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AP_Torqeedo: serial RTS pin can turn motor on

This commit is contained in:
Randy Mackay 2021-07-13 15:07:16 +09:00
parent 8aa5be2a08
commit 719b1e1267
1 changed files with 10 additions and 5 deletions
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15
libraries/AP_Torqeedo/AP_Torqeedo.cpp
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@ -40,7 +40,7 @@ const AP_Param::GroupInfo AP_Torqeedo::var_info[] = {
// @Param: ONOFF_PIN
// @DisplayName: Torqeedo ON/Off pin
// @Description: Pin number connected to Torqeedo's on/off pin. -1 to disable turning motor on/off from autopilot
// @Description: Pin number connected to Torqeedo's on/off pin. -1 to use serial port's RTS pin if available
// @Values: -1:Disabled,50:AUX1,51:AUX2,52:AUX3,53:AUX4,54:AUX5,55:AUX6
// @User: Standard
// @RebootRequired: True
@ -48,7 +48,7 @@ const AP_Param::GroupInfo AP_Torqeedo::var_info[] = {
// @Param: DE_PIN
// @DisplayName: Torqeedo DE pin
// @Description: Pin number connected to RS485 to Serial converter's DE pin. -1 to disable sending commands to motor
// @Description: Pin number connected to RS485 to Serial converter's DE pin. -1 to use serial port's CTS pin if available
// @Values: -1:Disabled,50:AUX1,51:AUX2,52:AUX3,53:AUX4,54:AUX5,55:AUX6
// @User: Standard
// @RebootRequired: True
@ -90,20 +90,25 @@ bool AP_Torqeedo::init_internals()
_uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
_uart->set_unbuffered_writes(true);
// initialise onoff pin and set for 0.5 sec to turn on motor
if (_pin_onoff > -1) {
// initialise on/off pin and set for 0.5 sec to turn on motor
hal.gpio->pinMode(_pin_onoff, HAL_GPIO_OUTPUT);
hal.gpio->write(_pin_onoff, 1);
// delay 0.5 sec and then unset pin
hal.scheduler->delay(500);
hal.gpio->write(_pin_onoff, 0);
} else {
// user serial port's RTS pin to turn on motor
_uart->set_RTS_pin(true);
hal.scheduler->delay(500);
_uart->set_RTS_pin(false);
}
// initialise RS485 DE pin (when high, allows send to motor)
if (_pin_de > -1) {
hal.gpio->pinMode(_pin_de, HAL_GPIO_OUTPUT);
hal.gpio->write(_pin_de, 0);
} else {
_uart->set_CTS_pin(false);
}
return true;