mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-02 17:00:34 +08:00
Daniel Agar
141 lines
5.0 KiB
C
141 lines
5.0 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2017-2022 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file DShot servo output interface.
|
|
*
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <px4_platform_common/defines.h>
|
|
|
|
#include <stdint.h>
|
|
#include <sys/ioctl.h>
|
|
#include <board_config.h>
|
|
|
|
#include "drv_orb_dev.h"
|
|
|
|
__BEGIN_DECLS
|
|
|
|
typedef enum {
|
|
DShot_cmd_motor_stop = 0,
|
|
DShot_cmd_beacon1,
|
|
DShot_cmd_beacon2,
|
|
DShot_cmd_beacon3,
|
|
DShot_cmd_beacon4,
|
|
DShot_cmd_beacon5,
|
|
DShot_cmd_esc_info, // V2 includes settings
|
|
DShot_cmd_spin_direction_1,
|
|
DShot_cmd_spin_direction_2,
|
|
DShot_cmd_3d_mode_off,
|
|
DShot_cmd_3d_mode_on,
|
|
DShot_cmd_settings_request, // Currently not implemented
|
|
DShot_cmd_save_settings,
|
|
DShot_cmd_spin_direction_normal = 20,
|
|
DShot_cmd_spin_direction_reversed = 21,
|
|
DShot_cmd_led0_on, // BLHeli32 only
|
|
DShot_cmd_led1_on, // BLHeli32 only
|
|
DShot_cmd_led2_on, // BLHeli32 only
|
|
DShot_cmd_led3_on, // BLHeli32 only
|
|
DShot_cmd_led0_off, // BLHeli32 only
|
|
DShot_cmd_led1_off, // BLHeli32 only
|
|
DShot_cmd_led2_off, // BLHeli32 only
|
|
DShot_cmd_led4_off, // BLHeli32 only
|
|
DShot_cmd_audio_stream_mode_on_off = 30, // KISS audio Stream mode on/off
|
|
DShot_cmd_silent_mode_on_off = 31, // KISS silent Mode on/off
|
|
DShot_cmd_signal_line_telemetry_disable = 32,
|
|
DShot_cmd_signal_line_continuous_erpm_telemetry = 33,
|
|
DShot_cmd_MAX = 47, // >47 are throttle values
|
|
DShot_cmd_MIN_throttle = 48,
|
|
DShot_cmd_MAX_throttle = 2047
|
|
} dshot_command_t;
|
|
|
|
|
|
/**
|
|
* Intialise the Dshot outputs using the specified configuration.
|
|
*
|
|
* @param channel_mask Bitmask of channels (LSB = channel 0) to enable.
|
|
* This allows some of the channels to remain configured
|
|
* as GPIOs or as another function. Already used channels/timers will not be configured as DShot
|
|
* @param dshot_pwm_freq Frequency of DSHOT signal. Usually DSHOT150, DSHOT300, DSHOT600 or DSHOT1200
|
|
* @return <0 on error, the initialized channels mask.
|
|
*/
|
|
__EXPORT extern int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq);
|
|
|
|
/**
|
|
* Set Dshot motor data, used by up_dshot_motor_data_set() and up_dshot_motor_command() (internal method)
|
|
*/
|
|
__EXPORT extern void dshot_motor_data_set(unsigned motor_number, uint16_t throttle, bool telemetry);
|
|
|
|
/**
|
|
* Set the current dshot throttle value for a channel (motor).
|
|
*
|
|
* @param channel The channel to set.
|
|
* @param throttle The output dshot throttle value in [0 = DSHOT_DISARM_VALUE, 1 = DSHOT_MIN_THROTTLE, 1999 = DSHOT_MAX_THROTTLE].
|
|
* @param telemetry If true, request telemetry from that motor
|
|
*/
|
|
static inline void up_dshot_motor_data_set(unsigned channel, uint16_t throttle, bool telemetry)
|
|
{
|
|
dshot_motor_data_set(channel, throttle + DShot_cmd_MIN_throttle, telemetry);
|
|
}
|
|
|
|
/**
|
|
* Send DShot command to a channel (motor).
|
|
*
|
|
* @param channel The channel to set.
|
|
* @param command dshot_command_t
|
|
* @param telemetry If true, request telemetry from that motor
|
|
*/
|
|
static inline void up_dshot_motor_command(unsigned channel, uint16_t command, bool telemetry)
|
|
{
|
|
dshot_motor_data_set(channel, command, telemetry);
|
|
}
|
|
|
|
/**
|
|
* Trigger dshot data transfer.
|
|
*/
|
|
__EXPORT extern void up_dshot_trigger(void);
|
|
|
|
/**
|
|
* Arm or disarm dshot outputs (This will enable/disable complete timer for safety purpose.).
|
|
*
|
|
* When disarmed, dshot output no pulse.
|
|
*
|
|
* @param armed If true, outputs are armed; if false they
|
|
* are disarmed.
|
|
*/
|
|
__EXPORT extern int up_dshot_arm(bool armed);
|
|
|
|
__END_DECLS
|