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AP_Motors: make AP_Motors::PWMType enum class
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Co-authored-by: muramura <[email protected]>
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@peterbarker @muramura
peterbarker and muramura committed Aug 6, 2024
1 parent a211b66 commit 70a1bc7
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Showing 3 changed files with 46 additions and 46 deletions.
4 changes: 2 additions & 2 deletions libraries/AP_Motors/AP_MotorsMulticopter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,7 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
// @Values: 0:Normal,1:OneShot,2:OneShot125,3:Brushed,4:DShot150,5:DShot300,6:DShot600,7:DShot1200,8:PWMRange,9:PWMAngle
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("PWM_TYPE", 15, AP_MotorsMulticopter, _pwm_type, PWM_TYPE_NORMAL),
AP_GROUPINFO("PWM_TYPE", 15, AP_MotorsMulticopter, _pwm_type, float(PWMType::NORMAL)),

// @Param: PWM_MIN
// @DisplayName: PWM output minimum
Expand Down Expand Up @@ -474,7 +474,7 @@ void AP_MotorsMulticopter::update_throttle_range()
{
// if all outputs are digital adjust the range. We also do this for type PWM_RANGE, as those use the
// scaled output, which is then mapped to PWM via the SRV_Channel library
if (SRV_Channels::have_digital_outputs(get_motor_mask()) || (_pwm_type == PWM_TYPE_PWM_RANGE) || (_pwm_type == PWM_TYPE_PWM_ANGLE)) {
if (SRV_Channels::have_digital_outputs(get_motor_mask()) || (_pwm_type == PWMType::PWM_RANGE) || (_pwm_type == PWMType::PWM_ANGLE)) {
_pwm_min.set_and_default(1000);
_pwm_max.set_and_default(2000);
}
Expand Down
54 changes: 27 additions & 27 deletions libraries/AP_Motors/AP_Motors_Class.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -135,35 +135,35 @@ void AP_Motors::rc_set_freq(uint32_t motor_mask, uint16_t freq_hz)
hal.rcout->set_freq(mask, freq_hz);
hal.rcout->set_dshot_esc_type(SRV_Channels::get_dshot_esc_type());

const pwm_type type = (pwm_type)_pwm_type.get();
const PWMType type = _pwm_type;
switch (type) {
case PWM_TYPE_ONESHOT:
case PWMType::ONESHOT:
if (freq_hz > 50 && mask != 0) {
hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT);
}
break;
case PWM_TYPE_ONESHOT125:
case PWMType::ONESHOT125:
if (freq_hz > 50 && mask != 0) {
hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT125);
}
break;
case PWM_TYPE_BRUSHED:
case PWMType::BRUSHED:
hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_BRUSHED);
break;
case PWM_TYPE_DSHOT150:
case PWMType::DSHOT150:
hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_DSHOT150);
break;
case PWM_TYPE_DSHOT300:
case PWMType::DSHOT300:
hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_DSHOT300);
break;
case PWM_TYPE_DSHOT600:
case PWMType::DSHOT600:
hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_DSHOT600);
break;
case PWM_TYPE_DSHOT1200:
case PWMType::DSHOT1200:
hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_DSHOT1200);
break;
case PWM_TYPE_PWM_RANGE:
case PWM_TYPE_PWM_ANGLE:
case PWMType::PWM_RANGE:
case PWMType::PWM_ANGLE:
/*
this is a motor output type for multirotors which honours
the SERVOn_MIN/MAX (and TRIM for angle) values per channel
Expand All @@ -173,20 +173,20 @@ void AP_Motors::rc_set_freq(uint32_t motor_mask, uint16_t freq_hz)
Angle type offsets by 1500 to get -500 to 500.
*/

if (type == PWM_TYPE_PWM_RANGE) {
if (type == PWMType::PWM_RANGE) {
_motor_pwm_scaled.offset = 1000.0;
} else {
// PWM_TYPE_PWM_ANGLE
// PWMType::PWM_ANGLE
_motor_pwm_scaled.offset = 1500.0;
}

