pios_servo.c

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/* 
 * This program is free software; you can redistribute it and/or modify 
 * it under the terms of the GNU General Public License as published by 
 * the Free Software Foundation; either version 3 of the License, or 
 * (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful, but 
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
 * for more details.
 * 
 * You should have received a copy of the GNU General Public License along 
 * with this program; if not, see <http://www.gnu.org/licenses/>
 */

/* Project Includes */
#include "pios.h"

#if defined(PIOS_INCLUDE_SERVO)

/* Private Function Prototypes */

static const struct pios_servo_callbacks *servo_cbs;

void PIOS_Servo_SetCallbacks(const struct pios_servo_callbacks *cb) {
        PIOS_IRQ_Disable();
        servo_cbs = cb;
        PIOS_IRQ_Enable();
}


void PIOS_Servo_Init(void)
{
}

int PIOS_Servo_SetMode(const uint16_t *out_rate, const int banks, const uint16_t *channel_max, const uint16_t *channel_min)
{
        if (servo_cbs && servo_cbs->set_mode) {
                return servo_cbs->set_mode(out_rate, banks, channel_max, channel_min);
        }

        return -200;            /* No impl */
}

void PIOS_Servo_Set(uint8_t servo, float position)
{
        if (servo_cbs && servo_cbs->set) {
                servo_cbs->set(servo, position);
        }
}

void PIOS_Servo_Update(void)
{
        if (servo_cbs && servo_cbs->update) {
                servo_cbs->update();
        }
}

void PIOS_Servo_PrepareForReset() {
}

bool PIOS_Servo_IsDshot(uint8_t servo) {
        (void) servo;

        return false;
}

#endif