HAL_ChibiOS: setup for brushed feature in IOMCU

2018-07-13 12:29:02 +10:00 · 2018-07-13 12:29:02 +10:00 · 50683633b3
parent 41264568ba
commit 50683633b3
1 changed files with 5 additions and 0 deletions
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@ -682,6 +682,11 @@ void RCOutput::set_output_mode(uint16_t mask, enum output_mode mode)
        iomcu.set_freq(io_fast_channel_mask, 1);
        return iomcu.set_oneshot_mode();
    }
+    if (mode == MODE_PWM_BRUSHED &&
+        (mask & ((1U<<chan_offset)-1)) &&
+        AP_BoardConfig::io_enabled()) {
+        return iomcu.set_brushed_mode();
+    }
 #endif
 }