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63 lines
2.0 KiB
63 lines
2.0 KiB
#pragma once |
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#include "AP_HAL_PX4.h" |
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#include <systemlib/perf_counter.h> |
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#include <uORB/topics/actuator_outputs.h> |
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#include <uORB/topics/actuator_armed.h> |
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#define PX4_NUM_OUTPUT_CHANNELS 16 |
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class PX4::PX4RCOutput : public AP_HAL::RCOutput |
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{ |
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public: |
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void init() override; |
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void set_freq(uint32_t chmask, uint16_t freq_hz) override; |
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uint16_t get_freq(uint8_t ch) override; |
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void enable_ch(uint8_t ch) override; |
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void disable_ch(uint8_t ch) override; |
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void write(uint8_t ch, uint16_t period_us) override; |
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uint16_t read(uint8_t ch) override; |
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void read(uint16_t* period_us, uint8_t len) override; |
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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_safety_pwm(uint32_t chmask, uint16_t period_us) override; |
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void set_failsafe_pwm(uint32_t chmask, uint16_t period_us) override; |
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bool force_safety_on(void) override; |
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void force_safety_off(void) 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 _timer_tick(void); |
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private: |
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int _pwm_fd; |
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int _alt_fd; |
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uint16_t _freq_hz; |
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uint16_t _period[PX4_NUM_OUTPUT_CHANNELS]; |
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volatile uint8_t _max_channel; |
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volatile bool _need_update; |
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perf_counter_t _perf_rcout; |
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uint32_t _last_output; |
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uint32_t _last_config_us; |
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unsigned _servo_count; |
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unsigned _alt_servo_count; |
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uint32_t _rate_mask; |
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uint16_t _enabled_channels; |
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struct { |
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int pwm_sub; |
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actuator_outputs_s outputs; |
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} _outputs[ORB_MULTI_MAX_INSTANCES] {}; |
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actuator_armed_s _armed; |
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orb_advert_t _actuator_direct_pub = NULL; |
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orb_advert_t _actuator_armed_pub = NULL; |
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uint16_t _esc_pwm_min = 0; |
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uint16_t _esc_pwm_max = 0; |
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void _init_alt_channels(void); |
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void _publish_actuators(void); |
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void _arm_actuators(bool arm); |
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void set_freq_fd(int fd, uint32_t chmask, uint16_t freq_hz); |
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};
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