#include <RCOutput.h>

Inheritance diagram for ChibiOS::RCOutput:

Collaboration diagram for ChibiOS::RCOutput:

Classes
struct	irq_state

struct	pwm_group

Public Member Functions
void	init ()

void	set_freq (uint32_t chmask, uint16_t freq_hz)

uint16_t	get_freq (uint8_t ch)

void	enable_ch (uint8_t ch)

void	disable_ch (uint8_t ch)

void	write (uint8_t ch, uint16_t period_us)

uint16_t	read (uint8_t ch)

void	read (uint16_t *period_us, uint8_t len)

uint16_t	read_last_sent (uint8_t ch) override

void	read_last_sent (uint16_t *period_us, uint8_t len) override

void	set_esc_scaling (uint16_t min_pwm, uint16_t max_pwm) override

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

void	set_output_mode (uint16_t mask, enum output_mode mode) override

float	scale_esc_to_unity (uint16_t pwm) override

void	cork (void) override

void	push (void) override

bool	force_safety_on (void) override

void	force_safety_off (void) override

void	set_safety_pwm (uint32_t chmask, uint16_t period_us) override

bool	enable_px4io_sbus_out (uint16_t rate_hz) override

void	set_default_rate (uint16_t rate_hz) override

void	timer_tick (void) override

bool	setup_serial_output (uint16_t chan_mask, ByteBuffer *buffer, uint32_t baudrate)

bool	serial_setup_output (uint8_t chan, uint32_t baudrate) override

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

uint16_t	serial_read_bytes (uint8_t *buf, uint16_t len) override

void	serial_end (void) override

void	set_telem_request_mask (uint16_t mask)

AP_HAL::Util::safety_state	_safety_switch_state (void)

Public Member Functions inherited from AP_HAL::RCOutput
virtual void	set_failsafe_pwm (uint32_t chmask, uint16_t period_us)

virtual void	force_safety_no_wait (void)

Private Member Functions
void	push_local (void)

void	trigger_groups (void)

void	set_freq_group (pwm_group &group)

void	safety_update (void)

void	dma_allocate (Shared_DMA *ctx)

void	dma_deallocate (Shared_DMA *ctx)

uint16_t	create_dshot_packet (const uint16_t value, bool telem_request)

void	fill_DMA_buffer_dshot (uint32_t *buffer, uint8_t stride, uint16_t packet, uint16_t clockmul)

void	dshot_send (pwm_group &group, bool blocking)

bool	mode_requires_dma (enum output_mode mode) const

bool	setup_group_DMA (pwm_group &group, uint32_t bitrate, uint32_t bit_width, bool active_high)

void	send_pulses_DMAR (pwm_group &group, uint32_t buffer_length)

void	set_group_mode (pwm_group &group)

bool	serial_write_byte (uint8_t b)

bool	serial_read_byte (uint8_t &b)

void	fill_DMA_buffer_byte (uint32_t *buffer, uint8_t stride, uint8_t b, uint32_t bitval)

Static Private Member Functions
static void	dma_irq_callback (void *p, uint32_t flags)

static void	serial_bit_irq (void)

Private Attributes
struct pwm_group *	serial_group

thread_t *	serial_thread

tprio_t	serial_priority

uint16_t	_esc_pwm_min

uint16_t	_esc_pwm_max

uint8_t	chan_offset

uint8_t	num_fmu_channels

uint8_t	active_fmu_channels

uint16_t	last_sent [max_channels]

uint32_t	en_mask

uint16_t	period [max_channels]

uint16_t	safe_pwm [max_channels]

bool	corked

uint16_t	fast_channel_mask

uint16_t	io_fast_channel_mask

uint64_t	min_pulse_trigger_us

mutex_t	trigger_mutex

uint8_t	trigger_groupmask

uint16_t	trigger_widest_pulse

bool	iomcu_oneshot125

AP_HAL::Util::safety_state	safety_state

uint32_t	safety_update_ms

uint8_t	led_counter

int8_t	safety_button_counter

uint16_t	safety_mask

const uint8_t	dshot_post = 6

const uint16_t	dshot_bit_length = 16 + dshot_post

const uint16_t	dshot_buffer_length = dshot_bit_length4sizeof(uint32_t)

uint32_t	dshot_pulse_time_us

uint16_t	telem_request_mask

Static Private Attributes
static struct ChibiOS::RCOutput::irq_state	irq

static pwm_group	pwm_group_list []

static const uint8_t	max_channels = 16

static const eventmask_t	serial_event_mask = EVENT_MASK(1)

Additional Inherited Members
Public Types inherited from AP_HAL::RCOutput
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 }

Detailed Description

Definition at line 26 of file RCOutput.h.

