Inheritance diagram for DShotOutput:

Collaboration diagram for DShotOutput:

Classes
struct	Command

struct	Telemetry

Public Types
enum	Mode { MODE_NONE, MODE_1PWM, MODE_2PWM, MODE_2PWM2CAP, MODE_3PWM, MODE_3PWM1CAP, MODE_4PWM, MODE_4PWM1CAP, MODE_4PWM2CAP, MODE_5PWM, MODE_5PWM1CAP, MODE_6PWM, MODE_8PWM, MODE_14PWM, MODE_4CAP, MODE_5CAP, MODE_6CAP }

Public Member Functions
	DShotOutput ()

virtual	~DShotOutput ()

void	Run () override

int	print_status () override

virtual int	ioctl (file *filp, int cmd, unsigned long arg)

virtual int	init ()

int	set_mode (Mode mode)

Mode	get_mode ()

bool	updateOutputs (bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) override
	Callback to update the (physical) actuator outputs in the driver. More...

void	mixerChanged () override
	called whenever the mixer gets updated/reset More...

int	sendCommandThreadSafe (dshot_command_t command, int num_repetitions, int motor_index)
	Send a dshot command to one or all motors This is expected to be called from another thread. More...

void	retrieveAndPrintESCInfoThreadSafe (int motor_index)

bool	telemetryEnabled () const

Public Member Functions inherited from cdev::CDev
	CDev (const char *devname)
	Constructor. More...

	CDev (const CDev &)=delete

CDev &	operator= (const CDev &)=delete

	CDev (CDev &&)=delete

CDev &	operator= (CDev &&)=delete

virtual	~CDev ()

virtual int	open (file_t *filep)
	Handle an open of the device. More...

virtual int	close (file_t *filep)
	Handle a close of the device. More...

virtual ssize_t	read (file_t filep, char buffer, size_t buflen)
	Perform a read from the device. More...

virtual ssize_t	write (file_t filep, const char buffer, size_t buflen)
	Perform a write to the device. More...

virtual off_t	seek (file_t *filep, off_t offset, int whence)
	Perform a logical seek operation on the device. More...

virtual int	ioctl (file_t *filep, int cmd, unsigned long arg)
	Perform an ioctl operation on the device. More...

virtual int	poll (file_t filep, px4_pollfd_struct_t fds, bool setup)
	Perform a poll setup/teardown operation. More...

const char *	get_devname () const
	Get the device name. More...

Public Member Functions inherited from OutputModuleInterface
	OutputModuleInterface (const char *name, const px4::wq_config_t &config)

Static Public Member Functions
static int	task_spawn (int argc, char *argv[])

static int	custom_command (int argc, char *argv[])

static int	print_usage (const char *reason=nullptr)

static int	module_new_mode (PortMode new_mode)
	change the mode of the running module More...

static void	capture_trampoline (void *context, uint32_t chan_index, hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)

Private Types
enum	DShotConfig { DShotConfig::Disabled = 0, DShotConfig::DShot150 = 150, DShotConfig::DShot300 = 300, DShotConfig::DShot600 = 600, DShotConfig::DShot1200 = 1200 }

Private Member Functions
void	updateTelemetryNumMotors ()

void	initTelemetry (const char *device)

void	handleNewTelemetryData (int motor_index, const DShotTelemetry::EscData &data)

int	requestESCInfo ()

void	capture_callback (uint32_t chan_index, hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)

int	pwm_ioctl (file *filp, int cmd, unsigned long arg)

void	update_dshot_out_state (bool on)

void	update_params ()

int	capture_ioctl (file *filp, int cmd, unsigned long arg)

	DShotOutput (const DShotOutput &)=delete

DShotOutput	operator= (const DShotOutput &)=delete

Private Attributes
MixingOutput	_mixing_output {DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false}

