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AP_Scripting: add PWM and GPIO to analog input example

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Iampete1 2021-01-28 22:36:37 +00:00 committed by Andrew Tridgell
parent e0621179ef
commit f2c2e8c1eb
2 changed files with 47 additions and 18 deletions
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18
libraries/AP_Scripting/examples/analog_input.lua
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-- This script is an example of reading a analog pin
-- load the analog pin
local analog = hal.analog_pin()
analog:set_pin(13) -- typically 13 is the battery input
function update()
gcs:send_text(0, string.format("voltage: %0.2f", analog:voltage_average()))
-- 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)
return update, 1000
end
return update() -- run immediately before starting to reschedule

47
libraries/AP_Scripting/examples/analog_input_and_GPIO.lua Normal file
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-- This script is an example of reading a analog pin, PWM in and GPIO
-- for these examples BRD_PWM_COUNT must be 0
-- 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
-- load a input pwm pin
local pwm_in = PWMSource()
local pwm_in_fail = PWMSource()
if not pwm_in:set_pin(50) then -- AUX 1
gcs:send_text(0, "Failed to setup PWM in on pin 50")
end
-- there are a few combinations of PWM in that will not work
-- this is due to the way interrupts are handled, AUX 1 and 6 cannot both
-- be PWM at once because they use the same interrupt (on Cubes), this should fail
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
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)))
-- 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)
-- 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)
hal.toggle(51)
return update, 1000
end
return update() -- run immediately before starting to reschedule