Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

APM_RC enable_out and disable_out added to APM1 and APM2 

* Outputs still enabled by default
This commit is contained in:
Pat Hickey 2012-01-17 10:19:27 -08:00
parent acf43341da
commit 47204921e9
5 changed files with 71 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/APM_RC/APM_RC.h
View File

@ -41,6 +41,9 @@ class APM_RC_Class
virtual void clearOverride(void) = 0; virtual void clearOverride(void) = 0;
virtual void Force_Out() = 0; virtual void Force_Out() = 0;
virtual void SetFastOutputChannels( uint32_t channelmask ) = 0; virtual void SetFastOutputChannels( uint32_t channelmask ) = 0;
virtual void enable_out(uint8_t) = 0;
virtual void disable_out(uint8_t) = 0;
}; };

34
libraries/APM_RC/APM_RC_APM1.cpp
View File

@ -153,6 +153,40 @@ void APM_RC_APM1::OutputCh(uint8_t ch, uint16_t pwm)
} }
} }
void APM_RC_APM1::enable_out(uint8_t ch)
{
switch(ch){
case 0: TCCR5A |= (1<<COM5B1); break; // CH_1 : OC5B
case 1: TCCR5A |= (1<<COM5C1); break; // CH_2 : OC5C
case 2: TCCR1A |= (1<<COM1B1); break; // CH_3 : OC1B
case 3: TCCR1A |= (1<<COM1C1); break; // CH_4 : OC1C
case 4: TCCR4A |= (1<<COM4C1); break; // CH_5 : OC4C
case 5: TCCR4A |= (1<<COM4B1); break; // CH_6 : OC4B
case 6: TCCR3A |= (1<<COM3C1); break; // CH_7 : OC3C
case 7: TCCR3A |= (1<<COM3B1); break; // CH_8 : OC3B
case 8: TCCR5A |= (1<<COM5A1); break; // CH_9 : OC5A
case 9: TCCR1A |= (1<<COM1A1); break; // CH_10: OC1A
case 10: TCCR3A |= (1<<COM3A1); break; // CH_11: OC3A
}
}
void APM_RC_APM1::disable_out(uint8_t ch)
{
switch(ch){
case 0: TCCR5A &= ~(1<<COM5B1); break; // CH_1 : OC5B
case 1: TCCR5A &= ~(1<<COM5C1); break; // CH_2 : OC5C
case 2: TCCR1A &= ~(1<<COM1B1); break; // CH_3 : OC1B
case 3: TCCR1A &= ~(1<<COM1C1); break; // CH_4 : OC1C
case 4: TCCR4A &= ~(1<<COM4C1); break; // CH_5 : OC4C
case 5: TCCR4A &= ~(1<<COM4B1); break; // CH_6 : OC4B
case 6: TCCR3A &= ~(1<<COM3C1); break; // CH_7 : OC3C
case 7: TCCR3A &= ~(1<<COM3B1); break; // CH_8 : OC3B
case 8: TCCR5A &= ~(1<<COM5A1); break; // CH_9 : OC5A
case 9: TCCR1A &= ~(1<<COM1A1); break; // CH_10: OC1A
case 10: TCCR3A &= ~(1<<COM3A1); break; // CH_11: OC3A
}
}
uint16_t APM_RC_APM1::InputCh(uint8_t ch) uint16_t APM_RC_APM1::InputCh(uint8_t ch)
{ {
uint16_t result; uint16_t result;

3
libraries/APM_RC/APM_RC_APM1.h
View File

@ -20,6 +20,9 @@ class APM_RC_APM1 : public APM_RC_Class
void Force_Out(void); void Force_Out(void);
void SetFastOutputChannels(uint32_t chmask); void SetFastOutputChannels(uint32_t chmask);
void enable_out(uint8_t);
void disable_out(uint8_t);
void Force_Out0_Out1(void); void Force_Out0_Out1(void);
void Force_Out2_Out3(void); void Force_Out2_Out3(void);
void Force_Out6_Out7(void); void Force_Out6_Out7(void);

28
libraries/APM_RC/APM_RC_APM2.cpp
View File

@ -155,6 +155,34 @@ void APM_RC_APM2::OutputCh(unsigned char ch, uint16_t pwm)
} }
} }
void APM_RC_APM2::enable_out(uint8_t ch)
{
switch(ch) {
case 0: TCCR1A |= (1<<COM1B1); break; // CH_1 : OC1B
case 1: TCCR1A |= (1<<COM1A1); break; // CH_2 : OC1A
case 2: TCCR4A |= (1<<COM4C1); break; // CH_3 : OC4C
case 3: TCCR4A |= (1<<COM4B1); break; // CH_4 : OC4B
case 4: TCCR4A |= (1<<COM4A1); break; // CH_5 : OC4A
case 5: TCCR3A |= (1<<COM3C1); break; // CH_6 : OC3C
case 6: TCCR3A |= (1<<COM3B1); break; // CH_7 : OC3B
case 7: TCCR3A |= (1<<COM3A1); break; // CH_8 : OC3A
}
}
void APM_RC_APM2::disable_out(uint8_t ch)
{
switch(ch) {
case 0: TCCR1A &= ~(1<<COM1B1); break; // CH_1 : OC1B
case 1: TCCR1A &= ~(1<<COM1A1); break; // CH_2 : OC1A
case 2: TCCR4A &= ~(1<<COM4C1); break; // CH_3 : OC4C
case 3: TCCR4A &= ~(1<<COM4B1); break; // CH_4 : OC4B
case 4: TCCR4A &= ~(1<<COM4A1); break; // CH_5 : OC4A
case 5: TCCR3A &= ~(1<<COM3C1); break; // CH_6 : OC3C
case 6: TCCR3A &= ~(1<<COM3B1); break; // CH_7 : OC3B
case 7: TCCR3A &= ~(1<<COM3A1); break; // CH_8 : OC3A
}
}
uint16_t APM_RC_APM2::InputCh(unsigned char ch) uint16_t APM_RC_APM2::InputCh(unsigned char ch)
{ {
uint16_t result; uint16_t result;

3
libraries/APM_RC/APM_RC_APM2.h
View File

@ -22,6 +22,9 @@ class APM_RC_APM2 : public APM_RC_Class
void Force_Out(void); void Force_Out(void);
void SetFastOutputChannels(uint32_t chmask); void SetFastOutputChannels(uint32_t chmask);
void enable_out(uint8_t);
void disable_out(uint8_t);
void Force_Out0_Out1(void); void Force_Out0_Out1(void);
void Force_Out2_Out3(void); void Force_Out2_Out3(void);
void Force_Out6_Out7(void); void Force_Out6_Out7(void);