Telemetry *	_telemetry {nullptr}

px4::atomic< DShotTelemetry::OutputBuffer * >	_request_esc_info {nullptr}

bool	_waiting_for_esc_info {false}

Mode	_mode {MODE_NONE}

uORB::Subscription	_param_sub {ORB_ID(parameter_update)}

Command	_current_command

px4::atomic< Command * >	_new_command {nullptr}

unsigned	_num_outputs {0}

int	_class_instance {-1}

bool	_outputs_on {false}

uint32_t	_output_mask {0}

bool	_outputs_initialized {false}

perf_counter_t	_cycle_perf

Static Private Attributes
static constexpr uint16_t	DISARMED_VALUE = 0

static char	_telemetry_device [20] {}

static px4::atomic_bool	_request_telemetry_init {false}

Additional Inherited Members
Static Public Attributes inherited from OutputModuleInterface
static constexpr int	MAX_ACTUATORS = PWM_OUTPUT_MAX_CHANNELS

Protected Member Functions inherited from cdev::CDev
virtual pollevent_t	poll_state (file_t *filep)
	Check the current state of the device for poll events from the perspective of the file. More...

virtual void	poll_notify (pollevent_t events)
	Report new poll events. More...

virtual void	poll_notify_one (px4_pollfd_struct_t *fds, pollevent_t events)
	Internal implementation of poll_notify. More...

virtual int	open_first (file_t *filep)
	Notification of the first open. More...

virtual int	close_last (file_t *filep)
	Notification of the last close. More...

virtual int	register_class_devname (const char *class_devname)
	Register a class device name, automatically adding device class instance suffix if need be. More...

virtual int	unregister_class_devname (const char *class_devname, unsigned class_instance)
	Register a class device name, automatically adding device class instance suffix if need be. More...

void	lock ()
	Take the driver lock. More...

void	unlock ()
	Release the driver lock. More...

int	unregister_driver_and_memory ()
	First, unregisters the driver. More...

Protected Attributes inherited from cdev::CDev
px4_sem_t	_lock
	lock to protect access to all class members (also for derived classes) More...

Static Protected Attributes inherited from cdev::CDev
static const px4_file_operations_t	fops = {}
	Pointer to the default cdev file operations table; useful for registering clone devices etc. More...

Detailed Description

Definition at line 96 of file dshot.cpp.

Member Enumeration Documentation

◆ DShotConfig

enum DShotOutput::DShotConfig

strongprivate

Enumerator
Disabled
DShot150
DShot300
DShot600
DShot1200

Definition at line 170 of file dshot.cpp.

◆ Mode

enum DShotOutput::Mode

Enumerator
MODE_NONE
MODE_1PWM
MODE_2PWM
MODE_2PWM2CAP
MODE_3PWM
MODE_3PWM1CAP
MODE_4PWM
MODE_4PWM1CAP
MODE_4PWM2CAP
MODE_5PWM
MODE_5PWM1CAP
MODE_6PWM
MODE_8PWM
MODE_14PWM
MODE_4CAP
MODE_5CAP
MODE_6CAP

Definition at line 99 of file dshot.cpp.

Constructor & Destructor Documentation

◆ DShotOutput() [1/2]

DShotOutput::DShotOutput ( )

Definition at line 246 of file dshot.cpp.

References _mixing_output, DSHOT_MAX_THROTTLE, MixingOutput::setAllDisarmedValues(), MixingOutput::setAllMaxValues(), and MixingOutput::setAllMinValues().

Referenced by task_spawn().

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◆ ~DShotOutput()

DShotOutput::~DShotOutput ( )

virtual

Definition at line 257 of file dshot.cpp.

References _class_instance, _telemetry, perf_free(), PWM_OUTPUT_BASE_DEVICE_PATH, cdev::CDev::unregister_class_devname(), and up_dshot_arm().

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◆ DShotOutput() [2/2]

DShotOutput::DShotOutput ( const DShotOutput & )

privatedelete

Member Function Documentation

◆ capture_callback()

void DShotOutput::capture_callback	(	uint32_t	chan_index,
		hrt_abstime	edge_time,
		uint32_t	edge_state,
		uint32_t	overflow
	)

private

Definition at line 500 of file dshot.cpp.

Referenced by capture_trampoline().

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◆ capture_ioctl()

int DShotOutput::capture_ioctl	(	file *	filp,
		int	cmd,
		unsigned long	arg
	)

private

Definition at line 1085 of file dshot.cpp.

