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RCOutput_Bebop: group channels write

This commit is contained in:
Jean-Baptiste Dubois 2015-07-16 19:08:30 +02:00 committed by Andrew Tridgell
parent 3b1b7ea029
commit 7dcfe1c667
2 changed files with 14 additions and 4 deletions
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17
libraries/AP_HAL_Linux/RCOutput_Bebop.cpp
View File

@ -117,6 +117,7 @@ LinuxRCOutput_Bebop::LinuxRCOutput_Bebop():
_state(BEBOP_BLDC_STOPPED)
{
memset(_period_us, 0, sizeof(_period_us));
memset(_request_period_us, 0, sizeof(_request_period_us));
memset(_rpm, 0, sizeof(_rpm));
}
@ -340,11 +341,19 @@ void LinuxRCOutput_Bebop::disable_ch(uint8_t ch)
void LinuxRCOutput_Bebop::write(uint8_t ch, uint16_t period_us)
{
if (ch >= BEBOP_BLDC_MOTORS_NUM)
return;
pthread_mutex_lock(&_mutex);
_period_us[ch] = period_us;
pthread_cond_signal(&_cond);
pthread_mutex_unlock(&_mutex);
_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));
}
}
void LinuxRCOutput_Bebop::write(uint8_t ch, uint16_t* period_us, uint8_t len)

1
libraries/AP_HAL_Linux/RCOutput_Bebop.h
View File

@ -34,6 +34,7 @@ class Linux::LinuxRCOutput_Bebop : public AP_HAL::RCOutput {
private:
AP_HAL::Semaphore *_i2c_sem;
uint16_t _request_period_us[BEBOP_BLDC_MOTORS_NUM];
uint16_t _period_us[BEBOP_BLDC_MOTORS_NUM];
uint16_t _rpm[BEBOP_BLDC_MOTORS_NUM];
uint16_t _frequency;