_motor_pwm_scaled.mask |= motor_mask;
for (uint8_t i=0; i<16; i++) {
if ((1U<<i) & motor_mask) {
if (type == PWM_TYPE_PWM_RANGE) {
if (type == PWMType::PWM_RANGE) {
SRV_Channels::set_range(SRV_Channels::get_motor_function(i), 1000);
} else {
// PWM_TYPE_PWM_ANGLE
// PWMType::PWM_ANGLE
SRV_Channels::set_angle(SRV_Channels::get_motor_function(i), 500);
}
}
Expand Down Expand Up @@ -251,19 +251,19 @@ void AP_Motors::set_external_limits(bool roll, bool pitch, bool yaw, bool thrott
// returns true if the configured PWM type is digital and should have fixed endpoints
bool AP_Motors::is_digital_pwm_type() const
{
switch (_pwm_type) {
case PWM_TYPE_DSHOT150:
case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT600:
case PWM_TYPE_DSHOT1200:
return true;
case PWM_TYPE_NORMAL:
case PWM_TYPE_ONESHOT:
case PWM_TYPE_ONESHOT125:
case PWM_TYPE_BRUSHED:
case PWM_TYPE_PWM_RANGE:
case PWM_TYPE_PWM_ANGLE:
break;
switch ((PWMType)_pwm_type) {
case PWMType::DSHOT150:
case PWMType::DSHOT300:
case PWMType::DSHOT600:
case PWMType::DSHOT1200:
return true;
case PWMType::NORMAL:
case PWMType::ONESHOT:
case PWMType::ONESHOT125:
case PWMType::BRUSHED:
case PWMType::PWM_RANGE:
case PWMType::PWM_ANGLE:
break;
}
return false;
}
Expand Down
34 changes: 17 additions & 17 deletions libraries/AP_Motors/AP_Motors_Class.h
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Original file line number Diff line number Diff line change
Expand Up @@ -262,10 +262,10 @@ class AP_Motors {
bool is_digital_pwm_type() const;

// returns true is pwm type is brushed
bool is_brushed_pwm_type() const { return _pwm_type == PWM_TYPE_BRUSHED; }
bool is_brushed_pwm_type() const { return _pwm_type == PWMType::BRUSHED; }

// returns true is pwm type is normal
bool is_normal_pwm_type() const { return (_pwm_type == PWM_TYPE_NORMAL) || (_pwm_type == PWM_TYPE_PWM_RANGE) || (_pwm_type == PWM_TYPE_PWM_ANGLE); }
bool is_normal_pwm_type() const { return (_pwm_type == PWMType::NORMAL) || (_pwm_type == PWMType::PWM_RANGE) || (_pwm_type == PWMType::PWM_ANGLE); }

MAV_TYPE get_frame_mav_type() const { return _mav_type; }

Expand Down Expand Up @@ -333,7 +333,7 @@ class AP_Motors {
// mask of what channels need fast output
uint32_t _motor_fast_mask;

// Used with PWM_TYPE_PWM_RANGE and PWM_TYPE_PWM_ANGLE
// Used with PWMType::PWM_RANGE and PWMType::PWM_ANGLE
struct {
// Mask of motors using scaled output
uint32_t mask;
Expand All @@ -349,7 +349,20 @@ class AP_Motors {
float _throttle_radio_passthrough; // throttle/collective input from pilot in 0 ~ 1 range. used for setup and providing servo feedback while landed
float _yaw_radio_passthrough; // yaw input from pilot in -1 ~ +1 range. used for setup and providing servo feedback while landed

AP_Int8 _pwm_type; // PWM output type
enum class PWMType : uint8_t {
NORMAL = 0,
ONESHOT = 1,
ONESHOT125 = 2,
BRUSHED = 3,
DSHOT150 = 4,
DSHOT300 = 5,
DSHOT600 = 6,
DSHOT1200 = 7,
PWM_RANGE = 8,
PWM_ANGLE = 9,
};

AP_Enum<PWMType> _pwm_type; // PWM output type

// motor failure handling
bool _thrust_boost; // true if thrust boost is enabled to handle motor failure
Expand All @@ -361,19 +374,6 @@ class AP_Motors {

MAV_TYPE _mav_type; // MAV_TYPE_GENERIC = 0;

enum pwm_type {
PWM_TYPE_NORMAL = 0,
PWM_TYPE_ONESHOT = 1,
PWM_TYPE_ONESHOT125 = 2,
PWM_TYPE_BRUSHED = 3,
PWM_TYPE_DSHOT150 = 4,
PWM_TYPE_DSHOT300 = 5,
PWM_TYPE_DSHOT600 = 6,
PWM_TYPE_DSHOT1200 = 7,
PWM_TYPE_PWM_RANGE = 8,
PWM_TYPE_PWM_ANGLE = 9
};

// return string corresponding to frame_class
virtual const char* _get_frame_string() const = 0;

Expand Down

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