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AP_Motors: rc_map_mask -> motor_mask_to_srv_channel_mask

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the naming of this function precedes our rc/srv-channel split
This commit is contained in:
Peter Barker 2021-01-02 23:09:56 +11:00 committed by Andrew Tridgell
parent 90b8893b4a
commit 8f8283e0f0
7 changed files with 15 additions and 8 deletions
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2
libraries/AP_Motors/AP_MotorsCoax.cpp
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@ -107,7 +107,7 @@ uint16_t AP_MotorsCoax::get_motor_mask()
1U << AP_MOTORS_MOT_4 |
1U << AP_MOTORS_MOT_5 |
1U << AP_MOTORS_MOT_6;
uint16_t mask = rc_map_mask(motor_mask);
uint16_t mask = motor_mask_to_srv_channel_mask(motor_mask);
// add parent's mask
mask |= AP_MotorsMulticopter::get_motor_mask();

2
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -373,7 +373,7 @@ uint16_t AP_MotorsHeli_Single::get_motor_mask()
mask |= 1U << AP_MOTORS_HELI_SINGLE_TAILRSC;
}
return rc_map_mask(mask);
return motor_mask_to_srv_channel_mask(mask);
}
// update_motor_controls - sends commands to motor controllers

2
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -117,7 +117,7 @@ uint16_t AP_MotorsMatrix::get_motor_mask()
motor_mask |= 1U << i;
}
}
uint16_t mask = rc_map_mask(motor_mask);
uint16_t mask = motor_mask_to_srv_channel_mask(motor_mask);
// add parent's mask
mask |= AP_MotorsMulticopter::get_motor_mask();

2
libraries/AP_Motors/AP_MotorsSingle.cpp
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@ -111,7 +111,7 @@ uint16_t AP_MotorsSingle::get_motor_mask()
1U << AP_MOTORS_MOT_5 |
1U << AP_MOTORS_MOT_6;
uint16_t mask = rc_map_mask(motor_mask);
uint16_t mask = motor_mask_to_srv_channel_mask(motor_mask);
// add parent's mask
mask |= AP_MotorsMulticopter::get_motor_mask();

2
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -129,7 +129,7 @@ uint16_t AP_MotorsTri::get_motor_mask()
(1U << AP_MOTORS_MOT_2) |
(1U << AP_MOTORS_MOT_4) |
(1U << AP_MOTORS_CH_TRI_YAW);
uint16_t mask = rc_map_mask(motor_mask);
uint16_t mask = motor_mask_to_srv_channel_mask(motor_mask);
// add parent's mask
mask |= AP_MotorsMulticopter::get_motor_mask();

4
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -102,7 +102,7 @@ void AP_Motors::rc_set_freq(uint32_t mask, uint16_t freq_hz)
_motor_fast_mask |= mask;
}
mask = rc_map_mask(mask);
mask = motor_mask_to_srv_channel_mask(mask);
hal.rcout->set_freq(mask, freq_hz);
switch (pwm_type(_pwm_type.get())) {
@ -142,7 +142,7 @@ void AP_Motors::rc_set_freq(uint32_t mask, uint16_t freq_hz)
SERVOn_FUNCTION mappings, and allowing for multiple outputs per
motor number
*/
uint32_t AP_Motors::rc_map_mask(uint32_t mask) const
uint32_t AP_Motors::motor_mask_to_srv_channel_mask(uint32_t mask) const
{
uint32_t mask2 = 0;
for (uint8_t i = 0; i < 32; i++) {

9
libraries/AP_Motors/AP_Motors_Class.h
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@ -210,7 +210,14 @@ protected:
virtual void rc_write(uint8_t chan, uint16_t pwm);
virtual void rc_write_angle(uint8_t chan, int16_t angle_cd);
virtual void rc_set_freq(uint32_t mask, uint16_t freq_hz);
virtual uint32_t rc_map_mask(uint32_t mask) const;
/*
map an internal motor mask to real motor mask, accounting for
SERVOn_FUNCTION mappings, and allowing for multiple outputs per
motor number
*/
uint32_t motor_mask_to_srv_channel_mask(uint32_t mask) const;
// add a motor to the motor map
void add_motor_num(int8_t motor_num);