Rover: support DShot ESCs

H2CO3 · Dec 18, 2018 · 8e96eb9 · 8e96eb9
1 parent b306e08
commit 8e96eb9
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Showing 2 changed files with 18 additions and 2 deletions.
diff --git a/APMrover2/AP_MotorsUGV.cpp b/APMrover2/AP_MotorsUGV.cpp
@@ -24,7 +24,7 @@ const AP_Param::GroupInfo AP_MotorsUGV::var_info[] = {
     // @Param: PWM_TYPE
     // @DisplayName: Motor Output PWM type
     // @Description: This selects the output PWM type as regular PWM, OneShot, Brushed motor support using PWM (duty cycle) with separated direction signal, Brushed motor support with separate throttle and direction PWM (duty cyle)
-    // @Values: 0:Normal,1:OneShot,2:OneShot125,3:BrushedWithRelay,4:BrushedBiPolar
+    // @Values: 0:Normal,1:OneShot,2:OneShot125,3:BrushedWithRelay,4:BrushedBiPolar,5:DShot150,6:DShot300,7:DShot600,8:DShot1200
     // @User: Advanced
     // @RebootRequired: True
     AP_GROUPINFO("PWM_TYPE", 1, AP_MotorsUGV, _pwm_type, PWM_TYPE_NORMAL),
@@ -537,7 +537,7 @@ void AP_MotorsUGV::setup_pwm_type()
     for (uint8_t i=0; i<_motors_num; i++) {
         motor_mask |= SRV_Channels::get_output_channel_mask(SRV_Channels::get_motor_function(i));
     }
-    
+
     switch (_pwm_type) {
     case PWM_TYPE_ONESHOT:
         hal.rcout->set_output_mode(motor_mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT);
@@ -550,6 +550,18 @@ void AP_MotorsUGV::setup_pwm_type()
         hal.rcout->set_output_mode(motor_mask, AP_HAL::RCOutput::MODE_PWM_BRUSHED);
         hal.rcout->set_freq(motor_mask, uint16_t(_pwm_freq * 1000));
         break;
+    case PWM_TYPE_DSHOT150:
+        hal.rcout->set_output_mode(motor_mask, AP_HAL::RCOutput::MODE_PWM_DSHOT150);
+        break;
+    case PWM_TYPE_DSHOT300:
+        hal.rcout->set_output_mode(motor_mask, AP_HAL::RCOutput::MODE_PWM_DSHOT300);
+        break;
+    case PWM_TYPE_DSHOT600:
+        hal.rcout->set_output_mode(motor_mask, AP_HAL::RCOutput::MODE_PWM_DSHOT600);
+        break;
+    case PWM_TYPE_DSHOT1200:
+        hal.rcout->set_output_mode(motor_mask, AP_HAL::RCOutput::MODE_PWM_DSHOT1200);
+        break;
     default:
         // do nothing
         break;

diff --git a/APMrover2/AP_MotorsUGV.h b/APMrover2/AP_MotorsUGV.h
@@ -16,6 +16,10 @@ class AP_MotorsUGV {
         PWM_TYPE_ONESHOT125 = 2,
         PWM_TYPE_BRUSHED_WITH_RELAY = 3,
         PWM_TYPE_BRUSHED_BIPOLAR = 4,
+        PWM_TYPE_DSHOT150 = 5,
+        PWM_TYPE_DSHOT300 = 6,
+        PWM_TYPE_DSHOT600 = 7,
+        PWM_TYPE_DSHOT1200 = 8
      };
 
     enum motor_test_order {