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AP_UAVCAN: move UAVCAN code from SRV to UAVCAN files

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Tom Pittenger 2018-03-15 20:19:17 -07:00 committed by Andrew Tridgell
parent 1a15a2e749
commit 4c51edfaca
2 changed files with 23 additions and 0 deletions
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22
libraries/AP_UAVCAN/AP_UAVCAN.cpp
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@ -787,6 +787,28 @@ void AP_UAVCAN::SRV_write(uint16_t pulse_len, uint8_t ch)
_SRV_conf[ch].active = true;
}
void AP_UAVCAN::SRV_push_servos()
{
if (!SRV_sem_take()) {
return;
}
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
// Check if this channels has any function assigned
if (SRV_Channels::channel_function(i)) {
SRV_write(SRV_Channels::srv_channel(i)->get_output_pwm(), i);
}
}
if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
SRV_arm_actuators(true);
} else {
SRV_arm_actuators(false);
}
SRV_sem_give();
}
uint8_t AP_UAVCAN::find_gps_without_listener(void)
{
for (uint8_t i = 0; i < AP_UAVCAN_MAX_LISTENERS; i++) {

1
libraries/AP_UAVCAN/AP_UAVCAN.h
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@ -269,6 +269,7 @@ public:
void SRV_force_safety_off(void);
void SRV_arm_actuators(bool arm);
void SRV_write(uint16_t pulse_len, uint8_t ch);
void SRV_push_servos(void);
bool led_write(uint8_t led_index, uint8_t red, uint8_t green, uint8_t blue);
void set_parent_can_mgr(AP_HAL::CANManager* parent_can_mgr)