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RCOutput_Bebop: Increase max_rpm on Bebop 2 

Bebop 2 can go as high as 12200 rpm. Use get_hw_arm32 method to see
if we are on a bebop or bebop 2
This commit is contained in:
Julien BERAUD 2015-12-22 14:51:15 +01:00 committed by Lucas De Marchi
parent b6f51233db
commit e46f23f538
2 changed files with 18 additions and 2 deletions
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19
libraries/AP_HAL_Linux/RCOutput_Bebop.cpp
View File

@ -11,6 +11,7 @@
#include <sys/mman.h>
#include <pthread.h>
#include "RCOutput_Bebop.h"
#include "Util.h"
/* BEBOP BLDC motor controller address and registers description */
#define BEBOP_BLDC_I2C_ADDR 0x08
@ -51,7 +52,9 @@ struct bldc_obs_data {
#define BEBOP_BLDC_MIN_PERIOD_US 1100
#define BEBOP_BLDC_MAX_PERIOD_US 1900
#define BEBOP_BLDC_MIN_RPM 3000
#define BEBOP_BLDC_MAX_RPM 11000
/* the max rpm speed is different on Bebop 2 */
#define BEBOP_BLDC_MAX_RPM_1 11000
#define BEBOP_BLDC_MAX_RPM_2 12200
/* Priority of the thread controlling the BLDC via i2c
* set to 14, which is the same as the UART
@ -226,7 +229,7 @@ uint16_t RCOutput_Bebop::_period_us_to_rpm(uint16_t period_us)
float period_us_fl = period_us;
float rpm_fl = (period_us_fl - _min_pwm)/(_max_pwm - _min_pwm) *
(BEBOP_BLDC_MAX_RPM - BEBOP_BLDC_MIN_RPM) + BEBOP_BLDC_MIN_RPM;
(_max_rpm - BEBOP_BLDC_MIN_RPM) + BEBOP_BLDC_MIN_RPM;
return (uint16_t)rpm_fl;
}
@ -370,6 +373,7 @@ void RCOutput_Bebop::_run_rcout()
uint8_t bebop_bldc_channels[BEBOP_BLDC_MOTORS_NUM];
uint8_t bebop_bldc_right_front, bebop_bldc_left_front,
bebop_bldc_left_back, bebop_bldc_right_back;
int hw_version;
memset(current_period_us, 0, sizeof(current_period_us));
@ -398,6 +402,17 @@ void RCOutput_Bebop::_run_rcout()
bebop_bldc_channels[2] = bebop_bldc_left_front;
bebop_bldc_channels[3] = bebop_bldc_right_back;
hw_version = Util::from(hal.util)->get_hw_arm32();
if (hw_version == UTIL_HARDWARE_BEBOP) {
_max_rpm = BEBOP_BLDC_MAX_RPM_1;
} else if (hw_version == UTIL_HARDWARE_BEBOP2) {
_max_rpm = BEBOP_BLDC_MAX_RPM_2;
} else if (hw_version < 0) {
AP_HAL::panic("failed to get hw version %s", strerror(hw_version));
} else {
AP_HAL::panic("unsupported hw version %d", hw_version);
}
while (true) {
pthread_mutex_lock(&_mutex);
ret = clock_gettime(CLOCK_MONOTONIC, &ts);

1
libraries/AP_HAL_Linux/RCOutput_Bebop.h
View File

@ -89,6 +89,7 @@ private:
uint16_t _max_pwm;
uint8_t _state;
bool _corking = false;
uint16_t _max_rpm;
uint8_t _checksum(uint8_t *data, unsigned int len);
void _start_prop();