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SRV_Channels: move fetteconewire out of AP_Periph #if

This commit is contained in:
Peter Barker 2021-11-23 15:53:29 +11:00 committed by Peter Barker
parent 2bfd2f1c32
commit fd97d79cb4
2 changed files with 12 additions and 9 deletions
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3
libraries/SRV_Channel/SRV_Channel.h
View File

@ -568,11 +568,12 @@ private:
static AP_BLHeli *blheli_ptr; static AP_BLHeli *blheli_ptr;
#endif #endif
#endif // HAL_BUILD_AP_PERIPH
#if AP_FETTEC_ONEWIRE_ENABLED #if AP_FETTEC_ONEWIRE_ENABLED
AP_FETtecOneWire fetteconwire; AP_FETtecOneWire fetteconwire;
static AP_FETtecOneWire *fetteconwire_ptr; static AP_FETtecOneWire *fetteconwire_ptr;
#endif // AP_FETTEC_ONEWIRE_ENABLED #endif // AP_FETTEC_ONEWIRE_ENABLED
#endif // HAL_BUILD_AP_PERIPH
static uint16_t disabled_mask; static uint16_t disabled_mask;

18
libraries/SRV_Channel/SRV_Channels.cpp
View File

@ -47,10 +47,11 @@ 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;
#endif // HAL_BUILD_AP_PERIPH
#if AP_FETTEC_ONEWIRE_ENABLED #if AP_FETTEC_ONEWIRE_ENABLED
AP_FETtecOneWire *SRV_Channels::fetteconwire_ptr; AP_FETtecOneWire *SRV_Channels::fetteconwire_ptr;
#endif #endif
#endif // HAL_BUILD_AP_PERIPH
uint16_t SRV_Channels::override_counter[NUM_SERVO_CHANNELS]; uint16_t SRV_Channels::override_counter[NUM_SERVO_CHANNELS];
@ -250,13 +251,14 @@ SRV_Channels::SRV_Channels(void)
channels[i].ch_num = i; channels[i].ch_num = i;
} }
#if AP_FETTEC_ONEWIRE_ENABLED
fetteconwire_ptr = &fetteconwire;
#endif
#ifndef HAL_BUILD_AP_PERIPH #ifndef HAL_BUILD_AP_PERIPH
volz_ptr = &volz; volz_ptr = &volz;
sbus_ptr = &sbus; sbus_ptr = &sbus;
robotis_ptr = &robotis; robotis_ptr = &robotis;
#if 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
@ -374,16 +376,16 @@ 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 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();
#endif #endif
#endif // HAL_BUILD_AP_PERIPH #endif // HAL_BUILD_AP_PERIPH
#if AP_FETTEC_ONEWIRE_ENABLED
fetteconwire_ptr->update();
#endif
#if HAL_CANMANAGER_ENABLED #if HAL_CANMANAGER_ENABLED
// push outputs to CAN // push outputs to CAN
uint8_t can_num_drivers = AP::can().get_num_drivers(); uint8_t can_num_drivers = AP::can().get_num_drivers();