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SRV_Channel: support SBusOut

This commit is contained in:
Mark Whitehorn 2017-11-22 10:40:44 -07:00 committed by Andrew Tridgell
parent 94d4f068a8
commit cca251c135
3 changed files with 15 additions and 1 deletions
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2
libraries/AP_SBusOut/AP_SBusOut.cpp
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@ -152,7 +152,7 @@ void AP_SBusOut::init() {
uint16_t rate = sbus_rate.get();
#if SBUS_DEBUG
::printf("AP_SBusOut: init %d Hz\n", rate);
hal.console->printf("AP_SBusOut: init %d Hz\n", rate);
#endif
// subtract 500msec from requested frame interval to allow for latency

5
libraries/SRV_Channel/SRV_Channel.h
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@ -18,6 +18,7 @@
#include <AP_RCMapper/AP_RCMapper.h>
#include <AP_Common/Bitmask.h>
#include <AP_Volz_Protocol/AP_Volz_Protocol.h>
#include <AP_SBusOut/AP_SBusOut.h>
#define NUM_SERVO_CHANNELS 16
@ -440,6 +441,10 @@ private:
AP_Volz_Protocol volz = AP_Volz_Protocol::create();
static AP_Volz_Protocol *volz_ptr;
// support for SBUS protocol
AP_SBusOut sbus = AP_SBusOut::create();
static AP_SBusOut *sbus_ptr;
SRV_Channel obj_channels[NUM_SERVO_CHANNELS];
static struct srv_function {

9
libraries/SRV_Channel/SRV_Channels.cpp
View File

@ -27,6 +27,7 @@ extern const AP_HAL::HAL& hal;
SRV_Channel *SRV_Channels::channels;
SRV_Channels *SRV_Channels::instance;
AP_Volz_Protocol *SRV_Channels::volz_ptr;
AP_SBusOut *SRV_Channels::sbus_ptr;
bool SRV_Channels::disabled_passthrough;
bool SRV_Channels::initialised;
@ -117,6 +118,10 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
// @Path: ../AP_Volz_Protocol/AP_Volz_Protocol.cpp
AP_SUBGROUPINFO(volz, "_VOLZ_", 19, SRV_Channels, AP_Volz_Protocol),
// @Group: SBUS_
// @Path: ../AP_SBusOut/AP_SBusOut.cpp
AP_SUBGROUPINFO(sbus, "_SBUS_", 20, SRV_Channels, AP_SBusOut),
AP_GROUPEND
};
@ -137,6 +142,7 @@ SRV_Channels::SRV_Channels(void)
}
volz_ptr = &volz;
sbus_ptr = &sbus;
}
/*
@ -201,4 +207,7 @@ void SRV_Channels::push()
// give volz library a chance to update
volz_ptr->update();
// give sbus library a chance to update
sbus_ptr->update();
}