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SingleCopter: motor_to_channel_map moved to progmem

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Randy Mackay 2014-02-10 15:59:21 +09:00 committed by Andrew Tridgell
parent 0edf039155
commit 3fad8e3630
1 changed files with 34 additions and 34 deletions
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68
libraries/AP_Motors/AP_MotorsSingle.cpp
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@ -120,12 +120,12 @@ void AP_MotorsSingle::set_update_rate( uint16_t speed_hz )
// set update rate for the 3 motors (but not the servo on channel 7)
uint32_t mask =
1U << _motor_to_channel_map[AP_MOTORS_MOT_1] |
1U << _motor_to_channel_map[AP_MOTORS_MOT_2] |
1U << _motor_to_channel_map[AP_MOTORS_MOT_3] |
1U << _motor_to_channel_map[AP_MOTORS_MOT_4] ;
1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]) |
1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]) |
1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]) |
1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]) ;
hal.rcout->set_freq(mask, _servo_speed);
uint32_t mask2 = 1U << _motor_to_channel_map[AP_MOTORS_MOT_7];
uint32_t mask2 = 1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_7]);
hal.rcout->set_freq(mask2, _speed_hz);
}
@ -133,22 +133,22 @@ void AP_MotorsSingle::set_update_rate( uint16_t speed_hz )
void AP_MotorsSingle::enable()
{
// enable output channels
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_1]);
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_2]);
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_3]);
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_4]);
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_7]);
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]));
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]));
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]));
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]));
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_7]));
}
// output_min - sends minimum values out to the motor and trim values to the servos
void AP_MotorsSingle::output_min()
{
// send minimum value to each motor
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1.radio_trim);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2.radio_trim);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3.radio_trim);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4.radio_trim);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_7], _rc_throttle.radio_min);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_trim);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_trim);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _servo3.radio_trim);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _servo4.radio_trim);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_7]), _rc_throttle.radio_min);
}
// output_armed - sends commands to the motors
@ -202,11 +202,11 @@ void AP_MotorsSingle::output_armed()
_servo4.calc_pwm();
// send output to each motor
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1.radio_out);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2.radio_out);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3.radio_out);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4.radio_out);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_7], motor_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _servo3.radio_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _servo4.radio_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_7]), motor_out);
}
// output_disarmed - sends commands to the motors
@ -224,41 +224,41 @@ void AP_MotorsSingle::output_test()
// spin main motor
hal.scheduler->delay(1000);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_7], _rc_throttle.radio_min + _min_throttle);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_7]), _rc_throttle.radio_min + _min_throttle);
hal.scheduler->delay(1000);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_7], _rc_throttle.radio_min);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_7]), _rc_throttle.radio_min);
hal.scheduler->delay(2000);
// flap servo 1
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1.radio_min);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_min);
hal.scheduler->delay(1000);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1.radio_max);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_max);
hal.scheduler->delay(1000);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1.radio_trim);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_trim);
hal.scheduler->delay(2000);
// flap servo 2
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2.radio_min);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_min);
hal.scheduler->delay(1000);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2.radio_max);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_max);
hal.scheduler->delay(1000);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2.radio_trim);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_trim);
hal.scheduler->delay(2000);
// flap servo 3
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3.radio_min);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _servo3.radio_min);
hal.scheduler->delay(1000);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3.radio_max);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _servo3.radio_max);
hal.scheduler->delay(1000);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3.radio_trim);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _servo3.radio_trim);
hal.scheduler->delay(2000);
// flap servo 4
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4.radio_min);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _servo4.radio_min);
hal.scheduler->delay(1000);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4.radio_max);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _servo4.radio_max);
hal.scheduler->delay(1000);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4.radio_trim);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _servo4.radio_trim);
// Send minimum values to all motors
output_min();