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APM_RC: _set_speed functions implemented for APM_RC_APM1 and _Purple

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* I have not tested any of these on real hardware.
This commit is contained in:
Pat Hickey 2011-11-15 15:56:10 -08:00 committed by Pat Hickey
parent 718f3dee00
commit 0549a50e9e
5 changed files with 159 additions and 0 deletions
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16
libraries/APM_RC/APM_RC.h
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@ -13,8 +13,23 @@
#define CH_6 5
#define CH_7 6
#define CH_8 7
#define CH_9 8
#define CH_10 9
#define CH_11 10
#define MSK_CH_1 (1 << CH_1)
#define MSK_CH_2 (1 << CH_2)
#define MSK_CH_3 (1 << CH_3)
#define MSK_CH_4 (1 << CH_4)
#define MSK_CH_5 (1 << CH_5)
#define MSK_CH_6 (1 << CH_6)
#define MSK_CH_7 (1 << CH_7)
#define MSK_CH_8 (1 << CH_8)
#define MSK_CH_9 (1 << CH_9)
#define MSK_CH_10 (1 << CH_10)
#define MSK_CH_11 (1 << CH_11)
#define NUM_CHANNELS 8
@ -27,6 +42,7 @@ class APM_RC_Class
virtual uint8_t GetState() = 0;
virtual void clearOverride(void) = 0;
virtual void Force_Out() = 0;
virtual void SetFastOutputChannels( uint32_t channelmask );
};
#include "APM_RC_APM1.h"

72
libraries/APM_RC/APM_RC_APM1.cpp
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@ -207,6 +207,78 @@ void APM_RC_APM1::Force_Out6_Out7(void)
TCNT3=39990;
}
/* --------------------- OUTPUT SPEED CONTROL --------------------- */
// Output rate options:
#define OUTPUT_SPEED_50HZ 0
#define OUTPUT_SPEED_200HZ 1
void APM_RC_APM1::SetFastOutputChannels(uint32_t chmask)
{
if ((chmask & ( MSK_CH_1 | MSK_CH_2 | MSK_CH_9)) != 0)
_set_speed_ch1_ch2_ch9(OUTPUT_SPEED_200HZ);
if ((chmask & ( MSK_CH_3 | MSK_CH_4 | MSK_CH_10 )) != 0)
_set_speed_ch3_ch4_ch10(OUTPUT_SPEED_200HZ);
if ((chmask & ( MSK_CH_5 | MSK_CH_6 )) != 0)
_set_speed_ch5_ch6(OUTPUT_SPEED_200HZ);
if ((chmask & ( MSK_CH_7 | MSK_CH_8 | MSK_CH_11 )) != 0)
_set_speed_ch7_ch8_ch11(OUTPUT_SPEED_200HZ);
}
void APM_RC_APM1::_set_speed_ch1_ch2_ch9(uint8_t speed)
{
switch(speed) {
case OUTPUT_SPEED_200HZ:
ICR1= 10000;
break;
case OUTPUT_SPEED_50HZ:
default:
ICR1 = 40000;
break;
}
}
void APM_RC_APM1::_set_speed_ch3_ch4_ch10(uint8_t speed)
{
switch(speed) {
case OUTPUT_SPEED_200HZ:
ICR5= 10000;
break;
case OUTPUT_SPEED_50HZ:
default:
ICR5 = 40000;
break;
}
}
void APM_RC_APM1::_set_speed_ch7_ch8_ch11(uint8_t speed)
{
switch(speed) {
case OUTPUT_SPEED_200HZ:
ICR3 = 10000;
break;
case OUTPUT_SPEED_50HZ:
default:
ICR3 = 40000;
break;
}
}
void APM_RC_APM1::_set_speed_ch5_ch6(uint8_t speed)
{
/* This function intentionally left blank:
* Can't change output speed of ch5 (OCR4B) and ch6 (OCR4C).
* Timer 4 period controlled by OCR4A, and used for input
* capture on ICR4.
* If the period of Timer 4 must be changed, the input capture
* code will have to be adjusted as well
*/
}
// allow HIL override of RC values
// A value of -1 means no change
// A value of 0 means no override, use the real RC values

