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APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV 

* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
  a separate macro expansion for the MSK value.
This commit is contained in:
Pat Hickey 2011-12-30 12:40:59 -05:00
parent 787bdc379a
commit d015e0d6d9
10 changed files with 18 additions and 32 deletions
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2
ArduCopter/heli.pde
View File

@ -234,7 +234,7 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
static void init_motors_out()
{
#if INSTANT_PWM == 0
APM_RC.SetFastOutputChannels( MSK_CH_1 | MSK_CH_2 | MSK_CH_3 | MSK_CH_4 );
APM_RC.SetFastOutputChannels( _BV(CH_1) | _BV(CH_2) | _BV(CH_3) | _BV(CH_4) );
#endif
}

4
ArduCopter/motors_hexa.pde
View File

@ -5,8 +5,8 @@
static void init_motors_out()
{
#if INSTANT_PWM == 0
APM_RC.SetFastOutputChannels( MSK_CH_1 | MSK_CH_2 | MSK_CH_3 | MSK_CH_4
| MSK_CH_7 | MSK_CH_8 );
APM_RC.SetFastOutputChannels( _BV(CH_1) | _BV(CH_2) | _BV(CH_3) | _BV(CH_4)
| _BV(CH_7) | _BV(CH_8) );
#endif
}

4
ArduCopter/motors_octa.pde
View File

@ -5,8 +5,8 @@
static void init_motors_out()
{
#if INSTANT_PWM == 0
APM_RC.SetFastOutputChannels( MSK_CH_1 | MSK_CH_2 | MSK_CH_3 | MSK_CH_4
| MSK_CH_7 | MSK_CH_8 | MSK_CH_10 | MSK_CH_11 );
APM_RC.SetFastOutputChannels( _BV(CH_1) | _BV(CH_2) | _BV(CH_3) | _BV(CH_4)
| _BV(CH_7) | _BV(CH_8) | _BV(CH_10) | _BV(CH_11) );
#endif
}

4
ArduCopter/motors_octa_quad.pde
View File

@ -5,8 +5,8 @@
static void init_motors_out()
{
#if INSTANT_PWM == 0
APM_RC.SetFastOutputChannels( MSK_CH_1 | MSK_CH_2 | MSK_CH_3 | MSK_CH_4
| MSK_CH_7 | MSK_CH_8 | MSK_CH_10 | MSK_CH_11 );
APM_RC.SetFastOutputChannels( _BV(CH_1) | _BV(CH_2) | _BV(CH_3) | _BV(CH_4)
| _BV(CH_7) | _BV(CH_8) | _BV(CH_10) | _BV(CH_11) );
#endif
}

2
ArduCopter/motors_quad.pde
View File

@ -5,7 +5,7 @@
static void init_motors_out()
{
#if INSTANT_PWM == 0
APM_RC.SetFastOutputChannels( MSK_CH_1 | MSK_CH_2 | MSK_CH_3 | MSK_CH_4 );
APM_RC.SetFastOutputChannels( _BV(CH_1) | _BV(CH_2) | _BV(CH_3) | _BV(CH_4) );
#endif
}

2
ArduCopter/motors_tri.pde
View File

@ -4,7 +4,7 @@
static void init_motors_out()
{
#if INSTANT_PWM == 0
APM_RC.SetFastOutputChannels( MSK_CH_1 | MSK_CH_2 | MSK_CH_4 );
APM_RC.SetFastOutputChannels( _BV(CH_1) | _BV(CH_2) | _BV(CH_4) );
#endif
}

4
ArduCopter/motors_y6.pde
View File

@ -7,8 +7,8 @@
static void init_motors_out()
{
#if INSTANT_PWM == 0
APM_RC.SetFastOutputChannels( MSK_CH_1 | MSK_CH_2 | MSK_CH_3 | MSK_CH_4
| MSK_CH_7 | MSK_CH_8 );
APM_RC.SetFastOutputChannels( _BV(CH_1) | _BV(CH_2) | _BV(CH_3) | _BV(CH_4)
| _BV(CH_7) | _BV(CH_8) );
#endif
}

14
libraries/APM_RC/APM_RC.h
View File

@ -21,20 +21,6 @@
#define CH_10 9
#define CH_11 10
#define MSK_CH_1 (1 << CH_1)
#define MSK_CH_2 (1 << CH_2)
#define MSK_CH_3 (1 << CH_3)
#define MSK_CH_4 (1 << CH_4)
#define MSK_CH_5 (1 << CH_5)
#define MSK_CH_6 (1 << CH_6)
#define MSK_CH_7 (1 << CH_7)
#define MSK_CH_8 (1 << CH_8)
#define MSK_CH_9 (1 << CH_9)
#define MSK_CH_10 (1 << CH_10)
#define MSK_CH_11 (1 << CH_11)
#define NUM_CHANNELS 8

8
libraries/APM_RC/APM_RC_APM1.cpp
View File

@ -216,16 +216,16 @@ void APM_RC_APM1::Force_Out6_Out7(void)
void APM_RC_APM1::SetFastOutputChannels(uint32_t chmask)
{
if ((chmask & ( MSK_CH_1 | MSK_CH_2 | MSK_CH_9)) != 0)
if ((chmask & ( _BV(CH_1) | _BV(CH_2) | _BV(CH_9))) != 0)
_set_speed_ch1_ch2_ch9(OUTPUT_SPEED_400HZ);
if ((chmask & ( MSK_CH_3 | MSK_CH_4 | MSK_CH_10 )) != 0)
if ((chmask & ( _BV(CH_3) | _BV(CH_4) | _BV(CH_10))) != 0)
_set_speed_ch3_ch4_ch10(OUTPUT_SPEED_400HZ);
if ((chmask & ( MSK_CH_5 | MSK_CH_6 )) != 0)
if ((chmask & ( _BV(CH_5) | _BV(CH_6))) != 0)
_set_speed_ch5_ch6(OUTPUT_SPEED_400HZ);
if ((chmask & ( MSK_CH_7 | MSK_CH_8 | MSK_CH_11 )) != 0)
if ((chmask & ( _BV(CH_7) | _BV(CH_8) | _BV(CH_11))) != 0)
_set_speed_ch7_ch8_ch11(OUTPUT_SPEED_400HZ);
}

6
libraries/APM_RC/APM_RC_APM2.cpp
View File

@ -197,13 +197,13 @@ void APM_RC_APM2::Force_Out6_Out7(void) { }
void APM_RC_APM2::SetFastOutputChannels(uint32_t chmask)
{
if ((chmask & ( MSK_CH_1 | MSK_CH_2 )) != 0)
if ((chmask & ( _BV(CH_1) | _BV(CH_2))) != 0)
_set_speed_ch1_ch2(OUTPUT_SPEED_400HZ);
if ((chmask & ( MSK_CH_3 | MSK_CH_4 | MSK_CH_5 )) != 0)
if ((chmask & ( _BV(CH_3) | _BV(CH_4) | _BV(CH_5))) != 0)
_set_speed_ch3_ch4_ch5(OUTPUT_SPEED_400HZ);
if ((chmask & ( MSK_CH_6 | MSK_CH_7 | MSK_CH_8 )) != 0)
if ((chmask & ( _BV(CH_6) | _BV(CH_7) | _BV(CH_8))) != 0)
_set_speed_ch6_ch7_ch8(OUTPUT_SPEED_400HZ);
}