mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.7 KiB
Lua
48 lines
1.7 KiB
Lua
-- This script is an example of reading a analog pin, PWM in and GPIO
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-- for these examples BRD_PWM_COUNT must be 0
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-- load the analog pin, there are only 16 of these available
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-- some are used by the main AP code, ie battery monitors
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-- assign them like this in the init, not in the main loop
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local analog_in = analog:channel()
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analog_in:set_pin(13) -- typically 13 is the battery input
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-- load a input pwm pin
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local pwm_in = PWMSource()
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local pwm_in_fail = PWMSource()
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if not pwm_in:set_pin(50) then -- AUX 1
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gcs:send_text(0, "Failed to setup PWM in on pin 50")
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end
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-- there are a few combinations of PWM in that will not work
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-- this is due to the way interrupts are handled, AUX 1 and 6 cannot both
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-- be PWM at once because they use the same interrupt (on Cubes), this should fail
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if not pwm_in_fail:set_pin(55) then -- AUX 6
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gcs:send_text(0, "Failed to setup PWM in on pin 55")
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end
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gpio:pinMode(51,1) -- set AUX 2 to output, gpio:pinMode(51,0) would be input
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function update()
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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)))
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-- analog_in:voltage_average() the average voltage since the last call
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-- analog_in:voltage_latest() the latest voltage reading
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-- analog_in:voltage_average_ratiometric() the average ratiometric voltage (relative to the board 5v)
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-- pwm_in:get_pwm_us() the latest pwm value in us
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-- pwm_in:get_pwm_avg_us() the average pwm value in us since the last call
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-- gpio:read(pin)
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-- gpio:write(pin, state)
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-- gpio:toggle(pin)
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gpio:toggle(51)
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return update, 1000
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end
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return update() -- run immediately before starting to reschedule
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