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AP_HAL: add accessor for reversed mask 

allow mask updates to be disabled
document mask types
define DSHOT_ZERO_THROTTLE
This commit is contained in:
Andy Piper 2021-07-29 21:45:51 +01:00 committed by Randy Mackay
parent 5ece42bce0
commit 09e0135ecb
1 changed files with 14 additions and 4 deletions
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18
libraries/AP_HAL/RCOutput.h
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@ -52,22 +52,30 @@ public:
/*
* mark the channels in chanmask as reversible. This is needed for some ESC types (such as DShot)
* so that output scaling can be performed correctly. The chanmask passed is added (ORed) into
* any existing mask.
* so that output scaling can be performed correctly. The chanmask passed is added (ORed) into any existing mask.
* The mask uses servo channel numbering
*/
virtual void set_reversible_mask(uint16_t chanmask) {}
/*
* mark the channels in chanmask as reversed. The chanmask passed is added (ORed) into
* any existing mask.
* mark the channels in chanmask as reversed.
* The chanmask passed is added (ORed) into any existing mask.
* The mask uses servo channel numbering
*/
virtual void set_reversed_mask(uint16_t chanmask) {}
virtual uint16_t get_reversed_mask() { return 0; }
/*
* Update channel masks at 1Hz allowing for actions such as dshot commands to be sent
*/
virtual void update_channel_masks() {}
/*
* Allow channel mask updates to be temporarily suspended
*/
virtual void disable_channel_mask_updates() {}
virtual void enable_channel_mask_updates() {}
/*
* Delay subsequent calls to write() going to the underlying hardware in
* order to group related writes together. When all the needed writes are
@ -225,6 +233,8 @@ public:
DSHOT_LED3_OFF = 29,
};
const uint8_t DSHOT_ZERO_THROTTLE = 48;
enum DshotEscType {
DSHOT_ESC_NONE = 0,
DSHOT_ESC_BLHELI = 1