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SRV_Channel: added SERVO_GPIO_MASK

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this allows for channels to be set as GPIO without setting
SERVOn_FUNCTION=-1. That allows for use of UAVCAN or SBUS outputs on
those channels with a servo function, while using the aux pin as a
GPIO
This commit is contained in:
Andrew Tridgell 2021-08-04 10:24:01 +10:00 committed by Peter Barker
parent 13f3d04300
commit 5f6af3567a
2 changed files with 25 additions and 3 deletions
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5
libraries/SRV_Channel/SRV_Channel.h
View File

@ -534,9 +534,7 @@ public:
static void init();
// return true if a channel is set to type GPIO
static bool is_GPIO(uint8_t channel) {
return channel_function(channel) == SRV_Channel::k_GPIO;
}
static bool is_GPIO(uint8_t channel);
private:
@ -602,6 +600,7 @@ private:
AP_Int16 default_rate;
AP_Int8 dshot_rate;
AP_Int8 dshot_esc_type;
AP_Int32 gpio_mask;
// return true if passthrough is disabled
static bool passthrough_disabled(void) {

23
libraries/SRV_Channel/SRV_Channels.cpp
View File

@ -223,6 +223,14 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
// @User: Advanced
AP_GROUPINFO("_DSHOT_ESC", 24, SRV_Channels, dshot_esc_type, 0),
// @Param: _GPIO_MASK
// @DisplayName: Servo GPIO mask
// @Description: This sets a bitmask of outputs which will be available as GPIOs. Any auxillary output with either the function set to -1 or with the corresponding bit set in this mask will be available for use as a GPIO pin
// @Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("_GPIO_MASK", 26, SRV_Channels, gpio_mask, 0),
AP_GROUPEND
};
@ -440,3 +448,18 @@ void SRV_Channels::zero_rc_outputs()
}
push();
}
/*
return true if a channel should be available as a GPIO
*/
bool SRV_Channels::is_GPIO(uint8_t channel)
{
if (channel_function(channel) == SRV_Channel::k_GPIO) {
return true;
}
if (_singleton != nullptr && (_singleton->gpio_mask & (1U<<channel)) != 0) {
// user has set this channel in SERVO_GPIO_MASK
return true;
}
return false;
}