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Flymaple: RCOUtput disable_ch() now supports disabling outputs

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This commit is contained in:
Mike McCauley 2014-03-04 10:36:02 +10:00 committed by Andrew Tridgell
parent e7b0e32bfe
commit c90d3ff59e
1 changed files with 11 additions and 1 deletions
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12
libraries/AP_HAL_FLYMAPLE/RCOutput.cpp
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@ -27,6 +27,8 @@
using namespace AP_HAL_FLYMAPLE_NS;
extern const AP_HAL::HAL& hal;
#define MAX_OVERFLOW ((1 << 16) - 1)
void FLYMAPLERCOutput::init(void* machtnichts) {}
@ -74,7 +76,15 @@ void FLYMAPLERCOutput::disable_ch(uint8_t ch)
{
if (ch >= FLYMAPLE_RC_OUTPUT_NUM_CHANNELS)
return;
// Nothing really to do
uint8_t pin = _channel_to_flymaple_pin(ch);
timer_dev *tdev = PIN_MAP[pin].timer_device;
if (tdev == NULL) {
// don't reset any fields or ASSERT(0), to keep driving any
// previously attach()ed servo.
return;
}
pinMode(pin, INPUT);
}
void FLYMAPLERCOutput::write(uint8_t ch, uint16_t period_us)