ardupilot PWM输出源代码分析

        这几天看apm源代码，看到pwm输出这块，做个笔记，方便日后回头看。有分析不对的，还望各位大神指出。

       pwm输出从上往下看依次是SRV_Channels类（与SRV_Channel互为友元类，在成员变量上定义了SRV_Channel类数组，方法上更对是对SRV_Channel的补充）-SRV_Channel类（对输出通道的抽象出的数据结构，枚举了所有PWM通道；实现了单个SRV_Channel的从信号的输入到输出的计算，并且附加了对通道数值的类型和限幅操作 ）-到最后输入是调用底层AP_HAL::RCOutput类。

      首先是入口函数Copter::init_ardupilot()初始一系列，里面调用了allocate_motors()函数，该函数详细代码如下：

/*
  allocate the motors class
 */
void Copter::allocate_motors(void)
{
    switch ((AP_Motors::motor_frame_class)g2.frame_class.get()) {
#if FRAME_CONFIG != HELI_FRAME
        case AP_Motors::MOTOR_FRAME_QUAD:
        case AP_Motors::MOTOR_FRAME_HEXA:
        case AP_Motors::MOTOR_FRAME_Y6:
        case AP_Motors::MOTOR_FRAME_OCTA:
        case AP_Motors::MOTOR_FRAME_OCTAQUAD:
        case AP_Motors::MOTOR_FRAME_DODECAHEXA:
        default:
            motors = new AP_MotorsMatrix(copter.scheduler.get_loop_rate_hz());
            motors_var_info = AP_MotorsMatrix::var_info;
            break;
        case AP_Motors::MOTOR_FRAME_TRI:
            motors = new AP_MotorsTri(copter.scheduler.get_loop_rate_hz());
            motors_var_info = AP_MotorsTri::var_info;
            AP_Param::set_frame_type_flags(AP_PARAM_FRAME_TRICOPTER);
            break;
        case AP_Motors::MOTOR_FRAME_SINGLE:
            motors = new AP_MotorsSingle(copter.scheduler.get_loop_rate_hz());
            motors_var_info = AP_MotorsSingle::var_info;
            break;
        case AP_Motors::MOTOR_FRAME_COAX:
            motors = new AP_MotorsCoax(copter.scheduler.get_loop_rate_hz());
            motors_var_info = AP_MotorsCoax::var_info;
            break;
        case AP_Motors::MOTOR_FRAME_TAILSITTER:
            motors = new AP_MotorsTailsitter(copter.scheduler.get_loop_rate_hz());
            motors_var_info = AP_MotorsTailsitter::var_info;
            break;
#else // FRAME_CONFIG == HELI_FRAME
        case AP_Motors::MOTOR_FRAME_HELI_DUAL:
            motors = new AP_MotorsHeli_Dual(copter.scheduler.get_loop_rate_hz());
            motors_var_info = AP_MotorsHeli_Dual::var_info;
            AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI);
            break;

        case AP_Motors::MOTOR_FRAME_HELI_QUAD:
            motors = new AP_MotorsHeli_Quad(copter.scheduler.get_loop_rate_hz());
            motors_var_info = AP_MotorsHeli_Quad::var_info;
            AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI);
            break;
            
        case AP_Motors::MOTOR_FRAME_HELI:
        default:
            motors = new AP_MotorsHeli_Single(copter.scheduler.get_loop_rate_hz());
            motors_var_info = AP_MotorsHeli_Single::var_info;
            AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI);
            break;
#endif
    }
    if (motors == nullptr) {
        AP_HAL::panic("Unable to allocate FRAME_CLASS=%u", (unsigned)g2.frame_class.get());
    }
    AP_Param::load_object_from_eeprom(motors, motors_var_info);

    ahrs_view = ahrs.create_view(ROTATION_NONE);
    if (ahrs_view == nullptr) {
        AP_HAL::panic("Unable to allocate AP_AHRS_View");
    }

    const struct AP_Param::GroupInfo *ac_var_info;

#if FRAME_CONFIG != HELI_FRAME
    attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors, scheduler.get_loop_period_s());
    ac_var_info = AC_AttitudeControl_Multi::var_info;
#else
    attitude_control = new AC_AttitudeControl_Heli(*ahrs_view, aparm, *motors, scheduler.get_loop_period_s());
    ac_var_info = AC_AttitudeControl_Heli::var_info;
#endif
    if (attitude_control == nullptr) {
        AP_HAL::panic("Unable to allocate AttitudeControl");
    }
    AP_Param::load_object_from_eeprom(attitude_control, ac_var_info);
        
    pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control);
    if (pos_control == nullptr) {
        AP_HAL::panic("Unable to allocate PosControl");
    }
    AP_Param::load_object_from_eeprom(pos_control, pos_control->var_info);

#if AC_OAPATHPLANNER_ENABLED == ENABLED
    wp_nav = new AC_WPNav_OA(inertial_nav, *ahrs_view, *pos_control, *attitude_control);
#else
    wp_nav = new AC_WPNav(inertial_nav, *ahrs_view, *pos_control, *attitude_control);
#endif
    if (wp_nav == nullptr) {
        AP_HAL::panic("Unable to allocate WPNav");
    }
    AP_Param::load_object_from_eeprom(wp_nav, wp_nav->var_info);

    loiter_nav = new AC_Loiter(inertial_nav, *ahrs_view, *pos_control, *attitude_control);
    if (loiter_nav == nullptr) {
        AP_HAL::panic("Unable to allocate LoiterNav");
    }
    AP_Param::load_object_from_eeprom(loiter_nav, loiter_nav->var_info);

#if MODE_CIRCLE_ENABLED == ENABLED
    circle_nav = new AC_Circle(inertial_nav, *ahrs_view, *pos_control);
    if (circle_nav == nullptr) {
        AP_HAL::panic("Unable to allocate CircleNav");
    }
    AP_Param::load_object_from_eeprom(circle_nav, circle_nav->var_info);
#endif

    // reload lines from the defaults file that may now be accessible
    AP_Param::reload_defaults_file(true);
    
    // now setup some frame-class specific defaults
    switch ((AP_Motors::motor_frame_class)g2.frame_class.get()) {
    case AP_Motors::MOTOR_FRAME_Y6:
        attitude_control->get_rate_roll_pid().kP().set_default(0.1);
        attitude_control->get_rate_roll_pid().kD().set_default(0.006);
        attitude_control->get_rate_pitch_pid().kP().set_default(0.1);
        attitude_control->get_rate_pitch_pid().kD().set_default(0.006);
        attitude_control->get_rate_yaw_pid().kP().set_default(0.15);
        attitude_control->get_rate_yaw_pid().kI().set_default(0.015);
        break;
    case AP_Motors::MOTOR_FRAME_TRI:
        attitude_control->get_rate_yaw_pid().filt_D_hz().set_default(100);
        break;
    default:
        break;
    }

    // brushed 16kHz defaults to 16kHz pulses
    if (motors->get_pwm_type() == AP_Motors::PWM_TYPE_BRUSHED) {
        g.rc_speed.set_default(16000);
    }
    
    if (upgrading_frame_params) {
        // do frame specific upgrade. This is only done the first time we run the new firmware
#if FRAME_CONFIG == HELI_FRAME
        SRV_Channels::upgrade_motors_servo(Parameters::k_param_motors, 12