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APM_RC: APM1 fast output speed increased to 400hz.

This commit is contained in:
Pat Hickey 2011-12-10 13:06:06 -08:00
parent 7afb091f26
commit 56b0be3124
1 changed files with 14 additions and 4 deletions
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18
libraries/APM_RC/APM_RC_APM1.cpp
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@ -212,26 +212,30 @@ void APM_RC_APM1::Force_Out6_Out7(void)
// Output rate options: // Output rate options:
#define OUTPUT_SPEED_50HZ 0 #define OUTPUT_SPEED_50HZ 0
#define OUTPUT_SPEED_200HZ 1 #define OUTPUT_SPEED_200HZ 1
#define OUTPUT_SPEED_400HZ 2
void APM_RC_APM1::SetFastOutputChannels(uint32_t chmask) void APM_RC_APM1::SetFastOutputChannels(uint32_t chmask)
{ {
if ((chmask & ( MSK_CH_1 | MSK_CH_2 | MSK_CH_9)) != 0) if ((chmask & ( MSK_CH_1 | MSK_CH_2 | MSK_CH_9)) != 0)
_set_speed_ch1_ch2_ch9(OUTPUT_SPEED_200HZ); _set_speed_ch1_ch2_ch9(OUTPUT_SPEED_400HZ);
if ((chmask & ( MSK_CH_3 | MSK_CH_4 | MSK_CH_10 )) != 0) if ((chmask & ( MSK_CH_3 | MSK_CH_4 | MSK_CH_10 )) != 0)
_set_speed_ch3_ch4_ch10(OUTPUT_SPEED_200HZ); _set_speed_ch3_ch4_ch10(OUTPUT_SPEED_400HZ);
if ((chmask & ( MSK_CH_5 | MSK_CH_6 )) != 0) if ((chmask & ( MSK_CH_5 | MSK_CH_6 )) != 0)
_set_speed_ch5_ch6(OUTPUT_SPEED_200HZ); _set_speed_ch5_ch6(OUTPUT_SPEED_400HZ);
if ((chmask & ( MSK_CH_7 | MSK_CH_8 | MSK_CH_11 )) != 0) if ((chmask & ( MSK_CH_7 | MSK_CH_8 | MSK_CH_11 )) != 0)
_set_speed_ch7_ch8_ch11(OUTPUT_SPEED_200HZ); _set_speed_ch7_ch8_ch11(OUTPUT_SPEED_400HZ);
} }
void APM_RC_APM1::_set_speed_ch1_ch2_ch9(uint8_t speed) void APM_RC_APM1::_set_speed_ch1_ch2_ch9(uint8_t speed)
{ {
switch(speed) { switch(speed) {
case OUTPUT_SPEED_400HZ:
ICR1= 5000;
break;
case OUTPUT_SPEED_200HZ: case OUTPUT_SPEED_200HZ:
ICR1= 10000; ICR1= 10000;
break; break;
@ -245,6 +249,9 @@ void APM_RC_APM1::_set_speed_ch1_ch2_ch9(uint8_t speed)
void APM_RC_APM1::_set_speed_ch3_ch4_ch10(uint8_t speed) void APM_RC_APM1::_set_speed_ch3_ch4_ch10(uint8_t speed)
{ {
switch(speed) { switch(speed) {
case OUTPUT_SPEED_400HZ:
ICR5= 5000;
break;
case OUTPUT_SPEED_200HZ: case OUTPUT_SPEED_200HZ:
ICR5= 10000; ICR5= 10000;
break; break;
@ -258,6 +265,9 @@ void APM_RC_APM1::_set_speed_ch3_ch4_ch10(uint8_t speed)
void APM_RC_APM1::_set_speed_ch7_ch8_ch11(uint8_t speed) void APM_RC_APM1::_set_speed_ch7_ch8_ch11(uint8_t speed)
{ {
switch(speed) { switch(speed) {
case OUTPUT_SPEED_400HZ:
ICR3 = 5000;
break;
case OUTPUT_SPEED_200HZ: case OUTPUT_SPEED_200HZ:
ICR3 = 10000; ICR3 = 10000;
break; break;