#include <RCOutput.h>

Inheritance diagram for F4Light::RCOutput:

Collaboration diagram for F4Light::RCOutput:

Public Member Functions
void	init () override

void	set_freq (uint32_t chmask, uint16_t freq_hz) override

uint16_t	get_freq (uint8_t ch) override

void	enable_ch (uint8_t ch) override

void	disable_ch (uint8_t ch) override

void	write (uint8_t ch, uint16_t period_us) override

void	write (uint8_t ch, uint16_t *period_us, uint8_t len)

uint16_t	read (uint8_t ch) override

void	read (uint16_t *period_us, uint8_t len) override

void	cork () override

void	push () override

void	set_output_mode (uint16_t mask, enum output_mode mode) override

Public Member Functions inherited from AP_HAL::RCOutput
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_default_rate (uint16_t rate_hz)

virtual void	set_telem_request_mask (uint16_t mask)

Static Public Member Functions
static void	lateInit ()

static void	_set_output_mode (enum output_mode mode)

static void	do_4way_if (AP_HAL::UARTDriver *uart)

static uint32_t	_timer_period (uint16_t speed_hz, const timer_dev *dev)

Static Private Member Functions
static void	InitPWM (void)

static void	set_pwm (uint8_t ch, uint16_t pwm)

static void	_set_pin_output_mode (uint8_t ch)

static bool	is_servo_enabled (uint8_t ch)

static void	init_channel (uint8_t ch)

static void	init_channels ()

static void	_init_alt_channels ()

static void	_timer3_isr_event (TIM_TypeDef *)

static void	fill_timers ()

Static Private Attributes
static uint16_t	_period [F4Light_MAX_OUTPUT_CHANNELS]

static uint16_t	_freq [F4Light_MAX_OUTPUT_CHANNELS]

static uint16_t	_enabled_channels =0

static bool	_sbus_enabled =0

static bool	_corked =0

static uint8_t	_used_channels =0

static enum BOARD_PWM_MODES	_mode

static bool	_once_mode = false

static uint8_t	_servo_mask =0

static uint8_t	_initialized [F4Light_MAX_OUTPUT_CHANNELS]

static uint32_t	_timer2_preload

static uint16_t	_timer3_preload

static uint8_t	_pwm_type =0

static const timer_dev *	out_timers [16]

static uint8_t	num_out_timers

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 42 of file RCOutput.h.

Member Function Documentation

◆ _init_alt_channels()

static void F4Light::RCOutput::_init_alt_channels ( )

inlinestaticprivate

Definition at line 99 of file RCOutput.h.

◆ _set_output_mode()

void RCOutput::_set_output_mode ( enum output_mode mode )

static

Definition at line 245 of file RCOutput.cpp.

Referenced by InitPWM(), and set_output_mode().

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◆ _set_pin_output_mode()

void RCOutput::_set_pin_output_mode ( uint8_t ch )

staticprivate

Definition at line 389 of file RCOutput.cpp.

Referenced by enable_ch().

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◆ _timer3_isr_event()

static void F4Light::RCOutput::_timer3_isr_event ( TIM_TypeDef * )

staticprivate

◆ _timer_period()

static uint32_t F4Light::RCOutput::_timer_period	(	uint16_t	speed_hz,
		const timer_dev *	dev
	)

inlinestatic

Definition at line 79 of file RCOutput.h.

Referenced by init_channel(), set_freq(), and F4Light::GPIO::write().

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◆ cork()

void RCOutput::cork ( void )

inlineoverridevirtual

Implements AP_HAL::RCOutput.

Definition at line 54 of file RCOutput.h.

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◆ disable_ch()

void RCOutput::disable_ch ( uint8_t ch )

overridevirtual

Implements AP_HAL::RCOutput.

Definition at line 619 of file RCOutput.cpp.

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◆ do_4way_if()

void RCOutput::do_4way_if ( AP_HAL::UARTDriver * uart )

static

Definition at line 184 of file RCOutput.cpp.

Referenced by set_output_mode().

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◆ enable_ch()

void RCOutput::enable_ch ( uint8_t ch )

overridevirtual

Implements AP_HAL::RCOutput.

Definition at line 587 of file RCOutput.cpp.

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◆ fill_timers()

void RCOutput::fill_timers ( )

staticprivate

Definition at line 224 of file RCOutput.cpp.

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

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◆ get_freq()

uint16_t RCOutput::get_freq ( uint8_t ch )

overridevirtual

Implements AP_HAL::RCOutput.

Definition at line 214 of file RCOutput.cpp.

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◆ init()

void RCOutput::init ( void )

overridevirtual

Implements AP_HAL::RCOutput.

Definition at line 174 of file RCOutput.cpp.

◆ init_channel()

void RCOutput::init_channel ( uint8_t ch )

staticprivate

Definition at line 480 of file RCOutput.cpp.

Referenced by enable_ch(), and init_channels().

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◆ init_channels()

void RCOutput::init_channels ( )

staticprivate

Definition at line 500 of file RCOutput.cpp.

Referenced by _set_output_mode().

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◆ InitPWM()

void RCOutput::InitPWM ( void )

staticprivate

Definition at line 202 of file RCOutput.cpp.

Referenced by _timer_period(), and lateInit().

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◆ is_servo_enabled()

bool RCOutput::is_servo_enabled ( uint8_t ch )

staticprivate

Definition at line 445 of file RCOutput.cpp.

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

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◆ lateInit()

void RCOutput::lateInit ( )

static

Definition at line 190 of file RCOutput.cpp.