References _mode, input_capture_config_t::callback, input_capture_stats_t::chan_in_edges_out, input_capture_config_t::channel, input_capture_config_t::context, input_capture_config_t::edge, input_capture_config_t::filter, INPUT_CAP_GET_CALLBACK, INPUT_CAP_GET_CLR_STATS, INPUT_CAP_GET_COUNT, INPUT_CAP_GET_EDGE, INPUT_CAP_GET_FILTER, INPUT_CAP_GET_STATS, INPUT_CAP_SET, INPUT_CAP_SET_CALLBACK, INPUT_CAP_SET_COUNT, INPUT_CAP_SET_EDGE, INPUT_CAP_SET_FILTER, cdev::CDev::lock(), MODE_2PWM2CAP, MODE_3PWM1CAP, MODE_4PWM1CAP, MODE_4PWM2CAP, MODE_5PWM1CAP, OK, set_mode(), cdev::CDev::unlock(), up_input_capture_get_callback(), up_input_capture_get_filter(), up_input_capture_get_stats(), up_input_capture_get_trigger(), up_input_capture_set(), up_input_capture_set_callback(), up_input_capture_set_filter(), and up_input_capture_set_trigger().

Referenced by ioctl().

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◆ capture_trampoline()

void DShotOutput::capture_trampoline	(	void *	context,
		uint32_t	chan_index,
		hrt_abstime	edge_time,
		uint32_t	edge_state,
		uint32_t	overflow
	)

static

Definition at line 492 of file dshot.cpp.

References capture_callback().

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◆ custom_command()

int DShotOutput::custom_command	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 1365 of file dshot.cpp.

References _telemetry_device, DShotOutput::Command::command, DShot_cmd_3d_mode_off, DShot_cmd_3d_mode_on, DShot_cmd_beacon1, DShot_cmd_beacon2, DShot_cmd_beacon3, DShot_cmd_beacon4, DShot_cmd_beacon5, DShot_cmd_save_settings, DShot_cmd_spin_direction_normal, DShot_cmd_spin_direction_reversed, is_running(), module_new_mode(), name, DShotOutput::Command::num_repetitions, PORT_FULL_GPIO, PORT_FULL_PWM, PORT_MODE_UNSET, PORT_PWM1, PORT_PWM2, PORT_PWM2CAP2, PORT_PWM3, PORT_PWM3CAP1, PORT_PWM4, PORT_PWM4CAP1, PORT_PWM4CAP2, PORT_PWM5, PORT_PWM5CAP1, PORT_PWM6, PORT_PWM8, print_usage(), task_spawn(), and telemetryEnabled().

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◆ get_mode()

Mode DShotOutput::get_mode ( )

inline

Definition at line 143 of file dshot.cpp.

References _mode, command, and hrt_abstime.

Referenced by module_new_mode().

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◆ handleNewTelemetryData()

void DShotOutput::handleNewTelemetryData	(	int	motor_index,
		const DShotTelemetry::EscData &	data
	)

private

Definition at line 583 of file dshot.cpp.

References _telemetry, esc_status_s::counter, DShotTelemetry::EscData::current, DShotTelemetry::EscData::erpm, esc_status_s::esc, esc_status_s::esc_connectiontype, esc_status_s::esc_count, esc_report_s::esc_current, esc_status_s::esc_online_flags, esc_report_s::esc_rpm, DShotOutput::Telemetry::esc_status_pub, esc_report_s::esc_temperature, esc_report_s::esc_voltage, uORB::PublicationData< T >::get(), DShotOutput::Telemetry::handler, hrt_absolute_time(), DShotOutput::Telemetry::last_motor_index, DShotTelemetry::numMotors(), DShotTelemetry::EscData::temperature, DShotTelemetry::EscData::time, esc_report_s::timestamp, esc_status_s::timestamp, uORB::PublicationData< T >::update(), and DShotTelemetry::EscData::voltage.

Referenced by Run().

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◆ init()

int DShotOutput::init ( )

virtual

Reimplemented from cdev::CDev.

Definition at line 270 of file dshot.cpp.

