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MotorsMatrix: motor_to_channel_map moved to progmem

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Randy Mackay 2014-02-10 15:59:58 +09:00 committed by Andrew Tridgell
parent 134289af38
commit 8d6eb1eceb
1 changed files with 6 additions and 6 deletions
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12
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -49,7 +49,7 @@ void AP_MotorsMatrix::set_update_rate( uint16_t speed_hz )
uint32_t mask = 0;
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
mask |= 1U << _motor_to_channel_map[i];
mask |= 1U << pgm_read_byte(&_motor_to_channel_map[i]);
}
}
hal.rcout->set_freq( mask, _speed_hz );
@ -81,7 +81,7 @@ void AP_MotorsMatrix::enable()
// enable output channels
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
hal.rcout->enable_ch(_motor_to_channel_map[i]);
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[i]));
}
}
}
@ -100,7 +100,7 @@ void AP_MotorsMatrix::output_min()
// fill the motor_out[] array for HIL use and send minimum value to each motor
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
hal.rcout->write(_motor_to_channel_map[i], _rc_throttle.radio_min);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[i]), _rc_throttle.radio_min);
}
}
}
@ -317,7 +317,7 @@ void AP_MotorsMatrix::output_armed()
// send output to each motor
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
hal.rcout->write(_motor_to_channel_map[i], motor_out[i]);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[i]), motor_out[i]);
}
}
}
@ -356,9 +356,9 @@ void AP_MotorsMatrix::output_test()
for( j=0; j<AP_MOTORS_MAX_NUM_MOTORS; j++ ) {
if( motor_enabled[j] && _test_order[j] == i ) {
// turn on this motor and wait 1/3rd of a second
hal.rcout->write(_motor_to_channel_map[j], _rc_throttle.radio_min + _min_throttle);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[j]), _rc_throttle.radio_min + _min_throttle);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[j], _rc_throttle.radio_min);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[j]), _rc_throttle.radio_min);
hal.scheduler->delay(2000);
}
}