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AP_BLHeli: allow motor mask and motor output type to be passed in for AP_Periph

This commit is contained in:
Andy Piper 2022-09-05 18:06:08 +01:00 committed by Peter Barker
parent 3c8d94304d
commit 25ef429cf7
2 changed files with 7 additions and 4 deletions
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9
libraries/AP_BLHeli/AP_BLHeli.cpp
View File

@ -1303,8 +1303,9 @@ void AP_BLHeli::update(void)
/*
Initialize BLHeli, called by SRV_Channels::init()
Used to install protocol handler
The motor mask of enabled motors can be passed in
*/
void AP_BLHeli::init(void)
void AP_BLHeli::init(uint32_t mask, AP_HAL::RCOutput::output_mode otype)
{
initialised = true;
@ -1333,7 +1334,7 @@ void AP_BLHeli::init(void)
}
#endif
uint32_t mask = uint32_t(channel_mask.get());
mask |= uint32_t(channel_mask.get());
/*
allow mode override - this makes it possible to use DShot for
@ -1342,7 +1343,9 @@ void AP_BLHeli::init(void)
// +1 converts from AP_Motors::pwm_type to AP_HAL::RCOutput::output_mode and saves doing a param conversion
// this is the only use of the param, but this is still a bit of a hack
const int16_t type = output_type.get() + 1;
AP_HAL::RCOutput::output_mode otype = ((type > AP_HAL::RCOutput::MODE_PWM_NONE) && (type < AP_HAL::RCOutput::MODE_NEOPIXEL)) ? AP_HAL::RCOutput::output_mode(type) : AP_HAL::RCOutput::MODE_PWM_NONE;
if (otype == AP_HAL::RCOutput::MODE_PWM_NONE) {
otype = ((type > AP_HAL::RCOutput::MODE_PWM_NONE) && (type < AP_HAL::RCOutput::MODE_NEOPIXEL)) ? AP_HAL::RCOutput::output_mode(type) : AP_HAL::RCOutput::MODE_PWM_NONE;
}
switch (otype) {
case AP_HAL::RCOutput::MODE_PWM_ONESHOT:
case AP_HAL::RCOutput::MODE_PWM_ONESHOT125:

2
libraries/AP_BLHeli/AP_BLHeli.h
View File

@ -43,7 +43,7 @@ public:
AP_BLHeli();
void update(void);
void init(void);
void init(uint32_t motor_mask, AP_HAL::RCOutput::output_mode mode);
void update_telemetry(void);
bool process_input(uint8_t b);