References _class_instance, _mixing_output, CLASS_DEVICE_PRIMARY, ToneAlarmInterface::init(), OK, PWM_OUTPUT_BASE_DEVICE_PATH, cdev::CDev::register_class_devname(), MixingOutput::setDriverInstance(), and update_params().

Referenced by task_spawn().

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◆ initTelemetry()

void DShotOutput::initTelemetry ( const char * device )

private

Definition at line 563 of file dshot.cpp.

References _telemetry, DShotOutput::Telemetry::handler, DShotTelemetry::init(), and updateTelemetryNumMotors().

Referenced by Run().

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◆ ioctl()

int DShotOutput::ioctl	(	file *	filp,
		int	cmd,
		unsigned long	arg
	)

virtual

Definition at line 821 of file dshot.cpp.

References _mode, capture_ioctl(), MODE_14PWM, MODE_1PWM, MODE_2PWM, MODE_2PWM2CAP, MODE_3PWM, MODE_3PWM1CAP, MODE_4PWM, MODE_4PWM1CAP, MODE_4PWM2CAP, MODE_5PWM, MODE_5PWM1CAP, MODE_6PWM, MODE_8PWM, and pwm_ioctl().

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◆ mixerChanged()

void DShotOutput::mixerChanged ( )

overridevirtual

called whenever the mixer gets updated/reset

Reimplemented from OutputModuleInterface.

Definition at line 681 of file dshot.cpp.

References updateTelemetryNumMotors().

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◆ module_new_mode()

int DShotOutput::module_new_mode ( PortMode new_mode )

static

change the mode of the running module

Definition at line 1237 of file dshot.cpp.

References get_mode(), is_running(), MODE_14PWM, MODE_1PWM, MODE_2PWM, MODE_2PWM2CAP, MODE_3PWM, MODE_3PWM1CAP, MODE_4PWM, MODE_4PWM1CAP, MODE_4PWM2CAP, MODE_5PWM, MODE_5PWM1CAP, MODE_6PWM, MODE_8PWM, MODE_NONE, OK, PORT_FULL_GPIO, PORT_FULL_PWM, PORT_MODE_UNSET, PORT_PWM1, PORT_PWM2, PORT_PWM2CAP2, PORT_PWM3, PORT_PWM3CAP1, PORT_PWM4, PORT_PWM4CAP1, PORT_PWM4CAP2, PORT_PWM5, PORT_PWM5CAP1, PORT_PWM6, and PORT_PWM8.

Referenced by custom_command().

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◆ operator=()

DShotOutput DShotOutput::operator= ( const DShotOutput & )

privatedelete

◆ print_status()

int DShotOutput::print_status ( )

override

See also: ModuleBase::print_status()

Definition at line 1533 of file dshot.cpp.

References _mixing_output, _mode, _outputs_initialized, _outputs_on, _telemetry, DShotOutput::Telemetry::handler, MODE_1PWM, MODE_2PWM, MODE_2PWM2CAP, MODE_3PWM, MODE_3PWM1CAP, MODE_4CAP, MODE_4PWM, MODE_4PWM1CAP, MODE_4PWM2CAP, MODE_5CAP, MODE_5PWM, MODE_5PWM1CAP, MODE_6CAP, MODE_6PWM, MODE_8PWM, MODE_NONE, perf_print_counter(), DShotTelemetry::printStatus(), and MixingOutput::printStatus().

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◆ print_usage()

int DShotOutput::print_usage ( const char * reason = nullptr )

static

See also: ModuleBase

Definition at line 1592 of file dshot.cpp.

Referenced by custom_command().

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◆ pwm_ioctl()

int DShotOutput::pwm_ioctl	(	file *	filp,
		int	cmd,
		unsigned long	arg
	)

private

Definition at line 870 of file dshot.cpp.