Member Function Documentation

◆ _safety_switch_state()

AP_HAL::Util::safety_state RCOutput::_safety_switch_state ( void )

Definition at line 1274 of file RCOutput.cpp.

Referenced by safety_update(), and set_telem_request_mask().

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◆ cork()

void RCOutput::cork ( void )

overridevirtual

Implements AP_HAL::RCOutput.

Definition at line 677 of file RCOutput.cpp.

Referenced by scale_esc_to_unity().

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◆ create_dshot_packet()

uint16_t RCOutput::create_dshot_packet	(	const uint16_t	value,
		bool	telem_request
	)

private

Definition at line 826 of file RCOutput.cpp.

Referenced by dshot_send().

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◆ disable_ch()

void RCOutput::disable_ch ( uint8_t ch )

virtual

Implements AP_HAL::RCOutput.

Definition at line 280 of file RCOutput.cpp.

◆ dma_allocate()

void RCOutput::dma_allocate ( Shared_DMA * ctx )

private

Definition at line 800 of file RCOutput.cpp.

Referenced by setup_group_DMA().

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◆ dma_deallocate()

void RCOutput::dma_deallocate ( Shared_DMA * ctx )

private

Definition at line 813 of file RCOutput.cpp.

Referenced by setup_group_DMA().

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◆ dma_irq_callback()

void RCOutput::dma_irq_callback	(	void *	p,
		uint32_t	flags
	)

staticprivate

Definition at line 954 of file RCOutput.cpp.

Referenced by dma_allocate().

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◆ dshot_send()

void RCOutput::dshot_send	(	pwm_group &	group,
		bool	blocking
	)

private

Definition at line 866 of file RCOutput.cpp.

Referenced by timer_tick(), and trigger_groups().

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◆ enable_ch()

void RCOutput::enable_ch ( uint8_t ch )

virtual

Implements AP_HAL::RCOutput.

Definition at line 260 of file RCOutput.cpp.

◆ enable_px4io_sbus_out()

bool RCOutput::enable_px4io_sbus_out ( uint16_t rate_hz )

overridevirtual

Reimplemented from AP_HAL::RCOutput.

Definition at line 704 of file RCOutput.cpp.

Referenced by scale_esc_to_unity().

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◆ fill_DMA_buffer_byte()

void RCOutput::fill_DMA_buffer_byte	(	uint32_t *	buffer,
		uint8_t	stride,
		uint8_t	b,
		uint32_t	bitval
	)

private

Definition at line 1041 of file RCOutput.cpp.

Referenced by serial_write_byte().

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◆ fill_DMA_buffer_dshot()

void RCOutput::fill_DMA_buffer_dshot	(	uint32_t *	buffer,
		uint8_t	stride,
		uint16_t	packet,
		uint16_t	clockmul
	)

private

Definition at line 851 of file RCOutput.cpp.

Referenced by dshot_send().

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◆ force_safety_off()

void RCOutput::force_safety_off ( void )

overridevirtual

Reimplemented from AP_HAL::RCOutput.

Definition at line 1303 of file RCOutput.cpp.

Referenced by scale_esc_to_unity().

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◆ force_safety_on()

bool RCOutput::force_safety_on ( void )

overridevirtual

Reimplemented from AP_HAL::RCOutput.

Definition at line 1287 of file RCOutput.cpp.

Referenced by scale_esc_to_unity().

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◆ get_esc_scaling()

bool ChibiOS::RCOutput::get_esc_scaling	(	uint16_t &	min_pwm,
		uint16_t &	max_pwm
	)

inlineoverridevirtual

Reimplemented from AP_HAL::RCOutput.

Definition at line 42 of file RCOutput.h.