7
libraries/APM_RC/APM_RC_APM1.h
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@ -18,6 +18,7 @@ class APM_RC_APM1 : public APM_RC_Class
bool setHIL(int16_t v[NUM_CHANNELS]);
void clearOverride(void);
void Force_Out(void);
void SetFastOutputChannels(uint32_t chmask);
void Force_Out0_Out1(void);
void Force_Out2_Out3(void);
@ -31,6 +32,12 @@ class APM_RC_APM1 : public APM_RC_Class
static volatile uint8_t _radio_status;
int16_t _HIL_override[NUM_CHANNELS];
void _set_speed_ch1_ch2_ch9(uint8_t speed);
void _set_speed_ch3_ch4_ch10(uint8_t speed);
void _set_speed_ch5_ch6(uint8_t speed);
void _set_speed_ch7_ch8_ch11(uint8_t speed);
};
#endif

58
libraries/APM_RC/APM_RC_Purple.cpp
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@ -199,6 +199,64 @@ void APM_RC_Purple::Force_Out0_Out1(void) { }
void APM_RC_Purple::Force_Out2_Out3(void) { }
void APM_RC_Purple::Force_Out6_Out7(void) { }
/* ---------------- OUTPUT SPEED CONTROL ------------------ */
// Output rate options:
#define OUTPUT_SPEED_50HZ 0
#define OUTPUT_SPEED_200HZ 1
void APM_RC_Purple::SetFastOutputChannels(uint32_t chmask)
{
if ((chmask & ( MSK_CH_1 | MSK_CH_2 )) != 0)
_set_speed_ch1_ch2(OUTPUT_SPEED_200HZ);
if ((chmask & ( MSK_CH_3 | MSK_CH_4 | MSK_CH_5 )) != 0)
_set_speed_ch3_ch4_ch5(OUTPUT_SPEED_200HZ);
if ((chmask & ( MSK_CH_6 | MSK_CH_7 | MSK_CH_8 )) != 0)
_set_speed_ch6_ch7_ch8(OUTPUT_SPEED_200HZ);
}
void APM_RC_Purple::_set_speed_ch1_ch2(uint8_t speed)
{
switch(speed) {
case OUTPUT_SPEED_200HZ:
ICR1 = 10000;
break;
case OUTPUT_SPEED_50HZ:
default:
ICR1 = 40000;
break;
}
}
void APM_RC_Purple::_set_speed_ch3_ch4_ch5(uint8_t speed)
{
switch(speed) {
case OUTPUT_SPEED_200HZ:
ICR4 = 10000;
break;
case OUTPUT_SPEED_50HZ:
default:
ICR4 = 40000;
break;
}
}
void APM_RC_Purple::_set_speed_ch6_ch7_ch8(uint8_t speed)
{
switch(speed) {
case OUTPUT_SPEED_200HZ:
ICR3 = 10000;
break;
case OUTPUT_SPEED_50HZ:
default:
ICR3 = 40000;
break;
}
}
// allow HIL override of RC values
// A value of -1 means no change
// A value of 0 means no override, use the real RC values

6
libraries/APM_RC/APM_RC_Purple.h
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@ -20,6 +20,8 @@ class APM_RC_Purple : public APM_RC_Class
bool setHIL(int16_t v[NUM_CHANNELS]);
void clearOverride(void);
void Force_Out(void);
void SetFastOutputChannels(uint32_t chmask);
void Force_Out0_Out1(void);
void Force_Out2_Out3(void);
void Force_Out6_Out7(void);
@ -30,6 +32,10 @@ class APM_RC_Purple : public APM_RC_Class
static volatile uint16_t _PWM_RAW[NUM_CHANNELS];
static volatile uint8_t _radio_status;
int16_t _HIL_override[NUM_CHANNELS];
void _set_speed_ch1_ch2(uint8_t speed);
void _set_speed_ch3_ch4_ch5(uint8_t speed);
void _set_speed_ch6_ch7_ch8(uint8_t speed);
};