References _mixing_output, _mode, MixingOutput::loadMixerThreadSafe(), cdev::CDev::lock(), MIXERIOCLOADBUF, MIXERIOCRESET, MODE_14PWM, MODE_1PWM, MODE_2PWM, MODE_2PWM2CAP, MODE_3PWM, MODE_3PWM1CAP, MODE_4CAP, MODE_4PWM, MODE_4PWM1CAP, MODE_4PWM2CAP, MODE_5CAP, MODE_5PWM, MODE_5PWM1CAP, MODE_6CAP, MODE_6PWM, MODE_8PWM, MODE_NONE, OK, PWM_SERVO_GET_COUNT, PWM_SERVO_MODE_1PWM, PWM_SERVO_MODE_2PWM, PWM_SERVO_MODE_2PWM2CAP, PWM_SERVO_MODE_3PWM, PWM_SERVO_MODE_3PWM1CAP, PWM_SERVO_MODE_4CAP, PWM_SERVO_MODE_4PWM, PWM_SERVO_MODE_4PWM1CAP, PWM_SERVO_MODE_4PWM2CAP, PWM_SERVO_MODE_5CAP, PWM_SERVO_MODE_5PWM, PWM_SERVO_MODE_5PWM1CAP, PWM_SERVO_MODE_6CAP, PWM_SERVO_MODE_6PWM, PWM_SERVO_MODE_8PWM, PWM_SERVO_MODE_NONE, PWM_SERVO_SET_COUNT, PWM_SERVO_SET_MODE, MixingOutput::resetMixerThreadSafe(), set_mode(), and cdev::CDev::unlock().

Referenced by ioctl().

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◆ requestESCInfo()

int DShotOutput::requestESCInfo ( )

private

Definition at line 669 of file dshot.cpp.

References _mixing_output, _request_esc_info, _telemetry, _waiting_for_esc_info, DShotOutput::Command::command, DShot_cmd_esc_info, DShotOutput::Telemetry::handler, DShotOutput::Command::motor_mask, DShotOutput::Command::num_repetitions, DShotTelemetry::redirectOutput(), and MixingOutput::reorderedMotorIndex().

Referenced by updateOutputs().

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◆ retrieveAndPrintESCInfoThreadSafe()

void DShotOutput::retrieveAndPrintESCInfoThreadSafe ( int motor_index )

Definition at line 640 of file dshot.cpp.

References _request_esc_info, DShotTelemetry::OutputBuffer::buf_pos, DShotTelemetry::decodeAndPrintEscInfoPacket(), and DShotTelemetry::OutputBuffer::motor_index.

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◆ Run()

void DShotOutput::Run ( )

override

Definition at line 745 of file dshot.cpp.

References _mixing_output, _new_command, _outputs_on, _param_sub, _request_esc_info, _telemetry, _waiting_for_esc_info, actuator_armed_s::armed, MixingOutput::armed(), handleNewTelemetryData(), DShotOutput::Telemetry::handler, initTelemetry(), DShotTelemetry::latestESCData(), MixingOutput::mixers(), perf_begin(), perf_end(), MixingOutput::unregister(), DShotTelemetry::update(), MixingOutput::update(), update_dshot_out_state(), update_params(), uORB::Subscription::updated(), MixingOutput::updateSubscriptions(), and DShotOutput::Command::valid().

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◆ sendCommandThreadSafe()

int DShotOutput::sendCommandThreadSafe	(	dshot_command_t	command,
		int	num_repetitions,
		int	motor_index
	)

Send a dshot command to one or all motors This is expected to be called from another thread.

Parameters

num_repetitions	number of times to repeat, set at least to 1
motor_index	index or -1 for all

Returns: 0 on success, <0 error otherwise

Definition at line 617 of file dshot.cpp.

References _mixing_output, _new_command, command, DShotOutput::Command::command, DShotOutput::Command::motor_mask, DShotOutput::Command::num_repetitions, and MixingOutput::reorderedMotorIndex().

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◆ set_mode()

int DShotOutput::set_mode ( Mode mode )

Definition at line 299 of file dshot.cpp.

References _mode, _num_outputs, _output_mask, _outputs_initialized, MODE_14PWM, MODE_1PWM, MODE_2PWM, MODE_2PWM2CAP, MODE_3PWM, MODE_3PWM1CAP, MODE_4PWM, MODE_4PWM1CAP, MODE_4PWM2CAP, MODE_5PWM, MODE_5PWM1CAP, MODE_6PWM, MODE_8PWM, MODE_NONE, OK, Rising, up_input_capture_set(), and update_dshot_out_state().

