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AP_IOMCU: added set_default_rate method

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This commit is contained in:
Andrew Tridgell 2018-01-13 14:52:29 +11:00
parent 738d70ef02
commit ff3b0ec1bd
2 changed files with 18 additions and 0 deletions
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15
libraries/AP_IOMCU/AP_IOMCU.cpp
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@ -72,6 +72,7 @@ enum ioevents {
IOEVENT_GET_RCIN,
IOEVENT_ENABLE_SBUS,
IOEVENT_SET_HEATER_TARGET,
IOEVENT_SET_DEFAULT_RATE,
};
// setup page registers
@ -209,6 +210,13 @@ void AP_IOMCU::thread_main(void)
continue;
}
}
if (mask & EVENT_MASK(IOEVENT_SET_DEFAULT_RATE)) {
if (!write_register(PAGE_SETUP, PAGE_REG_SETUP_DEFAULTRATE, rate.default_freq)) {
event_failed(IOEVENT_SET_DEFAULT_RATE);
continue;
}
}
// check for regular timed events
uint32_t now = AP_HAL::millis();
@ -533,4 +541,11 @@ void AP_IOMCU::set_heater_duty_cycle(uint8_t duty_cycle)
trigger_event(IOEVENT_SET_HEATER_TARGET);
}
// set default output rate
void AP_IOMCU::set_default_rate(uint16_t rate_hz)
{
rate.default_freq = rate_hz;
trigger_event(IOEVENT_SET_DEFAULT_RATE);
}
#endif // HAL_WITH_IO_MCU

3
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -67,6 +67,9 @@ public:
// set target for IMU heater
void set_heater_duty_cycle(uint8_t duty_cycle);
// set default output rate
void set_default_rate(uint16_t rate_hz);
private:
AP_HAL::UARTDriver &uart;