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◆ get_freq()

uint16_t RCOutput::get_freq ( uint8_t ch )

virtual

Implements AP_HAL::RCOutput.

Definition at line 236 of file RCOutput.cpp.

◆ init()

void RCOutput::init ( void )

virtual

Implements AP_HAL::RCOutput.

Definition at line 49 of file RCOutput.cpp.

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◆ mode_requires_dma()

bool RCOutput::mode_requires_dma ( enum output_mode mode ) const

private

Definition at line 477 of file RCOutput.cpp.

Referenced by set_freq_group(), and set_output_mode().

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◆ push()

void RCOutput::push ( void )

overridevirtual

Implements AP_HAL::RCOutput.

Definition at line 690 of file RCOutput.cpp.

Referenced by scale_esc_to_unity().

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◆ push_local()

void RCOutput::push_local ( void )

private

Definition at line 344 of file RCOutput.cpp.

Referenced by push(), and write().

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◆ read() [1/2]

uint16_t RCOutput::read ( uint8_t ch )

virtual

Implements AP_HAL::RCOutput.

Definition at line 423 of file RCOutput.cpp.

◆ read() [2/2]

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

virtual

Implements AP_HAL::RCOutput.

Definition at line 437 of file RCOutput.cpp.

◆ read_last_sent() [1/2]

uint16_t RCOutput::read_last_sent ( uint8_t ch )

overridevirtual

Reimplemented from AP_HAL::RCOutput.

Definition at line 456 of file RCOutput.cpp.

Referenced by read_last_sent().

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◆ read_last_sent() [2/2]

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

overridevirtual

Reimplemented from AP_HAL::RCOutput.

Definition at line 464 of file RCOutput.cpp.

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◆ safety_update()

void RCOutput::safety_update ( void )

private

Definition at line 1335 of file RCOutput.cpp.

Referenced by timer_tick().

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◆ scale_esc_to_unity()

float ChibiOS::RCOutput::scale_esc_to_unity ( uint16_t pwm )

inlineoverridevirtual

Reimplemented from AP_HAL::RCOutput.

Definition at line 49 of file RCOutput.h.

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◆ send_pulses_DMAR()

void RCOutput::send_pulses_DMAR	(	pwm_group &	group,
		uint32_t	buffer_length
	)

private

Definition at line 920 of file RCOutput.cpp.

Referenced by dshot_send(), and serial_write_byte().

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◆ serial_bit_irq()

void RCOutput::serial_bit_irq ( void )

staticprivate

Definition at line 1111 of file RCOutput.cpp.

Referenced by serial_read_bytes().

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◆ serial_end()

void RCOutput::serial_end ( void )

overridevirtual

Reimplemented from AP_HAL::RCOutput.

Definition at line 1251 of file RCOutput.cpp.

Referenced by scale_esc_to_unity(), and serial_setup_output().

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◆ serial_read_byte()

bool RCOutput::serial_read_byte ( uint8_t & b )

private

Definition at line 1165 of file RCOutput.cpp.

Referenced by serial_read_bytes().

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◆ serial_read_bytes()

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

overridevirtual

Reimplemented from AP_HAL::RCOutput.

Definition at line 1192 of file RCOutput.cpp.

Referenced by scale_esc_to_unity().

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◆ serial_setup_output()

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

overridevirtual

Reimplemented from AP_HAL::RCOutput.

Definition at line 977 of file RCOutput.cpp.

Referenced by scale_esc_to_unity().

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◆ serial_write_byte()

bool RCOutput::serial_write_byte ( uint8_t b )

private

Definition at line 1063 of file RCOutput.cpp.

Referenced by serial_write_bytes().

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◆ serial_write_bytes()

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

overridevirtual

Reimplemented from AP_HAL::RCOutput.

Definition at line 1085 of file RCOutput.cpp.

Referenced by scale_esc_to_unity().

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◆ set_default_rate()

void RCOutput::set_default_rate ( uint16_t rate_hz )

overridevirtual

Reimplemented from AP_HAL::RCOutput.

Definition at line 216 of file RCOutput.cpp.

Referenced by scale_esc_to_unity().

