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1. Add comment written in English

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2. Rewrite and rebase pca9685 driver
3. Try to fix issue when push the stick of channel 3 to the maxmum position, 0uswill be output to channel 1, should be maxmum pwm signal
4. Fix the code style
This commit is contained in:
crossa
2017-07-13 16:53:28 +02:00
committed by Beat Küng
parent 78b853431d
commit ed319ce5d5
4 changed files with 104 additions and 56 deletions
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src/drivers/rpi_rc_in/rpi_rc_in.cpp
+12 -11
View File
@@ -43,12 +43,12 @@ int RcInput::rpi_rc_init()
//--------------初始化共享内存映射----------------------------//
if ((this->shmid = shmget(this->key, sizeof(int) * this->_channels, 0666))
< 0) {
PX4_WARN("无法访问共享内存");
PX4_WARN("无法访问共享内存。Faild to access shared memory");
return -1;
}
if ((this->mem = (int *) shmat(this->shmid, NULL, 0)) == (void *) - 1) {
PX4_WARN("无法映射共享内存");
PX4_WARN("无法映射共享内存。Faild to mapping shared memory");
return -1;
}
@@ -113,11 +113,12 @@ void RcInput::_cycle()
void RcInput::_measure(void)
{
uint64_t ts;
// PWM 数据发布
// PWM数据发布
// read pwm value from shared memory
int i = 0;
for (i = 0; i < _channels; ++i) {
_data.values[i] = *(this->mem + i);
_data.values[i] = (*(this->mem + i) <= 0) ? UINT16_MAX : *(this->mem + i);
}
ts = hrt_absolute_time();
@@ -158,7 +159,7 @@ int rpi_rc_in_main(int argc, char **argv)
if (!strcmp(argv[1], "start")) {
if (rc_input != nullptr && rc_input->isRunning()) {
PX4_WARN("运行中。");
PX4_WARN("运行中。running");
/* this is not an error */
return 0;
}
@@ -167,14 +168,14 @@ int rpi_rc_in_main(int argc, char **argv)
// Check if alloc worked.
if (nullptr == rc_input) {
PX4_ERR("遥控输入模块初始化错误。");
PX4_ERR("遥控输入模块初始化错误。Rc input moduel initialization faild");
return -1;
}
int ret = rc_input->start();
if (ret != 0) {
PX4_ERR("遥控输入模块未能启动");
PX4_ERR("遥控输入模块未能启动。 Rc input module failure");
}
return 0;
@@ -183,7 +184,7 @@ int rpi_rc_in_main(int argc, char **argv)
if (!strcmp(argv[1], "stop")) {
if (rc_input == nullptr || !rc_input->isRunning()) {
PX4_WARN("模块未运行");
PX4_WARN("模块未运行。 Not runing");
/* this is not an error */
return 0;
}
@@ -207,16 +208,16 @@ int rpi_rc_in_main(int argc, char **argv)
if (!strcmp(argv[1], "status")) {
if (rc_input != nullptr && rc_input->isRunning()) {
PX4_INFO("运行中");
PX4_INFO("运行中。 running");
} else {
PX4_INFO("未运行\n");
PX4_INFO("未运行。 Not runing\n");
}
return 0;
}
usage("不知道你要做什么");
usage("不知道你要做什么。 rpi_rc_in start|stop|status");
return 1;
}