// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t AP_MotorsTri::get_motor_mask()
{
// tri copter uses channels 1,2,4 and 7
return rc_map_mask((1U << AP_MOTORS_MOT_1) |
(1U << AP_MOTORS_MOT_2) |
(1U << AP_MOTORS_MOT_4) |
(1U << AP_MOTORS_CH_TRI_YAW));
}
// get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t AP_MotorsMatrix::get_motor_mask()
{
uint16_t mask = 0;
for (uint8_t i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
mask |= 1U << i;
}
}
return rc_map_mask(mask);
}
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t AP_MotorsSingle::get_motor_mask()
{
uint32_t mask =
1U << AP_MOTORS_MOT_1 |
1U << AP_MOTORS_MOT_2 |
1U << AP_MOTORS_MOT_3 |
1U << AP_MOTORS_MOT_4 |
1U << AP_MOTORS_MOT_5 |
1U << AP_MOTORS_MOT_6;
return rc_map_mask(mask);
}
/*
set frequency of a set of channels
*/
void AP_Motors::rc_set_freq(uint32_t mask, uint16_t freq_hz)
{
mask = rc_map_mask(mask);
if (freq_hz > 50) {
_motor_fast_mask |= mask;
}
hal.rcout->set_freq(mask, freq_hz);
if ((_pwm_type == PWM_TYPE_ONESHOT ||
_pwm_type == PWM_TYPE_ONESHOT125) &&
freq_hz > 50) {
// tell HAL to do immediate output
hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_ONESHOT);
}
}
// get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t AP_MotorsMatrix::get_motor_mask()
{
uint16_t motor_mask = 0;
for (uint8_t i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
motor_mask |= 1U << i;
}
}
uint16_t mask = rc_map_mask(motor_mask);
// add parent's mask
mask |= AP_MotorsMulticopter::get_motor_mask();
return mask;
}
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t AP_MotorsCoax::get_motor_mask()
{
uint32_t motor_mask =
1U << AP_MOTORS_MOT_1 |
1U << AP_MOTORS_MOT_2 |
1U << AP_MOTORS_MOT_3 |
1U << AP_MOTORS_MOT_4 |
1U << AP_MOTORS_MOT_5 |
1U << AP_MOTORS_MOT_6;
uint16_t mask = rc_map_mask(motor_mask);
// add parent's mask
mask |= AP_MotorsMulticopter::get_motor_mask();
return mask;
}
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t AP_MotorsHeli_Single::get_motor_mask()
{
// heli uses channels 1,2,3,4 and 8
// setup fast channels
uint32_t mask = 1U << 0 | 1U << 1 | 1U << 2 | 1U << 3 | 1U << AP_MOTORS_HELI_SINGLE_RSC;
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
mask |= 1U << AP_MOTORS_HELI_SINGLE_EXTGYRO;
}
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
mask |= 1U << AP_MOTORS_HELI_SINGLE_TAILRSC;
}
return rc_map_mask(mask);
}
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t AP_MotorsHeli_Single::get_motor_mask()
{
// heli uses channels 1,2,3,4,7 and 8
return rc_map_mask(1U << 0 | 1U << 1 | 1U << 2 | 1U << 3 | 1U << AP_MOTORS_HELI_SINGLE_AUX | 1U << AP_MOTORS_HELI_SINGLE_RSC);
}
/*
set frequency of a set of channels
*/
void AP_Motors::rc_set_freq(uint32_t mask, uint16_t freq_hz)
{
hal.rcout->set_freq(rc_map_mask(mask), freq_hz);
}
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t AP_MotorsSingle::get_motor_mask()
{
// single copter uses channels 1,2,3,4 and 7
return rc_map_mask(1U << 0 | 1U << 1 | 1U << 2 | 1U << 3 | 1U << 6);
}