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◆ set_esc_scaling()

void ChibiOS::RCOutput::set_esc_scaling	(	uint16_t	min_pwm,
		uint16_t	max_pwm
	)

inlineoverridevirtual

Reimplemented from AP_HAL::RCOutput.

Definition at line 38 of file RCOutput.h.

◆ set_freq()

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

virtual

Implements AP_HAL::RCOutput.

Definition at line 163 of file RCOutput.cpp.

Referenced by init().

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◆ set_freq_group()

void RCOutput::set_freq_group ( pwm_group & group )

private

Definition at line 92 of file RCOutput.cpp.

Referenced by serial_end(), set_freq(), and set_group_mode().

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◆ set_group_mode()

void RCOutput::set_group_mode ( pwm_group & group )

private

Definition at line 573 of file RCOutput.cpp.

Referenced by serial_end(), and set_output_mode().

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◆ set_output_mode()

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

overridevirtual

Reimplemented from AP_HAL::RCOutput.

Definition at line 641 of file RCOutput.cpp.

Referenced by get_esc_scaling().

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◆ set_safety_pwm()

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

overridevirtual

Reimplemented from AP_HAL::RCOutput.

Definition at line 1318 of file RCOutput.cpp.

Referenced by scale_esc_to_unity().

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◆ set_telem_request_mask()

void ChibiOS::RCOutput::set_telem_request_mask ( uint16_t mask )

inlinevirtual

Reimplemented from AP_HAL::RCOutput.

Definition at line 128 of file RCOutput.h.

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◆ setup_group_DMA()

bool RCOutput::setup_group_DMA	(	pwm_group &	group,
		uint32_t	bitrate,
		uint32_t	bit_width,
		bool	active_high
	)

private

Definition at line 497 of file RCOutput.cpp.

Referenced by serial_setup_output(), and set_group_mode().

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◆ setup_serial_output()

bool ChibiOS::RCOutput::setup_serial_output	(	uint16_t	chan_mask,
		ByteBuffer *	buffer,
		uint32_t	baudrate
	)

Referenced by scale_esc_to_unity().

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◆ timer_tick()

void RCOutput::timer_tick ( void )

overridevirtual

Reimplemented from AP_HAL::RCOutput.

Definition at line 768 of file RCOutput.cpp.

Referenced by scale_esc_to_unity().

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◆ trigger_groups()

void RCOutput::trigger_groups ( void )

private

Definition at line 717 of file RCOutput.cpp.

Referenced by push_local(), and timer_tick().

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◆ write()

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

virtual

Implements AP_HAL::RCOutput.

Definition at line 301 of file RCOutput.cpp.

Referenced by set_group_mode().

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Member Data Documentation

◆ _esc_pwm_max

uint16_t ChibiOS::RCOutput::_esc_pwm_max

private

Definition at line 212 of file RCOutput.h.

Referenced by dshot_send(), get_esc_scaling(), push_local(), scale_esc_to_unity(), and set_esc_scaling().

◆ _esc_pwm_min

uint16_t ChibiOS::RCOutput::_esc_pwm_min

private

Definition at line 211 of file RCOutput.h.

Referenced by dshot_send(), get_esc_scaling(), push_local(), scale_esc_to_unity(), and set_esc_scaling().

◆ active_fmu_channels

uint8_t ChibiOS::RCOutput::active_fmu_channels

private

Definition at line 221 of file RCOutput.h.

Referenced by push_local(), and write().

◆ chan_offset

uint8_t ChibiOS::RCOutput::chan_offset

private

Definition at line 215 of file RCOutput.h.

Referenced by disable_ch(), dshot_send(), enable_ch(), get_freq(), init(), push_local(), read(), serial_setup_output(), set_freq(), set_group_mode(), set_output_mode(), set_telem_request_mask(), and write().

◆ corked

bool ChibiOS::RCOutput::corked

private

Definition at line 232 of file RCOutput.h.

Referenced by cork(), push(), and write().

◆ dshot_bit_length

const uint16_t ChibiOS::RCOutput::dshot_bit_length = 16 + dshot_post

private

Definition at line 277 of file RCOutput.h.

Referenced by set_group_mode().

