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AP_IOMCU: added brushed motor feature bit in protocol

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This commit is contained in:
Andrew Tridgell 2018-07-13 12:28:43 +10:00
parent 25247433dc
commit 41264568ba
2 changed files with 17 additions and 0 deletions
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14
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -27,6 +27,7 @@ enum ioevents {
IOEVENT_FORCE_SAFETY_OFF,
IOEVENT_FORCE_SAFETY_ON,
IOEVENT_SET_ONESHOT_ON,
IOEVENT_SET_BRUSHED_ON,
IOEVENT_SET_RATES,
IOEVENT_ENABLE_SBUS,
IOEVENT_SET_HEATER_TARGET,
@ -183,6 +184,13 @@ void AP_IOMCU::thread_main(void)
}
}
if (mask & EVENT_MASK(IOEVENT_SET_BRUSHED_ON)) {
if (!modify_register(PAGE_SETUP, PAGE_REG_SETUP_FEATURES, 0, P_SETUP_FEATURES_BRUSHED)) {
event_failed(IOEVENT_SET_BRUSHED_ON);
continue;
}
}
if (mask & EVENT_MASK(IOEVENT_SET_SAFETY_MASK)) {
if (!write_register(PAGE_SETUP, PAGE_REG_SETUP_IGNORE_SAFETY, pwm_out.safety_mask)) {
event_failed(IOEVENT_SET_SAFETY_MASK);
@ -639,6 +647,12 @@ void AP_IOMCU::set_oneshot_mode(void)
trigger_event(IOEVENT_SET_ONESHOT_ON);
}
// setup for brushed mode
void AP_IOMCU::set_brushed_mode(void)
{
trigger_event(IOEVENT_SET_BRUSHED_ON);
}
// handling of BRD_SAFETYOPTION parameter
void AP_IOMCU::update_safety_options(void)
{

3
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -90,6 +90,9 @@ public:
// set to oneshot mode
void set_oneshot_mode(void);
// set to brushed mode
void set_brushed_mode(void);
// check if IO is healthy
bool healthy(void);