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BLCtrl 2.0 testing - currently only 8 Bit resolution - ppm added

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marco 2013-04-27 14:46:25 +02:00
parent 59573e5b69
commit d9f9ecb084
1 changed files with 33 additions and 3 deletions
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36
apps/drivers/mkblctrl/mkblctrl.cpp
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@ -62,9 +62,9 @@
#include <drivers/device/device.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_gpio.h>
#include <drivers/boards/px4fmu/px4fmu_internal.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_rc_input.h>
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
@ -76,6 +76,7 @@
#include <uORB/topics/actuator_outputs.h>
#include <systemlib/err.h>
#include <systemlib/ppm_decode.h>
#define I2C_BUS_SPEED 400000
#define UPDATE_RATE 400
@ -83,7 +84,7 @@
#define BLCTRL_BASE_ADDR 0x29
#define BLCTRL_OLD 0
#define BLCTRL_NEW 1
#define BLCTRL_MIN_VALUE -0.984F
#define BLCTRL_MIN_VALUE -0.920F
#define MOTOR_STATE_PRESENT_MASK 0x80
#define MOTOR_STATE_ERROR_MASK 0x7F
#define MOTOR_SPINUP_COUNTER 2500
@ -494,6 +495,14 @@ MK::task_main()
fds[0].events = POLLIN;
fds[1].fd = _t_armed;
fds[1].events = POLLIN;
// rc input, published to ORB
struct rc_input_values rc_in;
orb_advert_t to_input_rc = 0;
memset(&rc_in, 0, sizeof(rc_in));
rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM;
log("starting");
long update_rate_in_us = 0;
@ -608,6 +617,27 @@ MK::task_main()
////up_pwm_servo_arm(aa.armed && !aa.lockdown);
mk_servo_arm(aa.armed && !aa.lockdown);
}
// see if we have new PPM input data
if (ppm_last_valid_decode != rc_in.timestamp) {
// we have a new PPM frame. Publish it.
rc_in.channel_count = ppm_decoded_channels;
if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) {
rc_in.channel_count = RC_INPUT_MAX_CHANNELS;
}
for (uint8_t i=0; i<rc_in.channel_count; i++) {
rc_in.values[i] = ppm_buffer[i];
}
rc_in.timestamp = ppm_last_valid_decode;
/* lazily advertise on first publication */
if (to_input_rc == 0) {
to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_in);
} else {
orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in);
}
}
}
::close(_t_actuators);
@ -1352,7 +1382,7 @@ mkblctrl_main(int argc, char *argv[])
if(strcmp(argv[i + 1], "+") == 0) {
frametype = FRAME_PLUS;
} else {
frametype = FRAME_PLUS;
frametype = FRAME_X;
}
} else {
errx(1, "only + or x for frametype supported !");