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AP_HAL: enable 32 servo outs

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Iampete1 2021-01-12 02:01:25 +00:00 committed by Andrew Tridgell
parent 572ebf29da
commit cabdd82e71
1 changed files with 23 additions and 9 deletions
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32
libraries/AP_HAL/RCOutput.h
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@ -26,6 +26,20 @@
#define CH_16 15
#define CH_17 16
#define CH_18 17
#define CH_19 18
#define CH_20 19
#define CH_21 20
#define CH_22 21
#define CH_23 22
#define CH_24 23
#define CH_25 24
#define CH_26 25
#define CH_27 26
#define CH_28 27
#define CH_29 28
#define CH_30 29
#define CH_31 30
#define CH_32 31
#define CH_NONE 255
#endif
@ -57,15 +71,15 @@ public:
* so that output scaling can be performed correctly. The chanmask passed is added (ORed) into any existing mask.
* The mask uses servo channel numbering
*/
virtual void set_reversible_mask(uint16_t chanmask) {}
virtual void set_reversible_mask(uint32_t chanmask) {}
/*
* mark the channels in chanmask as reversed.
* The chanmask passed is added (ORed) into any existing mask.
* The mask uses servo channel numbering
*/
virtual void set_reversed_mask(uint16_t chanmask) {}
virtual uint16_t get_reversed_mask() { return 0; }
virtual void set_reversed_mask(uint32_t chanmask) {}
virtual uint32_t get_reversed_mask() { return 0; }
/*
* Update channel masks at 1Hz allowing for actions such as dshot commands to be sent
@ -165,7 +179,7 @@ public:
as those in the same channel timer groups) may also be stopped,
depending on the implementation
*/
virtual bool serial_setup_output(uint8_t chan, uint32_t baudrate, uint16_t chanmask) { return false; }
virtual bool serial_setup_output(uint8_t chan, uint32_t baudrate, uint32_t chanmask) { return false; }
/*
write a set of bytes to an ESC, using settings from
@ -242,7 +256,7 @@ public:
DSHOT_ESC_BLHELI = 1
};
virtual void set_output_mode(uint16_t mask, enum output_mode mode) {}
virtual void set_output_mode(uint32_t mask, enum output_mode mode) {}
/*
* get output mode banner to inform user of how outputs are configured
@ -263,18 +277,18 @@ public:
enable telemetry request for a mask of channels. This is used
with DShot to get telemetry feedback
*/
virtual void set_telem_request_mask(uint16_t mask) {}
virtual void set_telem_request_mask(uint32_t mask) {}
/*
enable bi-directional telemetry request for a mask of channels. This is used
with DShot to get telemetry feedback
*/
virtual void set_bidir_dshot_mask(uint16_t mask) {}
virtual void set_bidir_dshot_mask(uint32_t mask) {}
/*
mark escs as active for the purpose of sending dshot commands
*/
virtual void set_active_escs_mask(uint16_t mask) {}
virtual void set_active_escs_mask(uint32_t mask) {}
/*
Set the dshot rate as a multiple of the loop rate
@ -304,7 +318,7 @@ public:
setup serial led output for a given channel number, with
the given max number of LEDs in the chain.
*/
virtual bool set_serial_led_num_LEDs(const uint16_t chan, uint8_t num_leds, output_mode mode = MODE_PWM_NONE, uint16_t clock_mask = 0) { return false; }
virtual bool set_serial_led_num_LEDs(const uint16_t chan, uint8_t num_leds, output_mode mode = MODE_PWM_NONE, uint32_t clock_mask = 0) { return false; }
/*
setup serial led output data for a given output channel