#include <RCOutput.h>

Inheritance diagram for AP_HAL::RCOutput:

Public Types
enum	output_mode { MODE_PWM_NONE, MODE_PWM_NORMAL, MODE_PWM_ONESHOT, MODE_PWM_ONESHOT125, MODE_PWM_BRUSHED, MODE_PWM_DSHOT150, MODE_PWM_DSHOT300, MODE_PWM_DSHOT600, MODE_PWM_DSHOT1200 }

Public Member Functions
virtual void	init ()=0

virtual void	set_freq (uint32_t chmask, uint16_t freq_hz)=0

virtual uint16_t	get_freq (uint8_t ch)=0

virtual void	enable_ch (uint8_t ch)=0

virtual void	disable_ch (uint8_t ch)=0

virtual void	write (uint8_t ch, uint16_t period_us)=0

virtual void	cork ()=0

virtual void	push ()=0

virtual uint16_t	read (uint8_t ch)=0

virtual void	read (uint16_t *period_us, uint8_t len)=0

virtual uint16_t	read_last_sent (uint8_t ch)

virtual void	read_last_sent (uint16_t *period_us, uint8_t len)

virtual void	set_safety_pwm (uint32_t chmask, uint16_t period_us)

virtual void	set_failsafe_pwm (uint32_t chmask, uint16_t period_us)

virtual bool	force_safety_on (void)

virtual void	force_safety_off (void)

virtual void	force_safety_no_wait (void)

virtual void	set_esc_scaling (uint16_t min_pwm, uint16_t max_pwm)

virtual bool	get_esc_scaling (uint16_t &min_pwm, uint16_t &max_pwm)

virtual float	scale_esc_to_unity (uint16_t pwm)

virtual bool	enable_px4io_sbus_out (uint16_t rate_hz)

virtual void	timer_tick (void)

virtual bool	serial_setup_output (uint8_t chan, uint32_t baudrate)

virtual bool	serial_write_bytes (const uint8_t *bytes, uint16_t len)

virtual uint16_t	serial_read_bytes (uint8_t *buf, uint16_t len)

virtual void	serial_end (void)

virtual void	set_output_mode (uint16_t mask, enum output_mode mode)

virtual void	set_default_rate (uint16_t rate_hz)

virtual void	set_telem_request_mask (uint16_t mask)

Detailed Description

Definition at line 34 of file RCOutput.h.

Member Enumeration Documentation

◆ output_mode

enum AP_HAL::RCOutput::output_mode

Enumerator
MODE_PWM_NONE
MODE_PWM_NORMAL
MODE_PWM_ONESHOT
MODE_PWM_ONESHOT125
MODE_PWM_BRUSHED
MODE_PWM_DSHOT150
MODE_PWM_DSHOT300
MODE_PWM_DSHOT600
MODE_PWM_DSHOT1200

Definition at line 169 of file RCOutput.h.

Member Function Documentation

◆ cork()

virtual void AP_HAL::RCOutput::cork ( )

pure virtual

Implemented in ap::RCOutput_Tap, Linux::RCOutput_Bebop, Linux::RCOutput_AeroIO, F4Light::RCOutput, ChibiOS::RCOutput, PX4::PX4RCOutput, Linux::RCOutput_AioPRU, VRBRAIN::VRBRAINRCOutput, Linux::RCOutput_Disco, Linux::RCOutput_PCA9685, Linux::RCOutput_PRU, Linux::RCOutput_Sysfs, Linux::RCOutput_ZYNQ, HALSITL::RCOutput, and Empty::RCOutput.

Referenced by SRV_Channels::cork().