Referenced by cork().

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◆ push()

void RCOutput::push ( void )

overridevirtual

Implements AP_HAL::RCOutput.

Definition at line 641 of file RCOutput.cpp.

Referenced by cork().

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◆ read() [1/2]

uint16_t RCOutput::read ( uint8_t ch )

overridevirtual

Implements AP_HAL::RCOutput.

Definition at line 573 of file RCOutput.cpp.

Referenced by read().

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◆ read() [2/2]

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

overridevirtual

Implements AP_HAL::RCOutput.

Definition at line 580 of file RCOutput.cpp.

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◆ set_freq()

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

overridevirtual

Implements AP_HAL::RCOutput.

Definition at line 459 of file RCOutput.cpp.

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◆ set_output_mode()

void F4Light::RCOutput::set_output_mode	(	uint16_t	mask,
		enum output_mode	mode
	)

inlineoverridevirtual

Reimplemented from AP_HAL::RCOutput.

Definition at line 59 of file RCOutput.h.

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◆ set_pwm()

void RCOutput::set_pwm	(	uint8_t	ch,
		uint16_t	pwm
	)

staticprivate

Definition at line 513 of file RCOutput.cpp.

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

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◆ write() [1/2]

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

overridevirtual

Implements AP_HAL::RCOutput.

Definition at line 545 of file RCOutput.cpp.

Referenced by write().

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◆ write() [2/2]

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

Definition at line 564 of file RCOutput.cpp.

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Member Data Documentation

◆ _corked

bool RCOutput::_corked =0

staticprivate

Definition at line 98 of file RCOutput.h.

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

◆ _enabled_channels

uint16_t RCOutput::_enabled_channels =0

staticprivate

Definition at line 96 of file RCOutput.h.

Referenced by _set_output_mode(), disable_ch(), enable_ch(), fill_timers(), push(), set_freq(), and set_pwm().

◆ _freq

uint16_t RCOutput::_freq

staticprivate

Definition at line 88 of file RCOutput.h.

Referenced by _set_output_mode(), init_channel(), InitPWM(), and set_freq().

◆ _initialized

uint8_t RCOutput::_initialized

staticprivate

Definition at line 105 of file RCOutput.h.

Referenced by enable_ch(), and init().

◆ _mode

enum BOARD_PWM_MODES F4Light::RCOutput::_mode

staticprivate

Definition at line 101 of file RCOutput.h.

Referenced by _set_output_mode(), _set_pin_output_mode(), and set_pwm().

◆ _once_mode

bool RCOutput::_once_mode = false

staticprivate

Definition at line 102 of file RCOutput.h.

Referenced by _set_output_mode(), init_channel(), push(), and set_freq().

◆ _period

uint16_t F4Light::RCOutput::_period[F4Light_MAX_OUTPUT_CHANNELS]

staticprivate

Definition at line 87 of file RCOutput.h.

Referenced by disable_ch(), enable_ch(), init(), push(), read(), and write().

◆ _pwm_type

uint8_t RCOutput::_pwm_type =0

staticprivate

Definition at line 114 of file RCOutput.h.

Referenced by _set_output_mode(), and lateInit().

◆ _sbus_enabled

bool RCOutput::_sbus_enabled =0

staticprivate

Definition at line 97 of file RCOutput.h.

◆ _servo_mask

uint8_t RCOutput::_servo_mask =0

staticprivate

Definition at line 103 of file RCOutput.h.

Referenced by is_servo_enabled(), and lateInit().

◆ _timer2_preload

uint32_t RCOutput::_timer2_preload

staticprivate

Definition at line 111 of file RCOutput.h.

◆ _timer3_preload

uint16_t RCOutput::_timer3_preload

staticprivate

Definition at line 112 of file RCOutput.h.

◆ _used_channels

uint8_t RCOutput::_used_channels =0

staticprivate

Definition at line 100 of file RCOutput.h.

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

◆ num_out_timers

uint8_t F4Light::RCOutput::num_out_timers

staticprivate

Definition at line 118 of file RCOutput.h.

Referenced by _set_output_mode(), fill_timers(), and push().

◆ out_timers

const timer_dev * RCOutput::out_timers

staticprivate

Definition at line 117 of file RCOutput.h.

Referenced by _set_output_mode(), fill_timers(), and push().

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

libraries/AP_HAL_F4Light/RCOutput.h
libraries/AP_HAL_F4Light/RCOutput.cpp

Public Member Functions

Static Public Member Functions

Static Private Member Functions

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ _init_alt_channels()

◆ _set_output_mode()

◆ _set_pin_output_mode()

◆ _timer3_isr_event()

◆ _timer_period()

◆ cork()

◆ disable_ch()

◆ do_4way_if()

◆ enable_ch()

◆ fill_timers()

◆ get_freq()

◆ init()

◆ init_channel()

◆ init_channels()

◆ InitPWM()

◆ is_servo_enabled()

◆ lateInit()

◆ push()

◆ read() [1/2]

◆ read() [2/2]

◆ set_freq()

◆ set_output_mode()

◆ set_pwm()

◆ write() [1/2]

◆ write() [2/2]

Member Data Documentation

◆ _corked

◆ _enabled_channels

◆ _freq

◆ _initialized

◆ _mode

◆ _once_mode

◆ _period

◆ _pwm_type

◆ _sbus_enabled

◆ _servo_mask

◆ _timer2_preload

◆ _timer3_preload

◆ _used_channels

◆ num_out_timers

◆ out_timers