fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-02 14:40:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

delete lib/mixer and mixer_module static mixing

Browse Source
This commit is contained in:
Daniel Agar
2022-08-24 16:50:02 -04:00
parent 0019ffbea6
commit a7bbcd5b04
79 changed files with 219 additions and 6835 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/dshot/DShot.cpp
+57 -73
View File
@@ -47,10 +47,8 @@ DShot::DShot() :
_mixing_output.setAllMinValues(DSHOT_MIN_THROTTLE);
_mixing_output.setAllMaxValues(DSHOT_MAX_THROTTLE);
if (_mixing_output.useDynamicMixing()) {
// Avoid using the PWM failsafe params
_mixing_output.setAllFailsafeValues(UINT16_MAX);
}
// Avoid using the PWM failsafe params
_mixing_output.setAllFailsafeValues(UINT16_MAX);
}
DShot::~DShot()
@@ -64,8 +62,6 @@ DShot::~DShot()
int DShot::init()
{
_mixing_output.setDriverInstance(0);
_output_mask = (1u << _num_outputs) - 1;
// Getting initial parameter values
@@ -102,75 +98,72 @@ int DShot::task_spawn(int argc, char *argv[])
void DShot::enable_dshot_outputs(const bool enabled)
{
if (enabled && !_outputs_initialized) {
if (_mixing_output.useDynamicMixing()) {
unsigned int dshot_frequency = 0;
uint32_t dshot_frequency_param = 0;
unsigned int dshot_frequency = 0;
uint32_t dshot_frequency_param = 0;
for (int timer = 0; timer < MAX_IO_TIMERS; ++timer) {
uint32_t channels = io_timer_get_group(timer);
for (int timer = 0; timer < MAX_IO_TIMERS; ++timer) {
uint32_t channels = io_timer_get_group(timer);
if (channels == 0) {
continue;
}
if (channels == 0) {
continue;
}
char param_name[17];
snprintf(param_name, sizeof(param_name), "%s_TIM%u", _mixing_output.paramPrefix(), timer);
char param_name[17];
snprintf(param_name, sizeof(param_name), "%s_TIM%u", _mixing_output.paramPrefix(), timer);
int32_t tim_config = 0;
param_t handle = param_find(param_name);
param_get(handle, &tim_config);
unsigned int dshot_frequency_request = 0;
int32_t tim_config = 0;
param_t handle = param_find(param_name);
param_get(handle, &tim_config);
unsigned int dshot_frequency_request = 0;
if (tim_config == -5) {
dshot_frequency_request = DSHOT150;
if (tim_config == -5) {
dshot_frequency_request = DSHOT150;
} else if (tim_config == -4) {
dshot_frequency_request = DSHOT300;
} else if (tim_config == -4) {
dshot_frequency_request = DSHOT300;
} else if (tim_config == -3) {
dshot_frequency_request = DSHOT600;
} else if (tim_config == -3) {
dshot_frequency_request = DSHOT600;
} else if (tim_config == -2) {
dshot_frequency_request = DSHOT1200;
} else if (tim_config == -2) {
dshot_frequency_request = DSHOT1200;
} else {
_output_mask &= ~channels; // don't use for dshot
}
if (dshot_frequency_request != 0) {
if (dshot_frequency != 0 && dshot_frequency != dshot_frequency_request) {
PX4_WARN("Only supporting a single frequency, adjusting param %s", param_name);
param_set_no_notification(handle, &dshot_frequency_param);
} else {
_output_mask &= ~channels; // don't use for dshot
}
if (dshot_frequency_request != 0) {
if (dshot_frequency != 0 && dshot_frequency != dshot_frequency_request) {
PX4_WARN("Only supporting a single frequency, adjusting param %s", param_name);
param_set_no_notification(handle, &dshot_frequency_param);
} else {
dshot_frequency = dshot_frequency_request;
dshot_frequency_param = tim_config;
}
dshot_frequency = dshot_frequency_request;
dshot_frequency_param = tim_config;
}
}
}
int ret = up_dshot_init(_output_mask, dshot_frequency);
int ret = up_dshot_init(_output_mask, dshot_frequency);
if (ret < 0) {
PX4_ERR("up_dshot_init failed (%i)", ret);
return;
if (ret < 0) {
PX4_ERR("up_dshot_init failed (%i)", ret);
return;
}
_output_mask = ret;
// disable unused functions
for (unsigned i = 0; i < _num_outputs; ++i) {
if (((1 << i) & _output_mask) == 0) {
_mixing_output.disableFunction(i);
}
}
_output_mask = ret;
// disable unused functions
for (unsigned i = 0; i < _num_outputs; ++i) {
if (((1 << i) & _output_mask) == 0) {
_mixing_output.disableFunction(i);
}
}
if (_output_mask == 0) {
// exit the module if no outputs used
request_stop();
return;
}
if (_output_mask == 0) {
// exit the module if no outputs used
request_stop();
return;
}
_outputs_initialized = true;
@@ -190,17 +183,10 @@ void DShot::update_telemetry_num_motors()
int motor_count = 0;
if (_mixing_output.useDynamicMixing()) {
for (unsigned i = 0; i < _num_outputs; ++i) {
if (_mixing_output.isFunctionSet(i)) {
_telemetry->actuator_functions[motor_count] = (uint8_t)_mixing_output.outputFunction(i);
++motor_count;
}
}
} else {
if (_mixing_output.mixers()) {
motor_count = _mixing_output.mixers()->get_multirotor_count();
for (unsigned i = 0; i < _num_outputs; ++i) {
if (_mixing_output.isFunctionSet(i)) {
_telemetry->actuator_functions[motor_count] = (uint8_t)_mixing_output.outputFunction(i);
++motor_count;
}
}
@@ -449,9 +435,7 @@ bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
_current_command.clear();
}
if (stop_motors || num_control_groups_updated > 0 || _mixing_output.useDynamicMixing()) {
up_dshot_trigger();
}
up_dshot_trigger();
return true;
}
@@ -471,7 +455,7 @@ void DShot::Run()
_mixing_output.update();
// update output status if armed or if mixer is loaded
bool outputs_on = _mixing_output.armed().armed || _mixing_output.initialized();
bool outputs_on = true;
if (_outputs_on != outputs_on) {
enable_dshot_outputs(outputs_on);