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◆ disable_ch()

virtual void AP_HAL::RCOutput::disable_ch ( uint8_t ch )

pure virtual

Implemented in Linux::RCOutput_Bebop, ap::RCOutput_Tap, F4Light::RCOutput, Linux::RCOutput_AeroIO, ChibiOS::RCOutput, Linux::RCOutput_AioPRU, Linux::RCOutput_PCA9685, Linux::RCOutput_Disco, Linux::RCOutput_PRU, Linux::RCOutput_Sysfs, PX4::PX4RCOutput, VRBRAIN::VRBRAINRCOutput, Linux::RCOutput_ZYNQ, HALSITL::RCOutput, and Empty::RCOutput.

◆ enable_ch()

virtual void AP_HAL::RCOutput::enable_ch ( uint8_t ch )

pure virtual

Implemented in Linux::RCOutput_Bebop, ap::RCOutput_Tap, F4Light::RCOutput, Linux::RCOutput_AeroIO, ChibiOS::RCOutput, Linux::RCOutput_AioPRU, Linux::RCOutput_PCA9685, Linux::RCOutput_Disco, Linux::RCOutput_PRU, Linux::RCOutput_Sysfs, PX4::PX4RCOutput, VRBRAIN::VRBRAINRCOutput, Linux::RCOutput_ZYNQ, HALSITL::RCOutput, and Empty::RCOutput.

Referenced by SRV_Channels::enable_aux_servos(), SRV_Channels::enable_by_mask(), RCOutputRGBLed::hw_init(), RC_UART::loop(), and setup().

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◆ enable_px4io_sbus_out()

virtual bool AP_HAL::RCOutput::enable_px4io_sbus_out ( uint16_t rate_hz )

inlinevirtual

Reimplemented in ChibiOS::RCOutput, PX4::PX4RCOutput, and VRBRAIN::VRBRAINRCOutput.

Definition at line 126 of file RCOutput.h.

Referenced by AP_BoardConfig::board_setup_sbus().

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◆ force_safety_no_wait()

virtual void AP_HAL::RCOutput::force_safety_no_wait ( void )

inlinevirtual

Reimplemented in PX4::PX4RCOutput, and VRBRAIN::VRBRAINRCOutput.

Definition at line 103 of file RCOutput.h.

Referenced by AP_BoardConfig::board_init_safety(), GCS_MAVLINK::handle_preflight_reboot(), VRBRAIN::VRBRAINScheduler::reboot(), PX4::PX4Scheduler::reboot(), and ChibiOS::Scheduler::reboot().

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◆ force_safety_off()

virtual void AP_HAL::RCOutput::force_safety_off ( void )

inlinevirtual

Reimplemented in ChibiOS::RCOutput, PX4::PX4RCOutput, and VRBRAIN::VRBRAINRCOutput.

Definition at line 98 of file RCOutput.h.

Referenced by GCS_MAVLINK::_set_mode_common(), AP_BoardConfig::board_init_safety(), and RC_UART::loop().

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◆ force_safety_on()

virtual bool AP_HAL::RCOutput::force_safety_on ( void )

inlinevirtual

Reimplemented in ChibiOS::RCOutput, PX4::PX4RCOutput, and VRBRAIN::VRBRAINRCOutput.

Definition at line 93 of file RCOutput.h.

Referenced by GCS_MAVLINK::_set_mode_common(), GCS_MAVLINK::handle_preflight_reboot(), PX4::PX4Scheduler::reboot(), VRBRAIN::VRBRAINScheduler::reboot(), and ChibiOS::Scheduler::reboot().

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◆ get_esc_scaling()

virtual bool AP_HAL::RCOutput::get_esc_scaling	(	uint16_t &	min_pwm,
		uint16_t &	max_pwm
	)

inlinevirtual

Reimplemented in ChibiOS::RCOutput, and PX4::PX4RCOutput.

Definition at line 116 of file RCOutput.h.