◆ dshot_buffer_length

const uint16_t ChibiOS::RCOutput::dshot_buffer_length = dshot_bit_length*4*sizeof(uint32_t)

private

Definition at line 278 of file RCOutput.h.

Referenced by dshot_send(), serial_write_bytes(), and setup_group_DMA().

◆ dshot_post

const uint8_t ChibiOS::RCOutput::dshot_post = 6

private

Definition at line 276 of file RCOutput.h.

◆ dshot_pulse_time_us

uint32_t ChibiOS::RCOutput::dshot_pulse_time_us

private

Definition at line 279 of file RCOutput.h.

Referenced by push_local(), and set_group_mode().

◆ en_mask

uint32_t ChibiOS::RCOutput::en_mask

private

Definition at line 229 of file RCOutput.h.

Referenced by disable_ch(), enable_ch(), and push_local().

◆ fast_channel_mask

uint16_t ChibiOS::RCOutput::fast_channel_mask

private

Definition at line 234 of file RCOutput.h.

Referenced by set_default_rate(), set_freq(), and set_output_mode().

◆ io_fast_channel_mask

uint16_t ChibiOS::RCOutput::io_fast_channel_mask

private

Definition at line 235 of file RCOutput.h.

Referenced by set_freq(), set_output_mode(), and write().

◆ iomcu_oneshot125

bool ChibiOS::RCOutput::iomcu_oneshot125

private

Definition at line 250 of file RCOutput.h.

Referenced by set_output_mode(), and write().

◆ irq

struct ChibiOS::RCOutput::irq_state ChibiOS::RCOutput::irq

staticprivate

Referenced by dma_irq_callback(), dshot_send(), serial_bit_irq(), serial_end(), serial_read_byte(), serial_read_bytes(), serial_setup_output(), and trigger_groups().

◆ last_sent

uint16_t ChibiOS::RCOutput::last_sent[max_channels]

private

Definition at line 226 of file RCOutput.h.

Referenced by read_last_sent(), and write().

◆ led_counter

uint8_t ChibiOS::RCOutput::led_counter

private

Definition at line 264 of file RCOutput.h.

Referenced by safety_update().

◆ max_channels

const uint8_t ChibiOS::RCOutput::max_channels = 16

staticprivate

Definition at line 223 of file RCOutput.h.

Referenced by disable_ch(), enable_ch(), get_freq(), read(), read_last_sent(), and write().

◆ min_pulse_trigger_us

uint64_t ChibiOS::RCOutput::min_pulse_trigger_us

private

Definition at line 238 of file RCOutput.h.

Referenced by timer_tick(), and trigger_groups().

◆ num_fmu_channels

uint8_t ChibiOS::RCOutput::num_fmu_channels

private

Definition at line 218 of file RCOutput.h.

Referenced by init(), and write().

◆ period

uint16_t ChibiOS::RCOutput::period[max_channels]

private

Definition at line 230 of file RCOutput.h.

Referenced by dshot_send(), push_local(), read(), and write().

◆ pwm_group_list

pwm_group ChibiOS::RCOutput::pwm_group_list[]

staticprivate

Definition at line 210 of file RCOutput.h.

Referenced by disable_ch(), dma_allocate(), dma_deallocate(), enable_ch(), get_freq(), init(), push_local(), serial_setup_output(), set_default_rate(), set_freq(), set_output_mode(), timer_tick(), and trigger_groups().

◆ safe_pwm

uint16_t ChibiOS::RCOutput::safe_pwm[max_channels]

private

Definition at line 231 of file RCOutput.h.

Referenced by dshot_send(), push_local(), set_safety_pwm(), and write().

◆ safety_button_counter

int8_t ChibiOS::RCOutput::safety_button_counter

private

Definition at line 265 of file RCOutput.h.

Referenced by safety_update().

◆ safety_mask

uint16_t ChibiOS::RCOutput::safety_mask

private

Definition at line 268 of file RCOutput.h.

Referenced by dshot_send(), push_local(), safety_update(), and write().

◆ safety_state

AP_HAL::Util::safety_state ChibiOS::RCOutput::safety_state

private

Definition at line 262 of file RCOutput.h.

Referenced by _safety_switch_state(), force_safety_off(), force_safety_on(), init(), safety_update(), and write().

