You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
122 lines
3.4 KiB
122 lines
3.4 KiB
#pragma once |
|
|
|
#include "AP_HAL_F4Light_Namespace.h" |
|
#include <timer.h> |
|
|
|
|
|
#include <AP_HAL/RCOutput.h> |
|
|
|
#include "AP_HAL_F4Light.h" |
|
#include "GPIO.h" |
|
#include <AP_HAL/HAL.h> |
|
|
|
|
|
#define PWM_IGNORE_THIS_CHANNEL 1 |
|
|
|
#define F4Light_MAX_OUTPUT_CHANNELS 12 // motors and servos |
|
|
|
|
|
enum BOARD_PWM_MODES { |
|
BOARD_PWM_NORMAL=0, |
|
BOARD_PWM_ONESHOT, |
|
BOARD_PWM_ONESHOT125, |
|
BOARD_PWM_BRUSHED, |
|
BOARD_PWM_ONESHOT42, |
|
BOARD_PWM_PWM125, |
|
}; |
|
|
|
#define MOTORID1 0 |
|
#define MOTORID2 1 |
|
#define MOTORID3 2 |
|
#define MOTORID4 3 |
|
#define MOTORID5 4 |
|
#define MOTORID6 5 |
|
#define MOTORID7 6 |
|
#define MOTORID8 7 |
|
#define MOTORID9 8 |
|
#define MOTORID10 9 |
|
#define MOTORID11 10 |
|
#define MOTORID12 11 |
|
|
|
|
|
class F4Light::RCOutput : public AP_HAL::RCOutput { |
|
public: |
|
void init() override; |
|
void set_freq(uint32_t chmask, uint16_t freq_hz) override; |
|
uint16_t get_freq(uint8_t ch) override; |
|
void enable_ch(uint8_t ch) override; |
|
void disable_ch(uint8_t ch) override; |
|
void write(uint8_t ch, uint16_t period_us) override; |
|
void write(uint8_t ch, uint16_t* period_us, uint8_t len); |
|
uint16_t read(uint8_t ch) override; |
|
void read(uint16_t* period_us, uint8_t len) override; |
|
|
|
void cork() override{ _corked = true; } |
|
void push() override; |
|
|
|
static void lateInit(); // 2nd stage with loaded parameters |
|
|
|
void set_output_mode(uint16_t mask, enum output_mode mode) override { _set_output_mode(mode); }; |
|
|
|
static void _set_output_mode(enum output_mode mode); |
|
|
|
static void do_4way_if(AP_HAL::UARTDriver* uart); |
|
/* can be overrided |
|
void set_safety_pwm(uint32_t chmask, uint16_t period_us) override; |
|
void set_failsafe_pwm(uint32_t chmask, uint16_t period_us) override; |
|
bool force_safety_on(void) override; |
|
void force_safety_off(void) override; |
|
void force_safety_no_wait(void) override; |
|
void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override { |
|
_esc_pwm_min = min_pwm; |
|
_esc_pwm_max = max_pwm; |
|
} |
|
|
|
void _timer_tick(void); |
|
bool enable_sbus_out(uint16_t rate_hz) override; |
|
*/ |
|
|
|
static uint32_t inline _timer_period(uint16_t speed_hz, const timer_dev *dev) { |
|
return (uint32_t)((float)(dev->state->freq + speed_hz/2) / speed_hz); |
|
} |
|
|
|
|
|
private: |
|
static void InitPWM(void); |
|
static void set_pwm(uint8_t ch, uint16_t pwm); |
|
static uint16_t _period[F4Light_MAX_OUTPUT_CHANNELS]; |
|
static uint16_t _freq[F4Light_MAX_OUTPUT_CHANNELS]; |
|
static void _set_pin_output_mode(uint8_t ch); |
|
|
|
static bool is_servo_enabled(uint8_t ch); |
|
|
|
static void init_channel(uint8_t ch); |
|
static void init_channels(); |
|
|
|
static uint16_t _enabled_channels; |
|
static bool _sbus_enabled; |
|
static bool _corked; |
|
static void _init_alt_channels() {}// we don't has channels more than 8 |
|
static uint8_t _used_channels; |
|
static enum BOARD_PWM_MODES _mode; |
|
static bool _once_mode; |
|
static uint8_t _servo_mask; |
|
|
|
static uint8_t _initialized[F4Light_MAX_OUTPUT_CHANNELS]; |
|
|
|
//static uint32_t _timer_frequency[F4Light_MAX_OUTPUT_CHANNELS]; |
|
|
|
static void _timer3_isr_event(TIM_TypeDef*); |
|
|
|
static uint32_t _timer2_preload; |
|
static uint16_t _timer3_preload; |
|
|
|
static uint8_t _pwm_type; |
|
// static float _freq_scale; |
|
|
|
static const timer_dev* out_timers[16]; // array of timers, used to rc_out |
|
static uint8_t num_out_timers; |
|
|
|
static void fill_timers(); |
|
}; |
|
|
|
|