#include <RCOutput_AeroIO.h>

Inheritance diagram for Linux::RCOutput_AeroIO:

Collaboration diagram for Linux::RCOutput_AeroIO:

Public Member Functions
	RCOutput_AeroIO ()

	~RCOutput_AeroIO ()

void	init () override

void	enable_ch (uint8_t ch) override

void	disable_ch (uint8_t ch) override

void	set_freq (uint32_t chmask, uint16_t freq_hz) override

uint16_t	get_freq (uint8_t ch) override

void	write (uint8_t ch, uint16_t period_us) override

void	cork () override

void	push () override

uint16_t	read (uint8_t ch) override

void	read (uint16_t *period_us, uint8_t len) 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_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)

Private Member Functions
bool	_hw_write (uint16_t address, uint16_t data)

uint16_t	_hw_read (uint16_t address)

Static Private Member Functions
static uint16_t	_usec_to_hw (uint16_t freq, uint16_t usec)

static uint16_t	_hw_to_usec (uint16_t freq, uint16_t hw_val)

Private Attributes
AP_HAL::OwnPtr< AP_HAL::Device >	_spi

uint16_t *	_freq_buffer

uint16_t *	_duty_buffer

uint32_t	_pending_duty_write_mask = 0

uint32_t	_pending_freq_write_mask = 0

bool	_corking = false

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 24 of file RCOutput_AeroIO.h.

Constructor & Destructor Documentation

◆ RCOutput_AeroIO()

RCOutput_AeroIO::RCOutput_AeroIO ( )

Definition at line 96 of file RCOutput_AeroIO.cpp.

◆ ~RCOutput_AeroIO()

RCOutput_AeroIO::~RCOutput_AeroIO ( )

Definition at line 102 of file RCOutput_AeroIO.cpp.

Member Function Documentation

◆ _hw_read()

uint16_t RCOutput_AeroIO::_hw_read ( uint16_t address )

private

Low-level spi read

register address

Return: value read from

Definition at line 243 of file RCOutput_AeroIO.cpp.

Referenced by read().

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◆ _hw_to_usec()

uint16_t RCOutput_AeroIO::_hw_to_usec	(	uint16_t	freq,
		uint16_t	hw_val
	)

staticprivate

Convert from hw units, 16bits percentage of the frequency, to time in µs

Frequency 16b percentage

Definition at line 282 of file RCOutput_AeroIO.cpp.

Referenced by read().

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◆ _hw_write()

bool RCOutput_AeroIO::_hw_write	(	uint16_t	address,
		uint16_t	data
	)

private

Low-level spi write

register address value to be written

Return: true on success, false otherwise

Definition at line 226 of file RCOutput_AeroIO.cpp.

Referenced by push().

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◆ _usec_to_hw()

uint16_t RCOutput_AeroIO::_usec_to_hw	(	uint16_t	freq,
		uint16_t	usec
	)

staticprivate

Convert from µs to hw units, 16bits percentage of the frequency, where 0xFFFF is 1/Freq seconds in high

Frequency Time in µseconds

Return: conversion from µs in a specific frequency to 16bits

Definition at line 275 of file RCOutput_AeroIO.cpp.

Referenced by push().

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◆ cork()

void RCOutput_AeroIO::cork ( void )

overridevirtual

Implements AP_HAL::RCOutput.

Definition at line 180 of file RCOutput_AeroIO.cpp.

Referenced by init().

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◆ disable_ch()

void RCOutput_AeroIO::disable_ch ( uint8_t ch )

overridevirtual

Disable channel (0 of duty cycle)

Implements AP_HAL::RCOutput.

Definition at line 158 of file RCOutput_AeroIO.cpp.

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◆ enable_ch()

void RCOutput_AeroIO::enable_ch ( uint8_t ch )

overridevirtual

Enable channel

Implements AP_HAL::RCOutput.

Definition at line 148 of file RCOutput_AeroIO.cpp.

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◆ get_freq()

uint16_t RCOutput_AeroIO::get_freq ( uint8_t ch )

overridevirtual

Get frequency of channel

channel

Return: frequency of this channel

Implements AP_HAL::RCOutput.

