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SRV_Channel: observe disabled_channels when enabling channels

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setup disabled_channels observing channels that are implied to be digital
allow none to be a valid channel function once again
This commit is contained in:
Andy Piper 2022-04-19 18:17:10 +01:00 committed by Randy Mackay
parent ff5a813b4f
commit bafab0fddf
2 changed files with 27 additions and 4 deletions
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8
libraries/SRV_Channel/SRV_Channel.h
View File

@ -52,7 +52,7 @@ public:
typedef enum
{
k_GPIO = -1, ///< used as GPIO pin (input or output)
k_none = 0, ///< disabled
k_none = 0, ///< general use PWM output used by do-set-servo commands and lua scripts
k_manual = 1, ///< manual, just pass-thru the RC in signal
k_flap = 2, ///< flap
k_flap_auto = 3, ///< flap automated
@ -183,7 +183,7 @@ public:
// check if a function is valid for indexing into functions
static bool valid_function(Aux_servo_function_t fn) {
return fn > k_none && fn < k_nr_aux_servo_functions;
return fn >= k_none && fn < k_nr_aux_servo_functions;
}
bool valid_function(void) const {
return valid_function(function);
@ -519,8 +519,9 @@ public:
static void push();
// disable output to a set of channels given by a mask. This is used by the AP_BLHeli code
// disable PWM output to a set of channels given by a mask. This is used by the AP_BLHeli code
static void set_disabled_channel_mask(uint16_t mask) { disabled_mask = mask; }
static uint16_t get_disabled_channel_mask() { return disabled_mask; }
// add to mask of outputs which use digital (non-PWM) output and optionally can reverse thrust, such as DShot
static void set_digital_outputs(uint16_t dig_mask, uint16_t rev_mask);
@ -600,6 +601,7 @@ private:
static AP_FETtecOneWire *fetteconwire_ptr;
#endif // AP_FETTEC_ONEWIRE_ENABLED
// mask of disabled channels
static uint16_t disabled_mask;
// mask of outputs which use a digital output protocol, not

23
libraries/SRV_Channel/SRV_Channel_aux.cpp
View File

@ -206,7 +206,7 @@ void SRV_Channels::enable_aux_servos()
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
SRV_Channel &c = channels[i];
// see if it is a valid function
if (c.valid_function()) {
if (c.valid_function() && !(disabled_mask & (1U<<c.ch_num))) {
hal.rcout->enable_ch(c.ch_num);
} else {
hal.rcout->disable_ch(c.ch_num);
@ -248,6 +248,27 @@ void SRV_Channels::set_digital_outputs(uint16_t dig_mask, uint16_t rev_mask) {
digital_mask |= dig_mask;
reversible_mask |= rev_mask;
// add in NeoPixel and ProfiLED functions to digital array to determine anything else
// that should be disabled
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
SRV_Channel &c = channels[i];
switch (c.function.get()) {
case SRV_Channel::k_LED_neopixel1:
case SRV_Channel::k_LED_neopixel2:
case SRV_Channel::k_LED_neopixel3:
case SRV_Channel::k_LED_neopixel4:
case SRV_Channel::k_ProfiLED_1:
case SRV_Channel::k_ProfiLED_2:
case SRV_Channel::k_ProfiLED_3:
case SRV_Channel::k_ProfiLED_Clock:
dig_mask |= 1U<<c.ch_num;
break;
default:
break;
}
}
disabled_mask = hal.rcout->get_disabled_channels(dig_mask);
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
SRV_Channel &c = channels[i];
if (digital_mask & (1U<<i)) {