/*
set the default channel an auxiliary output function should be on
*/
bool SRV_Channels::set_aux_channel_default(SRV_Channel::Aux_servo_function_t function, uint8_t channel)
{
if (!initialised) {
update_aux_servo_function();
}
if (function_assigned(function)) {
// already assigned
return true;
}
if (channels[channel].function != SRV_Channel::k_none) {
if (channels[channel].function == function) {
return true;
}
hal.console->printf("Channel %u already assigned function %u\n",
(unsigned)(channel + 1),
(unsigned)channels[channel].function);
return false;
}
channels[channel].type_setup = false;
channels[channel].function.set(function);
channels[channel].aux_servo_function_setup();
function_mask.set((uint8_t)function);
functions[function].channel_mask |= 1U<<channel;
return true;
}
/*
set the default channel an auxiliary output function should be on
*/
bool RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::Aux_servo_function_t function, uint8_t channel)
{
if (!_initialised) {
update_aux_servo_function();
}
if (function_assigned(function)) {
// already assigned
return true;
}
for (uint8_t i=0; i<RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->_ch_out == channel) {
if (_aux_channels[i]->function != k_none) {
if (_aux_channels[i]->function == function) {
return true;
}
hal.console->printf("Channel %u already assigned %u\n",
(unsigned)channel,
(unsigned)_aux_channels[i]->function);
return false;
}
_aux_channels[i]->function.set(function);
_aux_channels[i]->aux_servo_function_setup();
return true;
}
}
hal.console->printf("AUX channel %u not available\n",
(unsigned)channel);
return false;
}
/*
get mask of output channels for a function
*/
uint16_t SRV_Channels::get_output_channel_mask(SRV_Channel::Aux_servo_function_t function)
{
if (!initialised) {
update_aux_servo_function();
}
if (function < SRV_Channel::k_nr_aux_servo_functions) {
return functions[function].channel_mask;
}
return 0;
}
// find first channel that a function is assigned to
bool SRV_Channels::find_channel(SRV_Channel::Aux_servo_function_t function, uint8_t &chan)
{
if (!initialised) {
update_aux_servo_function();
}
if (!function_assigned(function)) {
return false;
}
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
if (channels[i].function == function) {
chan = channels[i].ch_num;
return true;
}
}
return false;
}
// find first channel that a function is assigned to
bool RC_Channel_aux::find_channel(RC_Channel_aux::Aux_servo_function_t function, uint8_t &chan)
{
if (!_initialised) {
update_aux_servo_function();
}
if (!function_assigned(function)) {
return false;
}
for (uint8_t i=0; i<RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->function == function) {
chan = _aux_channels[i]->_ch_out;
return true;
}
}
return false;
}
/// Should be called after the the servo functions have been initialized
void SRV_Channels::enable_aux_servos()
{
hal.rcout->set_default_rate(uint16_t(instance->default_rate.get()));
update_aux_servo_function();
// enable all channels that are set to a valid function. This
// includes k_none servos, which allows those to get their initial
// trim value on startup
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
// see if it is a valid function
if ((uint8_t)channels[i].function.get() < SRV_Channel::k_nr_aux_servo_functions) {
hal.rcout->enable_ch(channels[i].ch_num);
}
}
}
/// Should be called after the the servo functions have been initialized
void RC_Channel_aux::enable_aux_servos()
{
update_aux_servo_function();
// enable all channels that are not set to a valid function. This
// includes k_none servos, which allows those to get their initial
// trim value on startup
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i]) {
RC_Channel_aux::Aux_servo_function_t function = (RC_Channel_aux::Aux_servo_function_t)_aux_channels[i]->function.get();
// see if it is a valid function
if (function < RC_Channel_aux::k_nr_aux_servo_functions) {
_aux_channels[i]->enable_out();
}
}
}
}
