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SRV_Channel: support 32 rotors in a frame

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Andrew Tridgell 2024-07-20 11:15:03 +10:00 committed by Peter Barker
parent 1deea810e8
commit 46b452ae39
2 changed files with 29 additions and 2 deletions
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6
libraries/SRV_Channel/SRV_Channel.cpp
View File

@ -306,7 +306,8 @@ uint16_t SRV_Channel::get_limit_pwm(Limit limit) const
bool SRV_Channel::is_motor(SRV_Channel::Aux_servo_function_t function) bool SRV_Channel::is_motor(SRV_Channel::Aux_servo_function_t function)
{ {
return ((function >= SRV_Channel::k_motor1 && function <= SRV_Channel::k_motor8) || return ((function >= SRV_Channel::k_motor1 && function <= SRV_Channel::k_motor8) ||
(function >= SRV_Channel::k_motor9 && function <= SRV_Channel::k_motor12)); (function >= SRV_Channel::k_motor9 && function <= SRV_Channel::k_motor12) ||
(function >= SRV_Channel::k_motor13 && function <= SRV_Channel::k_motor32));
} }
// return true if function is for anything that should be stopped in a e-stop situation, ie is dangerous // return true if function is for anything that should be stopped in a e-stop situation, ie is dangerous
@ -332,6 +333,7 @@ bool SRV_Channel::should_e_stop(SRV_Channel::Aux_servo_function_t function)
case Aux_servo_function_t::k_motor10: case Aux_servo_function_t::k_motor10:
case Aux_servo_function_t::k_motor11: case Aux_servo_function_t::k_motor11:
case Aux_servo_function_t::k_motor12: case Aux_servo_function_t::k_motor12:
case Aux_servo_function_t::k_motor13 ... Aux_servo_function_t::k_motor32:
case Aux_servo_function_t::k_engine_run_enable: case Aux_servo_function_t::k_engine_run_enable:
return true; return true;
default: default:
@ -380,6 +382,8 @@ int8_t SRV_Channel::get_motor_num(void) const
return int8_t(uint16_t(k_function) - k_motor1); return int8_t(uint16_t(k_function) - k_motor1);
case k_motor9 ... k_motor12: case k_motor9 ... k_motor12:
return 8 + int8_t(uint16_t(k_function) - k_motor9); return 8 + int8_t(uint16_t(k_function) - k_motor9);
case k_motor13 ... k_motor32:
return 12 + int8_t(uint16_t(k_function) - k_motor13);
default: default:
break; break;
} }

25
libraries/SRV_Channel/SRV_Channel.h
View File

@ -189,6 +189,26 @@ public:
k_rcin15_mapped = 154, k_rcin15_mapped = 154,
k_rcin16_mapped = 155, k_rcin16_mapped = 155,
k_lift_release = 156, k_lift_release = 156,
k_motor13 = 160,
k_motor14 = 161,
k_motor15 = 162,
k_motor16 = 163,
k_motor17 = 164,
k_motor18 = 165,
k_motor19 = 166,
k_motor20 = 167,
k_motor21 = 168,
k_motor22 = 169,
k_motor23 = 170,
k_motor24 = 171,
k_motor25 = 172,
k_motor26 = 173,
k_motor27 = 174,
k_motor28 = 175,
k_motor29 = 176,
k_motor30 = 177,
k_motor31 = 178,
k_motor32 = 179,
k_nr_aux_servo_functions ///< This must be the last enum value (only add new values _before_ this one) k_nr_aux_servo_functions ///< This must be the last enum value (only add new values _before_ this one)
} Aux_servo_function_t; } Aux_servo_function_t;
@ -539,7 +559,10 @@ public:
if (channel < 8) { if (channel < 8) {
return SRV_Channel::Aux_servo_function_t(SRV_Channel::k_motor1+channel); return SRV_Channel::Aux_servo_function_t(SRV_Channel::k_motor1+channel);
} }
return SRV_Channel::Aux_servo_function_t((SRV_Channel::k_motor9+(channel-8))); if (channel < 12) {
return SRV_Channel::Aux_servo_function_t((SRV_Channel::k_motor9+(channel-8)));
}
return SRV_Channel::Aux_servo_function_t((SRV_Channel::k_motor13+(channel-12)));
} }
void cork(); void cork();