#include <RCOutput_Tap.h>

Inheritance diagram for ap::RCOutput_Tap:

Collaboration diagram for ap::RCOutput_Tap:

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

uint16_t	read (uint8_t ch) override

void	read (uint16_t *period_us, uint8_t len) override

void	set_esc_scaling (uint16_t min_pwm, uint16_t max_pwm) override

void	cork () override

void	push () 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 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
int	_send_packet (EscPacket &p)

bool	_uart_open ()

bool	_uart_set_speed (int speed)

void	_uart_close ()

Static Private Member Functions
static uint8_t	_crc8_esc (uint8_t *p, uint8_t len)

static uint8_t	_crc_packet (EscPacket &p)

Private Attributes
AP_HAL::Util::perf_counter_t	_perf_rcout

uint8_t	_enabled_channels

bool	_corking

bool	_led_on

uint8_t	_channels_count = MAX_MOTORS

uint16_t	_period [MAX_MOTORS]

uint16_t	_esc_pwm_min

uint16_t	_esc_pwm_max

uint32_t	_last_led_update_msec

int	_uart_fd = -1

Static Private Attributes
static const uint8_t	MAX_MOTORS = 4

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 58 of file RCOutput_Tap.h.

Member Function Documentation

◆ _crc8_esc()

static uint8_t ap::RCOutput_Tap::_crc8_esc	(	uint8_t *	p,
		uint8_t	len
	)

staticprivate

Referenced by set_esc_scaling().

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◆ _crc_packet()

static uint8_t ap::RCOutput_Tap::_crc_packet ( EscPacket & p )

staticprivate

Referenced by set_esc_scaling().

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◆ _send_packet()

int ap::RCOutput_Tap::_send_packet ( EscPacket & p )

private

◆ _uart_close()

void ap::RCOutput_Tap::_uart_close ( )

private

◆ _uart_open()

bool ap::RCOutput_Tap::_uart_open ( )

private

◆ _uart_set_speed()

bool ap::RCOutput_Tap::_uart_set_speed ( int speed )

private

Definition at line 31 of file RCOutput_Tap_Linux.cpp.

◆ cork()

void ap::RCOutput_Tap::cork ( )

overridevirtual

Implements AP_HAL::RCOutput.

Referenced by set_esc_scaling().

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◆ disable_ch()

void ap::RCOutput_Tap::disable_ch ( uint8_t ch )

overridevirtual

Implements AP_HAL::RCOutput.

◆ enable_ch()

void ap::RCOutput_Tap::enable_ch ( uint8_t ch )

overridevirtual

Implements AP_HAL::RCOutput.

◆ get_freq()

uint16_t ap::RCOutput_Tap::get_freq ( uint8_t ch )

overridevirtual

Implements AP_HAL::RCOutput.

◆ init()

void ap::RCOutput_Tap::init ( )

overridevirtual

Implements AP_HAL::RCOutput.

◆ push()

void ap::RCOutput_Tap::push ( )

overridevirtual

Implements AP_HAL::RCOutput.

Referenced by set_esc_scaling().

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◆ read() [1/2]

uint16_t ap::RCOutput_Tap::read ( uint8_t ch )

overridevirtual

Implements AP_HAL::RCOutput.

◆ read() [2/2]

void ap::RCOutput_Tap::read	(	uint16_t *	period_us,
		uint8_t	len
	)

overridevirtual

Implements AP_HAL::RCOutput.

◆ set_esc_scaling()

void ap::RCOutput_Tap::set_esc_scaling	(	uint16_t	min_pwm,
		uint16_t	max_pwm
	)

inlineoverridevirtual

Reimplemented from AP_HAL::RCOutput.

Definition at line 69 of file RCOutput_Tap.h.

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◆ set_freq()

void ap::RCOutput_Tap::set_freq	(	uint32_t	chmask,
		uint16_t	freq_hz
	)

overridevirtual

Implements AP_HAL::RCOutput.

◆ write()

void ap::RCOutput_Tap::write	(	uint8_t	ch,
		uint16_t	period_us
	)

overridevirtual

Implements AP_HAL::RCOutput.

Member Data Documentation

◆ _channels_count

uint8_t ap::RCOutput_Tap::_channels_count = MAX_MOTORS

private

Definition at line 94 of file RCOutput_Tap.h.

◆ _corking

bool ap::RCOutput_Tap::_corking

private

Definition at line 91 of file RCOutput_Tap.h.

◆ _enabled_channels

uint8_t ap::RCOutput_Tap::_enabled_channels

private

Definition at line 90 of file RCOutput_Tap.h.

◆ _esc_pwm_max

uint16_t ap::RCOutput_Tap::_esc_pwm_max

private

Definition at line 98 of file RCOutput_Tap.h.

Referenced by set_esc_scaling().

◆ _esc_pwm_min

uint16_t ap::RCOutput_Tap::_esc_pwm_min

private

Definition at line 97 of file RCOutput_Tap.h.

Referenced by set_esc_scaling().

◆ _last_led_update_msec

uint32_t ap::RCOutput_Tap::_last_led_update_msec

private

Definition at line 99 of file RCOutput_Tap.h.

◆ _led_on

bool ap::RCOutput_Tap::_led_on

private

Definition at line 92 of file RCOutput_Tap.h.

◆ _perf_rcout

AP_HAL::Util::perf_counter_t ap::RCOutput_Tap::_perf_rcout

private

Definition at line 88 of file RCOutput_Tap.h.

◆ _period

uint16_t ap::RCOutput_Tap::_period[MAX_MOTORS]

private

Definition at line 96 of file RCOutput_Tap.h.

◆ _uart_fd

int ap::RCOutput_Tap::_uart_fd = -1

private

Definition at line 100 of file RCOutput_Tap.h.

Referenced by _uart_set_speed().

◆ MAX_MOTORS

const uint8_t ap::RCOutput_Tap::MAX_MOTORS = 4

staticprivate

Definition at line 81 of file RCOutput_Tap.h.

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

libraries/AP_HAL/utility/RCOutput_Tap.h
libraries/AP_HAL/utility/RCOutput_Tap_Linux.cpp
libraries/AP_HAL/utility/RCOutput_Tap_Nuttx.cpp

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ _crc8_esc()

◆ _crc_packet()

◆ _send_packet()

◆ _uart_close()

◆ _uart_open()

◆ _uart_set_speed()

◆ cork()

◆ disable_ch()

◆ enable_ch()

◆ get_freq()

◆ init()

◆ push()

◆ read() [1/2]

◆ read() [2/2]

◆ set_esc_scaling()

◆ set_freq()

◆ write()

Member Data Documentation

◆ _channels_count

◆ _corking

◆ _enabled_channels

◆ _esc_pwm_max

◆ _esc_pwm_min

◆ _last_led_update_msec

◆ _led_on

◆ _perf_rcout

◆ _period

◆ _uart_fd

◆ MAX_MOTORS