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AP_Periph: create and use a singleton for SRV_Channels

This commit is contained in:
Peter Barker 2024-11-09 18:40:03 +11:00 committed by Andrew Tridgell
parent ccd12e3e12
commit 573b02fc23
1 changed files with 3 additions and 3 deletions
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6
Tools/AP_Periph/rc_out.cpp
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@ -71,7 +71,7 @@ void AP_Periph_FW::rcout_init()
hal.rcout->set_freq(esc_mask, g.esc_rate.get()); hal.rcout->set_freq(esc_mask, g.esc_rate.get());
// setup ESCs with the desired PWM type, allowing for DShot // setup ESCs with the desired PWM type, allowing for DShot
SRV_Channels::init(esc_mask, (AP_HAL::RCOutput::output_mode)g.esc_pwm_type.get()); AP::srv().init(esc_mask, (AP_HAL::RCOutput::output_mode)g.esc_pwm_type.get());
// run DShot at 1kHz // run DShot at 1kHz
hal.rcout->set_dshot_rate(SRV_Channels::get_dshot_rate(), 400); hal.rcout->set_dshot_rate(SRV_Channels::get_dshot_rate(), 400);
@ -83,7 +83,7 @@ void AP_Periph_FW::rcout_init()
void AP_Periph_FW::rcout_init_1Hz() void AP_Periph_FW::rcout_init_1Hz()
{ {
// this runs at 1Hz to allow for run-time param changes // this runs at 1Hz to allow for run-time param changes
SRV_Channels::enable_aux_servos(); AP::srv().enable_aux_servos();
for (uint8_t i=0; i<SERVO_OUT_MOTOR_MAX; i++) { for (uint8_t i=0; i<SERVO_OUT_MOTOR_MAX; i++) {
servo_channels.set_esc_scaling_for(SRV_Channels::get_motor_function(i)); servo_channels.set_esc_scaling_for(SRV_Channels::get_motor_function(i));
@ -159,7 +159,7 @@ void AP_Periph_FW::rcout_update()
SRV_Channels::calc_pwm(); SRV_Channels::calc_pwm();
SRV_Channels::cork(); SRV_Channels::cork();
SRV_Channels::output_ch_all(); SRV_Channels::output_ch_all();
SRV_Channels::push(); AP::srv().push();
#if HAL_WITH_ESC_TELEM #if HAL_WITH_ESC_TELEM
if (now_ms - last_esc_telem_update_ms >= esc_telem_update_period_ms) { if (now_ms - last_esc_telem_update_ms >= esc_telem_update_period_ms) {
last_esc_telem_update_ms = now_ms; last_esc_telem_update_ms = now_ms;