◆ get_freq()

virtual uint16_t AP_HAL::RCOutput::get_freq ( uint8_t ch )

pure virtual

Implemented in Linux::RCOutput_Bebop, ap::RCOutput_Tap, Linux::RCOutput_AeroIO, F4Light::RCOutput, ChibiOS::RCOutput, Linux::RCOutput_AioPRU, Linux::RCOutput_PCA9685, Linux::RCOutput_Disco, Linux::RCOutput_PRU, Linux::RCOutput_Sysfs, PX4::PX4RCOutput, VRBRAIN::VRBRAINRCOutput, Linux::RCOutput_ZYNQ, HALSITL::RCOutput, and Empty::RCOutput.

Referenced by RCOutputRGBLed::hw_set_rgb().

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◆ init()

virtual void AP_HAL::RCOutput::init ( )

pure virtual

Implemented in Linux::RCOutput_Bebop, ap::RCOutput_Tap, F4Light::RCOutput, Linux::RCOutput_AeroIO, ChibiOS::RCOutput, Linux::RCOutput_AioPRU, Linux::RCOutput_PCA9685, Linux::RCOutput_Disco, Linux::RCOutput_PRU, Linux::RCOutput_Sysfs, PX4::PX4RCOutput, VRBRAIN::VRBRAINRCOutput, Linux::RCOutput_ZYNQ, HALSITL::RCOutput, and Empty::RCOutput.

Referenced by AP_BoardConfig::board_setup(), AP_BoardConfig::px4_setup_peripherals(), HAL_Linux::run(), HAL_SITL::run(), and HAL_F4Light::run().

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◆ push()

virtual void AP_HAL::RCOutput::push ( )

pure virtual

Implemented in ap::RCOutput_Tap, Linux::RCOutput_Bebop, Linux::RCOutput_AeroIO, F4Light::RCOutput, ChibiOS::RCOutput, PX4::PX4RCOutput, Linux::RCOutput_AioPRU, VRBRAIN::VRBRAINRCOutput, Linux::RCOutput_Disco, Linux::RCOutput_PCA9685, Linux::RCOutput_PRU, Linux::RCOutput_Sysfs, Linux::RCOutput_ZYNQ, HALSITL::RCOutput, and Empty::RCOutput.

Referenced by SRV_Channels::push().

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◆ read() [1/2]

virtual uint16_t AP_HAL::RCOutput::read ( uint8_t ch )

pure virtual

Implemented in Linux::RCOutput_AeroIO, Linux::RCOutput_Bebop, ap::RCOutput_Tap, F4Light::RCOutput, ChibiOS::RCOutput, Linux::RCOutput_AioPRU, Linux::RCOutput_PCA9685, Linux::RCOutput_Disco, Linux::RCOutput_PRU, Linux::RCOutput_Sysfs, PX4::PX4RCOutput, VRBRAIN::VRBRAINRCOutput, Linux::RCOutput_ZYNQ, HALSITL::RCOutput, and Empty::RCOutput.

Referenced by DataFlash_Class::Log_Write_RCOUT(), read_last_sent(), GCS_MAVLINK::send_servo_output_raw(), and stability_test().

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◆ read() [2/2]

virtual void AP_HAL::RCOutput::read	(	uint16_t *	period_us,
		uint8_t	len
	)

pure virtual

Implemented in Linux::RCOutput_AeroIO, Linux::RCOutput_Bebop, ap::RCOutput_Tap, F4Light::RCOutput, ChibiOS::RCOutput, Linux::RCOutput_AioPRU, Linux::RCOutput_PCA9685, Linux::RCOutput_Disco, Linux::RCOutput_PRU, Linux::RCOutput_Sysfs, PX4::PX4RCOutput, VRBRAIN::VRBRAINRCOutput, Linux::RCOutput_ZYNQ, HALSITL::RCOutput, and Empty::RCOutput.

◆ read_last_sent() [1/2]

virtual uint16_t AP_HAL::RCOutput::read_last_sent ( uint8_t ch )

inlinevirtual

Reimplemented in ChibiOS::RCOutput, PX4::PX4RCOutput, and VRBRAIN::VRBRAINRCOutput.

Definition at line 74 of file RCOutput.h.

