mask |
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*/ |
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uint32_t AP_Motors::rc_map_mask(uint32_t mask) const |
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{ |
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uint32_t mask2 = 0; |
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for (uint8_t i=0; i<32; i++) { |
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uint32_t bit = 1UL<<i; |
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if (mask & bit) { |
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if (_motor_map_mask & bit) { |
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// we have a mapped motor number for this channel |
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mask2 |= (1UL << _motor_map[i]); |
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} else { |
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mask2 |= bit; |
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} |
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} |
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} |
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return mask2; |
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}
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