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Rover: make AUTO_TRIGGER_PIN be a push on/push off

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This commit is contained in:
Andrew Tridgell 2013-05-03 09:19:20 +10:00
parent 8361cd31f2
commit b58d753344
3 changed files with 30 additions and 16 deletions
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2
APMrover2/Parameters.pde
View File

@ -138,7 +138,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: AUTO_TRIGGER_PIN
// @DisplayName: Auto mode trigger pin
// @Description: pin number to use to trigger start of auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will start the motor.
// @Description: pin number to use to trigger start of auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will start the motor, and otherwise will force the throttle off. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver.
// @Values: -1:Disabled,0-9:TiggerPin
// @User: standard
GSCALAR(auto_trigger_pin, "AUTO_TRIGGER_PIN", -1),

20
APMrover2/Steering.pde
View File

@ -27,6 +27,13 @@ static bool auto_check_trigger(void)
return true;
}
// check for user pressing the auto trigger to off
if (auto_triggered && g.auto_trigger_pin != -1 && check_digital_pin(g.auto_trigger_pin) == 1) {
gcs_send_text_P(SEVERITY_LOW, PSTR("AUTO triggered off"));
auto_triggered = false;
return false;
}
// if already triggered, then return true, so you don't
// need to hold the switch down
if (auto_triggered) {
@ -39,22 +46,11 @@ static bool auto_check_trigger(void)
return true;
}
if (g.auto_trigger_pin != -1) {
int8_t pin = hal.gpio->analogPinToDigitalPin(g.auto_trigger_pin);
if (pin != -1) {
// ensure we are in input mode
hal.gpio->pinMode(pin, GPIO_INPUT);
// enable pullup
hal.gpio->write(pin, 1);
if (hal.gpio->read(pin) == 0) {
if (g.auto_trigger_pin != -1 && check_digital_pin(g.auto_trigger_pin) == 0) {
gcs_send_text_P(SEVERITY_LOW, PSTR("Triggered AUTO with pin"));
auto_triggered = true;
return true;
}
}
}
if (g.auto_kickstart != 0.0f) {
float xaccel = ins.get_accel().x;

18
APMrover2/system.pde
View File

@ -545,3 +545,21 @@ static void reboot_apm(void)
hal.scheduler->reboot();
while (1);
}
/*
check a digitial pin for high,low (1/0)
*/
static uint8_t check_digital_pin(uint8_t pin)
{
int8_t dpin = hal.gpio->analogPinToDigitalPin(pin);
if (dpin == -1) {
return 0;
}
// ensure we are in input mode
hal.gpio->pinMode(dpin, GPIO_INPUT);
// enable pullup
hal.gpio->write(dpin, 1);
return hal.gpio->read(dpin);
}