Referenced by SRV_Channels::limit_slew_rate(), and Compass_PerMotor::scaled_output().

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◆ read_last_sent() [2/2]

virtual void AP_HAL::RCOutput::read_last_sent	(	uint16_t *	period_us,
		uint8_t	len
	)

inlinevirtual

Reimplemented in ChibiOS::RCOutput, PX4::PX4RCOutput, and VRBRAIN::VRBRAINRCOutput.

Definition at line 75 of file RCOutput.h.

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◆ scale_esc_to_unity()

virtual float AP_HAL::RCOutput::scale_esc_to_unity ( uint16_t pwm )

inlinevirtual

Reimplemented in ChibiOS::RCOutput, PX4::PX4RCOutput, and VRBRAIN::VRBRAINRCOutput.

Definition at line 121 of file RCOutput.h.

Referenced by Compass_PerMotor::scaled_output().

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◆ serial_end()

virtual void AP_HAL::RCOutput::serial_end ( void )

inlinevirtual

Reimplemented in ChibiOS::RCOutput.

Definition at line 164 of file RCOutput.h.

◆ serial_read_bytes()

virtual uint16_t AP_HAL::RCOutput::serial_read_bytes	(	uint8_t *	buf,
		uint16_t	len
	)

inlinevirtual

Reimplemented in ChibiOS::RCOutput.

Definition at line 157 of file RCOutput.h.

◆ serial_setup_output()

virtual bool AP_HAL::RCOutput::serial_setup_output	(	uint8_t	chan,
		uint32_t	baudrate
	)

inlinevirtual

Reimplemented in ChibiOS::RCOutput.

Definition at line 145 of file RCOutput.h.

◆ serial_write_bytes()

virtual bool AP_HAL::RCOutput::serial_write_bytes	(	const uint8_t *	bytes,
		uint16_t	len
	)

inlinevirtual

Reimplemented in ChibiOS::RCOutput.

Definition at line 151 of file RCOutput.h.

◆ set_default_rate()

virtual void AP_HAL::RCOutput::set_default_rate ( uint16_t rate_hz )

inlinevirtual

Reimplemented in ChibiOS::RCOutput, PX4::PX4RCOutput, and VRBRAIN::VRBRAINRCOutput.

Definition at line 185 of file RCOutput.h.

Referenced by SRV_Channels::enable_aux_servos().

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◆ set_esc_scaling()

virtual void AP_HAL::RCOutput::set_esc_scaling	(	uint16_t	min_pwm,
		uint16_t	max_pwm
	)

inlinevirtual

Reimplemented in Linux::RCOutput_Bebop, ap::RCOutput_Tap, ChibiOS::RCOutput, Linux::RCOutput_Disco, PX4::PX4RCOutput, and VRBRAIN::VRBRAINRCOutput.

Definition at line 111 of file RCOutput.h.

Referenced by Linux::RCOutput_Disco::set_esc_scaling(), SRV_Channels::set_esc_scaling_for(), and AP_MotorsMulticopter::set_throttle_range().

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◆ set_failsafe_pwm()

virtual void AP_HAL::RCOutput::set_failsafe_pwm	(	uint32_t	chmask,
		uint16_t	period_us
	)

inlinevirtual

Reimplemented in PX4::PX4RCOutput, and VRBRAIN::VRBRAINRCOutput.

Definition at line 86 of file RCOutput.h.

Referenced by SRV_Channels::set_failsafe_limit(), SRV_Channels::set_failsafe_pwm(), and SRV_Channels::setup_failsafe_trim_all().

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◆ set_freq()

virtual void AP_HAL::RCOutput::set_freq	(	uint32_t	chmask,
		uint16_t	freq_hz
	)

pure virtual

Implemented in Linux::RCOutput_Bebop, ap::RCOutput_Tap, Linux::RCOutput_AeroIO, F4Light::RCOutput, ChibiOS::RCOutput, Linux::RCOutput_AioPRU, Linux::RCOutput_PCA9685, Linux::RCOutput_Disco, Linux::RCOutput_PRU, Linux::RCOutput_Sysfs, PX4::PX4RCOutput, VRBRAIN::VRBRAINRCOutput, Linux::RCOutput_ZYNQ, HALSITL::RCOutput, and Empty::RCOutput.