Referenced by capture_ioctl(), and pwm_ioctl().

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◆ task_spawn()

int DShotOutput::task_spawn	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 468 of file dshot.cpp.

References DShotOutput(), init(), and ll40ls::instance.

Referenced by custom_command().

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◆ telemetryEnabled()

bool DShotOutput::telemetryEnabled ( ) const

inline

Definition at line 165 of file dshot.cpp.

Referenced by custom_command().

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◆ update_dshot_out_state()

void DShotOutput::update_dshot_out_state ( bool on )

private

Definition at line 507 of file dshot.cpp.

References _output_mask, _outputs_initialized, _outputs_on, DShot1200, DSHOT1200, DShot150, DSHOT150, DShot300, DSHOT300, DShot600, DSHOT600, up_dshot_arm(), and up_dshot_init().

Referenced by Run(), and set_mode().

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◆ update_params()

void DShotOutput::update_params ( )

private

Definition at line 807 of file dshot.cpp.

References _mixing_output, _param_sub, math::constrain(), DSHOT_MAX_THROTTLE, MixingOutput::setAllMinValues(), and uORB::Subscription::update().

Referenced by init(), and Run().

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◆ updateOutputs()

bool DShotOutput::updateOutputs	(	bool	stop_motors,
		uint16_t	outputs[MAX_ACTUATORS],
		unsigned	num_outputs,
		unsigned	num_control_groups_updated
	)

overridevirtual

Callback to update the (physical) actuator outputs in the driver.

Parameters

stop_motors	if true, all motors must be stopped (if false, individual motors might still be stopped via outputs[i] == disarmed_value)
outputs	individual actuator outputs in range [min, max] or failsafe/disarmed value
num_outputs	number of outputs (<= max_num_outputs)
num_control_groups_updated	number of actuator_control groups updated

Returns: if true, the update got handled, and actuator_outputs can be published

Implements OutputModuleInterface.

Definition at line 686 of file dshot.cpp.

References _mixing_output, _outputs_on, _request_esc_info, _telemetry, _waiting_for_esc_info, DShotOutput::Command::clear(), DShotOutput::Command::command, DShot_cmd_motor_stop, DSHOT_MAX_THROTTLE, DShotTelemetry::expectingData(), DShotTelemetry::getRequestMotorIndex(), DShotOutput::Telemetry::handler, math::min(), DShotOutput::Command::motor_mask, DShotOutput::Command::num_repetitions, MixingOutput::reorderedMotorIndex(), requestESCInfo(), up_dshot_motor_command(), up_dshot_motor_data_set(), up_dshot_trigger(), and DShotOutput::Command::valid().

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◆ updateTelemetryNumMotors()

void DShotOutput::updateTelemetryNumMotors ( )

private

Definition at line 548 of file dshot.cpp.

References _mixing_output, _telemetry, MixerGroup::get_multirotor_count(), DShotOutput::Telemetry::handler, MixingOutput::mixers(), and DShotTelemetry::setNumMotors().

Referenced by initTelemetry(), and mixerChanged().

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Member Data Documentation

◆ _class_instance

int DShotOutput::_class_instance {-1}

private

Definition at line 216 of file dshot.cpp.

Referenced by init(), and ~DShotOutput().

◆ _current_command

Command DShotOutput::_current_command

private

Definition at line 212 of file dshot.cpp.

◆ _cycle_perf

perf_counter_t DShotOutput::_cycle_perf

private

Definition at line 222 of file dshot.cpp.

◆ _mixing_output

MixingOutput DShotOutput::_mixing_output {DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false}

private

Definition at line 199 of file dshot.cpp.

Referenced by DShotOutput(), init(), print_status(), pwm_ioctl(), requestESCInfo(), Run(), sendCommandThreadSafe(), update_params(), updateOutputs(), and updateTelemetryNumMotors().

◆ _mode

Mode DShotOutput::_mode {MODE_NONE}

private

Definition at line 208 of file dshot.cpp.

