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SRV_Channel: added RobotisServo protocol support

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This commit is contained in:
Andrew Tridgell 2018-12-19 14:28:35 +11:00
parent 28970ed176
commit d72f6598e0
2 changed files with 14 additions and 0 deletions
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5
libraries/SRV_Channel/SRV_Channel.h
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@ -18,6 +18,7 @@
#include <AP_RCMapper/AP_RCMapper.h> #include <AP_RCMapper/AP_RCMapper.h>
#include <AP_Common/Bitmask.h> #include <AP_Common/Bitmask.h>
#include <AP_Volz_Protocol/AP_Volz_Protocol.h> #include <AP_Volz_Protocol/AP_Volz_Protocol.h>
#include <AP_RobotisServo/AP_RobotisServo.h>
#include <AP_SBusOut/AP_SBusOut.h> #include <AP_SBusOut/AP_SBusOut.h>
#include <AP_BLHeli/AP_BLHeli.h> #include <AP_BLHeli/AP_BLHeli.h>
@ -480,6 +481,10 @@ private:
AP_SBusOut sbus; AP_SBusOut sbus;
static AP_SBusOut *sbus_ptr; static AP_SBusOut *sbus_ptr;
// support for Robotis servo protocol
AP_RobotisServo robotis;
static AP_RobotisServo *robotis_ptr;
#if HAL_SUPPORT_RCOUT_SERIAL #if HAL_SUPPORT_RCOUT_SERIAL
// support for BLHeli protocol // support for BLHeli protocol
AP_BLHeli blheli; AP_BLHeli blheli;

9
libraries/SRV_Channel/SRV_Channels.cpp
View File

@ -33,6 +33,7 @@ SRV_Channel *SRV_Channels::channels;
SRV_Channels *SRV_Channels::instance; SRV_Channels *SRV_Channels::instance;
AP_Volz_Protocol *SRV_Channels::volz_ptr; AP_Volz_Protocol *SRV_Channels::volz_ptr;
AP_SBusOut *SRV_Channels::sbus_ptr; AP_SBusOut *SRV_Channels::sbus_ptr;
AP_RobotisServo *SRV_Channels::robotis_ptr;
#if HAL_SUPPORT_RCOUT_SERIAL #if HAL_SUPPORT_RCOUT_SERIAL
AP_BLHeli *SRV_Channels::blheli_ptr; AP_BLHeli *SRV_Channels::blheli_ptr;
@ -141,6 +142,10 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
AP_SUBGROUPINFO(blheli, "_BLH_", 21, SRV_Channels, AP_BLHeli), AP_SUBGROUPINFO(blheli, "_BLH_", 21, SRV_Channels, AP_BLHeli),
#endif #endif
// @Group: _ROB_
// @Path: ../AP_RobotisServo/AP_RobotisServo.cpp
AP_SUBGROUPINFO(robotis, "_ROB_", 22, SRV_Channels, AP_RobotisServo),
AP_GROUPEND AP_GROUPEND
}; };
@ -162,6 +167,7 @@ SRV_Channels::SRV_Channels(void)
volz_ptr = &volz; volz_ptr = &volz;
sbus_ptr = &sbus; sbus_ptr = &sbus;
robotis_ptr = &robotis;
#if HAL_SUPPORT_RCOUT_SERIAL #if HAL_SUPPORT_RCOUT_SERIAL
blheli_ptr = &blheli; blheli_ptr = &blheli;
#endif #endif
@ -228,6 +234,9 @@ void SRV_Channels::push()
// give sbus library a chance to update // give sbus library a chance to update
sbus_ptr->update(); sbus_ptr->update();
// give robotis library a chance to update
robotis_ptr->update();
#if HAL_SUPPORT_RCOUT_SERIAL #if HAL_SUPPORT_RCOUT_SERIAL
// give blheli telemetry a chance to update // give blheli telemetry a chance to update
blheli_ptr->update_telemetry(); blheli_ptr->update_telemetry();