Referenced by drive(), RCOutputRGBLed::hw_set_rgb(), AP_Motors::rc_set_freq(), SRV_Channels::set_rc_frequency(), and RC_UART::setup().

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◆ set_output_mode()

virtual void AP_HAL::RCOutput::set_output_mode	(	uint16_t	mask,
		enum output_mode	mode
	)

inlinevirtual

Reimplemented in F4Light::RCOutput, ChibiOS::RCOutput, PX4::PX4RCOutput, and VRBRAIN::VRBRAINRCOutput.

Definition at line 180 of file RCOutput.h.

Referenced by AP_Motors::rc_set_freq().

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◆ set_safety_pwm()

virtual void AP_HAL::RCOutput::set_safety_pwm	(	uint32_t	chmask,
		uint16_t	period_us
	)

inlinevirtual

Reimplemented in ChibiOS::RCOutput, PX4::PX4RCOutput, and VRBRAIN::VRBRAINRCOutput.

Definition at line 81 of file RCOutput.h.

Referenced by SRV_Channels::set_safety_limit().

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◆ set_telem_request_mask()

virtual void AP_HAL::RCOutput::set_telem_request_mask ( uint16_t mask )

inlinevirtual

Reimplemented in ChibiOS::RCOutput.

Definition at line 191 of file RCOutput.h.

◆ timer_tick()

virtual void AP_HAL::RCOutput::timer_tick ( void )

inlinevirtual

Reimplemented in ChibiOS::RCOutput, PX4::PX4RCOutput, and VRBRAIN::VRBRAINRCOutput.

Definition at line 132 of file RCOutput.h.

Referenced by VRBRAIN::VRBRAINScheduler::_timer_thread(), PX4::PX4Scheduler::_timer_thread(), and ChibiOS::Scheduler::_timer_thread().

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◆ write()

virtual void AP_HAL::RCOutput::write	(	uint8_t	ch,
		uint16_t	period_us
	)

pure virtual

Implemented in Linux::RCOutput_Bebop, ap::RCOutput_Tap, Linux::RCOutput_AeroIO, F4Light::RCOutput, ChibiOS::RCOutput, Linux::RCOutput_AioPRU, Linux::RCOutput_PCA9685, Linux::RCOutput_Disco, Linux::RCOutput_PRU, Linux::RCOutput_Sysfs, PX4::PX4RCOutput, VRBRAIN::VRBRAINRCOutput, Linux::RCOutput_ZYNQ, HALSITL::RCOutput, and Empty::RCOutput.

Referenced by drive(), loop(), RC_UART::loop(), and SRV_Channel::output_ch().

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The documentation for this class was generated from the following file:

libraries/AP_HAL/RCOutput.h

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ output_mode

Member Function Documentation

◆ cork()

◆ disable_ch()

◆ enable_ch()

◆ enable_px4io_sbus_out()

◆ force_safety_no_wait()

◆ force_safety_off()

◆ force_safety_on()

◆ get_esc_scaling()

◆ get_freq()

◆ init()

◆ push()

◆ read() [1/2]

◆ read() [2/2]

◆ read_last_sent() [1/2]

◆ read_last_sent() [2/2]

◆ scale_esc_to_unity()

◆ serial_end()

◆ serial_read_bytes()

◆ serial_setup_output()

◆ serial_write_bytes()

◆ set_default_rate()

◆ set_esc_scaling()

◆ set_failsafe_pwm()

◆ set_freq()

◆ set_output_mode()

◆ set_safety_pwm()

◆ set_telem_request_mask()

◆ timer_tick()

◆ write()