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AP_HAL_Linux: RCOutput_Bebop: group writes

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This allows to remove the hard limit of 4 motors in Bebop, allowing to
execute the motor test.
This commit is contained in:
Lucas De Marchi 2015-09-29 16:32:53 -03:00 committed by Andrew Tridgell
parent 24f41538cb
commit 0dad58ae8b
2 changed files with 20 additions and 8 deletions
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25
libraries/AP_HAL_Linux/RCOutput_Bebop.cpp
View File

@ -319,14 +319,23 @@ void LinuxRCOutput_Bebop::write(uint8_t ch, uint16_t period_us)
_request_period_us[ch] = period_us;
/* write command to motors only when all channels are set */
if (ch == (BEBOP_BLDC_MOTORS_NUM - 1)) {
pthread_mutex_lock(&_mutex);
memcpy(_period_us, _request_period_us, sizeof(_period_us));
pthread_cond_signal(&_cond);
pthread_mutex_unlock(&_mutex);
memset(_request_period_us, 0 ,sizeof(_request_period_us));
}
if (!_corking)
push();
}
void LinuxRCOutput_Bebop::cork()
{
_corking = true;
}
void LinuxRCOutput_Bebop::push()
{
_corking = false;
pthread_mutex_lock(&_mutex);
memcpy(_period_us, _request_period_us, sizeof(_period_us));
pthread_cond_signal(&_cond);
pthread_mutex_unlock(&_mutex);
memset(_request_period_us, 0 ,sizeof(_request_period_us));
}
uint16_t LinuxRCOutput_Bebop::read(uint8_t ch)

3
libraries/AP_HAL_Linux/RCOutput_Bebop.h
View File

@ -61,6 +61,8 @@ public:
void enable_ch(uint8_t ch);
void disable_ch(uint8_t ch);
void write(uint8_t ch, uint16_t period_us);
void cork() override;
void push() override;
uint16_t read(uint8_t ch);
void read(uint16_t* period_us, uint8_t len);
void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm);
@ -75,6 +77,7 @@ private:
uint16_t _min_pwm;
uint16_t _max_pwm;
uint8_t _state;
bool _corking = false;
uint8_t _checksum(uint8_t *data, unsigned int len);
void _start_prop();