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AP_Scripting: add GPIO inputs and exmaple

This commit is contained in:
Iampete1 2021-03-17 22:50:32 +00:00 committed by Andrew Tridgell
parent 4315a69b9d
commit 8b278b52b3
2 changed files with 21 additions and 11 deletions
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22
libraries/AP_Scripting/examples/analog_input_and_GPIO.lua
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@ -5,8 +5,8 @@
-- load the analog pin, there are only 16 of these available
-- some are used by the main AP code, ie battery monitors
-- assign them like this in the init, not in the main loop
local analog = hal.analog_pin()
analog:set_pin(13) -- typically 13 is the battery input
local analog_in = analog:channel()
analog_in:set_pin(13) -- typically 13 is the battery input
-- load a input pwm pin
local pwm_in = PWMSource()
@ -23,23 +23,23 @@ if not pwm_in_fail:set_pin(55) then -- AUX 6
gcs:send_text(0, "Failed to setup PWM in on pin 55")
end
hal.pin_mode(51,1) -- set AUX 2 to output, hal.pin_mode(51,0) would be input
gpio:pinMode(51,1) -- set AUX 2 to output, gpio:pinMode(51,0) would be input
function update()
gcs:send_text(0, string.format("voltage: %0.2f, PWM: %i, input: ", analog:voltage_average(), pwm_in:get_pwm_us()) .. tostring(hal.read(51)))
gcs:send_text(0, string.format("voltage: %0.2f, PWM: %i, input: ", analog_in:voltage_average(), pwm_in:get_pwm_us()) .. tostring(gpio:read(51)))
-- analog:voltage_average() the average voltage since the last call
-- analog:voltage_latest() the latest voltage reading
-- analog:voltage_average_ratiometric() the average ratiometric voltage (relative to the board 5v)
-- analog_in:voltage_average() the average voltage since the last call
-- analog_in:voltage_latest() the latest voltage reading
-- analog_in:voltage_average_ratiometric() the average ratiometric voltage (relative to the board 5v)
-- pwm_in:get_pwm_us() the latest pwm value in us
-- pwm_in:get_pwm_avg_us() the average pwm value in us since the last call
-- hal.read(pin)
-- hal.write(pin, state)
-- hal.toggle(pin)
-- gpio:read(pin)
-- gpio:write(pin, state)
-- gpio:toggle(pin)
hal.toggle(51)
gpio:toggle(51)
return update, 1000
end

10
libraries/AP_Scripting/generator/description/bindings.desc
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@ -351,3 +351,13 @@ userdata AP_HAL::PWMSource method set_pin boolean uint8_t 0 UINT8_MAX "Scripting
userdata AP_HAL::PWMSource method get_pwm_us uint16_t
userdata AP_HAL::PWMSource method get_pwm_avg_us uint16_t
singleton hal.gpio alias gpio
singleton hal.gpio literal
singleton hal.gpio method read boolean uint8_t 0 UINT8_MAX
singleton hal.gpio method write void uint8_t 0 UINT8_MAX uint8_t 0 1
singleton hal.gpio method toggle void uint8_t 0 UINT8_MAX
singleton hal.gpio method pinMode void uint8_t 0 UINT8_MAX uint8_t 0 1
singleton hal.analogin alias analog
singleton hal.analogin literal
singleton hal.analogin method channel AP_HAL::AnalogSource ANALOG_INPUT_NONE'literal