◆ safety_update_ms

uint32_t ChibiOS::RCOutput::safety_update_ms

private

Definition at line 263 of file RCOutput.h.

Referenced by safety_update().

◆ serial_event_mask

const eventmask_t ChibiOS::RCOutput::serial_event_mask = EVENT_MASK(1)

staticprivate

Definition at line 294 of file RCOutput.h.

Referenced by dma_irq_callback(), serial_bit_irq(), serial_read_byte(), serial_read_bytes(), and serial_write_byte().

◆ serial_group

struct pwm_group* ChibiOS::RCOutput::serial_group

private

Definition at line 206 of file RCOutput.h.

Referenced by push_local(), serial_end(), serial_read_bytes(), serial_setup_output(), serial_write_byte(), serial_write_bytes(), timer_tick(), and trigger_groups().

◆ serial_priority

tprio_t ChibiOS::RCOutput::serial_priority

private

Definition at line 208 of file RCOutput.h.

Referenced by serial_end(), and serial_setup_output().

◆ serial_thread

thread_t* ChibiOS::RCOutput::serial_thread

private

Definition at line 207 of file RCOutput.h.

Referenced by serial_end(), and serial_setup_output().

◆ telem_request_mask

uint16_t ChibiOS::RCOutput::telem_request_mask

private

Definition at line 280 of file RCOutput.h.

Referenced by dshot_send(), and set_telem_request_mask().

◆ trigger_groupmask

uint8_t ChibiOS::RCOutput::trigger_groupmask

private

Definition at line 244 of file RCOutput.h.

Referenced by push_local(), and trigger_groups().

◆ trigger_mutex

mutex_t ChibiOS::RCOutput::trigger_mutex

private

Definition at line 241 of file RCOutput.h.

Referenced by init(), and trigger_groups().

◆ trigger_widest_pulse

uint16_t ChibiOS::RCOutput::trigger_widest_pulse

private

Definition at line 247 of file RCOutput.h.

Referenced by push_local(), and trigger_groups().

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

libraries/AP_HAL_ChibiOS/RCOutput.h
libraries/AP_HAL_ChibiOS/RCOutput.cpp

Classes

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ _safety_switch_state()

◆ cork()

◆ create_dshot_packet()

◆ disable_ch()

◆ dma_allocate()

◆ dma_deallocate()

◆ dma_irq_callback()

◆ dshot_send()

◆ enable_ch()

◆ enable_px4io_sbus_out()

◆ fill_DMA_buffer_byte()

◆ fill_DMA_buffer_dshot()

◆ force_safety_off()

◆ force_safety_on()

◆ get_esc_scaling()

◆ get_freq()

◆ init()

◆ mode_requires_dma()

◆ push()

◆ push_local()

◆ read() [1/2]

◆ read() [2/2]

◆ read_last_sent() [1/2]

◆ read_last_sent() [2/2]

◆ safety_update()

◆ scale_esc_to_unity()

◆ send_pulses_DMAR()

◆ serial_bit_irq()

◆ serial_end()

◆ serial_read_byte()

◆ serial_read_bytes()

◆ serial_setup_output()

◆ serial_write_byte()

◆ serial_write_bytes()

◆ set_default_rate()

◆ set_esc_scaling()

◆ set_freq()

◆ set_freq_group()

◆ set_group_mode()

◆ set_output_mode()

◆ set_safety_pwm()

◆ set_telem_request_mask()

◆ setup_group_DMA()

◆ setup_serial_output()

◆ timer_tick()

◆ trigger_groups()

◆ write()

Member Data Documentation

◆ _esc_pwm_max

◆ _esc_pwm_min

◆ active_fmu_channels

◆ chan_offset

◆ corked

◆ dshot_bit_length

◆ dshot_buffer_length

◆ dshot_post

◆ dshot_pulse_time_us

◆ en_mask

◆ fast_channel_mask

◆ io_fast_channel_mask

◆ iomcu_oneshot125

◆ irq

◆ last_sent

◆ led_counter

◆ max_channels

◆ min_pulse_trigger_us

◆ num_fmu_channels

◆ period

◆ pwm_group_list

◆ safe_pwm

◆ safety_button_counter