Referenced by capture_ioctl(), ioctl(), print_status(), pwm_ioctl(), and set_mode().

◆ _new_command

px4::atomic<Command *> DShotOutput::_new_command {nullptr}

private

Definition at line 213 of file dshot.cpp.

Referenced by Run(), and sendCommandThreadSafe().

◆ _num_outputs

unsigned DShotOutput::_num_outputs {0}

private

Definition at line 215 of file dshot.cpp.

Referenced by set_mode().

◆ _output_mask

uint32_t DShotOutput::_output_mask {0}

private

Definition at line 219 of file dshot.cpp.

Referenced by set_mode(), and update_dshot_out_state().

◆ _outputs_initialized

bool DShotOutput::_outputs_initialized {false}

private

Definition at line 220 of file dshot.cpp.

Referenced by print_status(), set_mode(), and update_dshot_out_state().

◆ _outputs_on

bool DShotOutput::_outputs_on {false}

private

Definition at line 218 of file dshot.cpp.

Referenced by print_status(), Run(), update_dshot_out_state(), and updateOutputs().

◆ _param_sub

uORB::Subscription DShotOutput::_param_sub {ORB_ID(parameter_update)}

private

Definition at line 210 of file dshot.cpp.

Referenced by Run(), and update_params().

◆ _request_esc_info

px4::atomic<DShotTelemetry::OutputBuffer *> DShotOutput::_request_esc_info {nullptr}

private

Definition at line 205 of file dshot.cpp.

Referenced by requestESCInfo(), retrieveAndPrintESCInfoThreadSafe(), Run(), and updateOutputs().

◆ _request_telemetry_init

px4::atomic_bool DShotOutput::_request_telemetry_init {false}

staticprivate

Definition at line 203 of file dshot.cpp.

◆ _telemetry

Telemetry* DShotOutput::_telemetry {nullptr}

private

Definition at line 201 of file dshot.cpp.

Referenced by handleNewTelemetryData(), initTelemetry(), print_status(), requestESCInfo(), Run(), updateOutputs(), updateTelemetryNumMotors(), and ~DShotOutput().

◆ _telemetry_device

char DShotOutput::_telemetry_device {}

staticprivate

Definition at line 202 of file dshot.cpp.

Referenced by custom_command().

◆ _waiting_for_esc_info

bool DShotOutput::_waiting_for_esc_info {false}

private

Definition at line 206 of file dshot.cpp.

Referenced by requestESCInfo(), Run(), and updateOutputs().

◆ DISARMED_VALUE

constexpr uint16_t DShotOutput::DISARMED_VALUE = 0

staticprivate

Definition at line 168 of file dshot.cpp.

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

src/drivers/dshot/dshot.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ DShotConfig

◆ Mode

Constructor & Destructor Documentation

◆ DShotOutput() [1/2]

◆ ~DShotOutput()

◆ DShotOutput() [2/2]

Member Function Documentation

◆ capture_callback()

◆ capture_ioctl()

◆ capture_trampoline()

◆ custom_command()

◆ get_mode()

◆ handleNewTelemetryData()

◆ init()

◆ initTelemetry()

◆ ioctl()

◆ mixerChanged()

◆ module_new_mode()

◆ operator=()

◆ print_status()

◆ print_usage()

◆ pwm_ioctl()

◆ requestESCInfo()

◆ retrieveAndPrintESCInfoThreadSafe()

◆ Run()

◆ sendCommandThreadSafe()

◆ set_mode()

◆ task_spawn()

◆ telemetryEnabled()

◆ update_dshot_out_state()

◆ update_params()

◆ updateOutputs()

◆ updateTelemetryNumMotors()

Member Data Documentation

◆ _class_instance

◆ _current_command

◆ _cycle_perf

◆ _mixing_output

◆ _mode

◆ _new_command

◆ _num_outputs

◆ _output_mask

◆ _outputs_initialized

◆ _outputs_on

◆ _param_sub

◆ _request_esc_info

◆ _request_telemetry_init

◆ _telemetry

◆ _telemetry_device

◆ _waiting_for_esc_info

◆ DISARMED_VALUE