Definition at line 140 of file RCOutput_AeroIO.cpp.

◆ init()

void RCOutput_AeroIO::init ( void )

overridevirtual

Implements AP_HAL::RCOutput.

Definition at line 108 of file RCOutput_AeroIO.cpp.

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◆ push()

void RCOutput_AeroIO::push ( void )

overridevirtual

Implements AP_HAL::RCOutput.

Definition at line 185 of file RCOutput_AeroIO.cpp.

Referenced by disable_ch(), enable_ch(), init(), set_freq(), and write().

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◆ read() [1/2]

uint16_t RCOutput_AeroIO::read ( uint8_t ch )

overridevirtual

Get period of the duty cycle in µs

Implements AP_HAL::RCOutput.

Definition at line 207 of file RCOutput_AeroIO.cpp.

Referenced by read().

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◆ read() [2/2]

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

overridevirtual

Set with the values in µs of each channel

vector that will be filled with duty cycle periods of each channel size of period_us vector

Implements AP_HAL::RCOutput.

Definition at line 219 of file RCOutput_AeroIO.cpp.

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◆ set_freq()

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

overridevirtual

Set all channels in the same frequency

Bitmask Frequency

Implements AP_HAL::RCOutput.

Definition at line 124 of file RCOutput_AeroIO.cpp.

Referenced by init().

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◆ write()

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

overridevirtual

Set period in µs

channel time in µs

Implements AP_HAL::RCOutput.

Definition at line 169 of file RCOutput_AeroIO.cpp.

Referenced by init().

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Member Data Documentation

◆ _corking

bool Linux::RCOutput_AeroIO::_corking = false

private

If true the push must be called to perform the writing, otherwise will be not necessary.

Definition at line 152 of file RCOutput_AeroIO.h.

Referenced by cork(), disable_ch(), enable_ch(), push(), set_freq(), and write().

◆ _duty_buffer

uint16_t* Linux::RCOutput_AeroIO::_duty_buffer

private

Duty cycle buffer of last written values

Definition at line 134 of file RCOutput_AeroIO.h.

Referenced by disable_ch(), push(), read(), write(), and ~RCOutput_AeroIO().

◆ _freq_buffer

uint16_t* Linux::RCOutput_AeroIO::_freq_buffer

private

Frequency buffer of last written values

Definition at line 129 of file RCOutput_AeroIO.h.

Referenced by get_freq(), push(), read(), set_freq(), and ~RCOutput_AeroIO().

◆ _pending_duty_write_mask

uint32_t Linux::RCOutput_AeroIO::_pending_duty_write_mask = 0

private

Save information about the channel that will be write in the next push call.

0b...101 ││└── 1st channel (Pending operation) │└─── 2nd Channel (No pending operation) └──── 3rd Channel (Pending operation)

Definition at line 145 of file RCOutput_AeroIO.h.

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

◆ _pending_freq_write_mask

uint32_t Linux::RCOutput_AeroIO::_pending_freq_write_mask = 0

private

Definition at line 146 of file RCOutput_AeroIO.h.

Referenced by push(), and set_freq().

◆ _spi

AP_HAL::OwnPtr<AP_HAL::Device> Linux::RCOutput_AeroIO::_spi

private

Definition at line 124 of file RCOutput_AeroIO.h.

Referenced by _hw_read(), _hw_write(), and init().

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

libraries/AP_HAL_Linux/RCOutput_AeroIO.h
libraries/AP_HAL_Linux/RCOutput_AeroIO.cpp

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RCOutput_AeroIO()

◆ ~RCOutput_AeroIO()

Member Function Documentation

◆ _hw_read()

◆ _hw_to_usec()

◆ _hw_write()

◆ _usec_to_hw()

◆ cork()

◆ disable_ch()

◆ enable_ch()

◆ get_freq()

◆ init()

◆ push()

◆ read() [1/2]

◆ read() [2/2]

◆ set_freq()

◆ write()

Member Data Documentation

◆ _corking

◆ _duty_buffer

◆ _freq_buffer

◆ _pending_duty_write_mask

◆ _pending_freq_write_mask

◆ _spi