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SRV_Channel: add FETtec support

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This commit is contained in:
Pierre Kancir 2021-02-05 19:16:48 +01:00 committed by Randy Mackay
parent e9df0d5140
commit f1ac606f98
2 changed files with 24 additions and 1 deletions
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6
libraries/SRV_Channel/SRV_Channel.h
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@ -21,6 +21,7 @@
#include <AP_RobotisServo/AP_RobotisServo.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>
#include <AP_FETtecOneWire/AP_FETtecOneWire.h>
#ifndef NUM_SERVO_CHANNELS #ifndef NUM_SERVO_CHANNELS
#if defined(HAL_BUILD_AP_PERIPH) && defined(HAL_PWM_COUNT) #if defined(HAL_BUILD_AP_PERIPH) && defined(HAL_PWM_COUNT)
@ -562,6 +563,11 @@ private:
AP_BLHeli blheli; AP_BLHeli blheli;
static AP_BLHeli *blheli_ptr; static AP_BLHeli *blheli_ptr;
#endif #endif
#if HAL_AP_FETTEC_ONEWIRE_ENABLED
AP_FETtecOneWire fetteconwire;
static AP_FETtecOneWire *fetteconwire_ptr;
#endif // HAL_AP_FETTEC_ONEWIRE_ENABLED
#endif // HAL_BUILD_AP_PERIPH #endif // HAL_BUILD_AP_PERIPH
static uint16_t disabled_mask; static uint16_t disabled_mask;

17
libraries/SRV_Channel/SRV_Channels.cpp
View File

@ -47,6 +47,9 @@ SRV_Channels *SRV_Channels::_singleton;
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; AP_RobotisServo *SRV_Channels::robotis_ptr;
#if HAL_AP_FETTEC_ONEWIRE_ENABLED
AP_FETtecOneWire *SRV_Channels::fetteconwire_ptr;
#endif
#endif // HAL_BUILD_AP_PERIPH #endif // HAL_BUILD_AP_PERIPH
uint16_t SRV_Channels::override_counter[NUM_SERVO_CHANNELS]; uint16_t SRV_Channels::override_counter[NUM_SERVO_CHANNELS];
@ -197,6 +200,13 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
// @Group: _ROB_ // @Group: _ROB_
// @Path: ../AP_RobotisServo/AP_RobotisServo.cpp // @Path: ../AP_RobotisServo/AP_RobotisServo.cpp
AP_SUBGROUPINFO(robotis, "_ROB_", 22, SRV_Channels, AP_RobotisServo), AP_SUBGROUPINFO(robotis, "_ROB_", 22, SRV_Channels, AP_RobotisServo),
#if HAL_AP_FETTEC_ONEWIRE_ENABLED
// @Group: _FTW_
// @Path: ../AP_FETtecOneWire/AP_FETtecOneWire.cpp
AP_SUBGROUPINFO(fetteconwire, "_FTW_", 25, SRV_Channels, AP_FETtecOneWire),
#endif
#endif // HAL_BUILD_AP_PERIPH #endif // HAL_BUILD_AP_PERIPH
// @Param: _DSHOT_RATE // @Param: _DSHOT_RATE
@ -236,6 +246,9 @@ SRV_Channels::SRV_Channels(void)
volz_ptr = &volz; volz_ptr = &volz;
sbus_ptr = &sbus; sbus_ptr = &sbus;
robotis_ptr = &robotis; robotis_ptr = &robotis;
#if HAL_AP_FETTEC_ONEWIRE_ENABLED
fetteconwire_ptr = &fetteconwire;
#endif
#if HAL_SUPPORT_RCOUT_SERIAL #if HAL_SUPPORT_RCOUT_SERIAL
blheli_ptr = &blheli; blheli_ptr = &blheli;
#endif #endif
@ -344,6 +357,10 @@ void SRV_Channels::push()
// give robotis library a chance to update // give robotis library a chance to update
robotis_ptr->update(); robotis_ptr->update();
#if HAL_AP_FETTEC_ONEWIRE_ENABLED
fetteconwire_ptr->update();
#endif
#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();