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SRV_Channel: consolidate digital and reversible outputs to make clear the dependency

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This commit is contained in:
Andy Piper 2021-05-06 14:13:36 +01:00 committed by Andrew Tridgell
parent df1086c4f3
commit 8deeae7146
2 changed files with 6 additions and 19 deletions
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7
libraries/SRV_Channel/SRV_Channel.h
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@ -504,11 +504,8 @@ public:
// disable output to a set of channels given by a mask. This is used by the AP_BLHeli code
static void set_disabled_channel_mask(uint16_t mask) { disabled_mask = mask; }
// add to mask of outputs which can do reverse thrust using digital controls
static void set_reversible_mask(uint16_t mask);
// add to mask of outputs which use digital (non-PWM) output, such as DShot
static void set_digital_mask(uint16_t mask);
// add to mask of outputs which use digital (non-PWM) output and optionally can reverse thrust, such as DShot
static void set_digital_outputs(uint16_t dig_mask, uint16_t rev_mask);
// return true if all of the outputs in mask are digital
static bool have_digital_outputs(uint16_t mask) { return mask != 0 && (mask & digital_mask) == mask; }

18
libraries/SRV_Channel/SRV_Channel_aux.cpp
View File

@ -226,18 +226,6 @@ void SRV_Channels::enable_aux_servos()
#endif
}
// add to mask of outputs which can do reverse thrust using digital controls
// digital mask must have been set first
void SRV_Channels::set_reversible_mask(uint16_t mask) {
reversible_mask |= mask;
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
SRV_Channel &c = channels[i];
if ((digital_mask & (1U<<i)) && (reversible_mask & (1U<<i))) {
c.servo_trim.set(1500);
}
}
}
/*
for channels which have been marked as digital output then the
MIN/MAX/TRIM values have no meaning for controlling output, as
@ -248,8 +236,10 @@ void SRV_Channels::set_reversible_mask(uint16_t mask) {
set TRIM to either 1000 or 1500 depending on whether the channel
is reversible
*/
void SRV_Channels::set_digital_mask(uint16_t mask) {
digital_mask |= mask;
void SRV_Channels::set_digital_outputs(uint16_t dig_mask, uint16_t rev_mask) {
digital_mask |= dig_mask;
reversible_mask |= rev_mask;
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
SRV_Channel &c = channels[i];
if (digital_mask & (1U<<i)) {