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APM_RC: APM2 fast output speed increased to 400hz.

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This commit is contained in:
Pat Hickey 2011-12-10 13:04:11 -08:00
parent f3a4fbc7af
commit 7afb091f26
1 changed files with 13 additions and 3 deletions
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16
libraries/APM_RC/APM_RC_APM2.cpp
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@ -203,22 +203,26 @@ void APM_RC_APM2::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_APM2::SetFastOutputChannels(uint32_t chmask) void APM_RC_APM2::SetFastOutputChannels(uint32_t chmask)
{ {
if ((chmask & ( MSK_CH_1 | MSK_CH_2 )) != 0) if ((chmask & ( MSK_CH_1 | MSK_CH_2 )) != 0)
_set_speed_ch1_ch2(OUTPUT_SPEED_200HZ); _set_speed_ch1_ch2(OUTPUT_SPEED_400HZ);
if ((chmask & ( MSK_CH_3 | MSK_CH_4 | MSK_CH_5 )) != 0) if ((chmask & ( MSK_CH_3 | MSK_CH_4 | MSK_CH_5 )) != 0)
_set_speed_ch3_ch4_ch5(OUTPUT_SPEED_200HZ); _set_speed_ch3_ch4_ch5(OUTPUT_SPEED_400HZ);
if ((chmask & ( MSK_CH_6 | MSK_CH_7 | MSK_CH_8 )) != 0) if ((chmask & ( MSK_CH_6 | MSK_CH_7 | MSK_CH_8 )) != 0)
_set_speed_ch6_ch7_ch8(OUTPUT_SPEED_200HZ); _set_speed_ch6_ch7_ch8(OUTPUT_SPEED_400HZ);
} }
void APM_RC_APM2::_set_speed_ch1_ch2(uint8_t speed) void APM_RC_APM2::_set_speed_ch1_ch2(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;
@ -232,6 +236,9 @@ void APM_RC_APM2::_set_speed_ch1_ch2(uint8_t speed)
void APM_RC_APM2::_set_speed_ch3_ch4_ch5(uint8_t speed) void APM_RC_APM2::_set_speed_ch3_ch4_ch5(uint8_t speed)
{ {
switch(speed) { switch(speed) {
case OUTPUT_SPEED_400HZ:
ICR4 = 5000;
break;
case OUTPUT_SPEED_200HZ: case OUTPUT_SPEED_200HZ:
ICR4 = 10000; ICR4 = 10000;
break; break;
@ -246,6 +253,9 @@ void APM_RC_APM2::_set_speed_ch3_ch4_ch5(uint8_t speed)
void APM_RC_APM2::_set_speed_ch6_ch7_ch8(uint8_t speed) void APM_RC_APM2::_set_speed_ch6_ch7_ch8(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;