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Fix ESC driver to also include direction information

This commit is contained in:
Lorenz Meier 2016-08-13 17:46:08 +02:00 committed by Lorenz Meier
parent 0c9ead44f1
commit 4b9e1d58f7
2 changed files with 6 additions and 1 deletions
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1
src/drivers/tap_esc/drv_tap_esc.h
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@ -75,6 +75,7 @@
*
*/
#define ESC_POS {0, 1, 4, 3, 2, 5, 7, 8}
#define ESC_DIR {0, 1, 0, 1, 0, 1, 0, 1}
#define RPMMAX 1900
#define RPMMIN 1200

6
src/drivers/tap_esc/tap_esc.cpp
View File

@ -97,6 +97,7 @@ private:
static const uint8_t crcTable[256];
static const uint8_t device_mux_map[TAP_ESC_MAX_MOTOR_NUM];
static const uint8_t device_dir_map[TAP_ESC_MAX_MOTOR_NUM];
bool _is_armed;
@ -149,6 +150,7 @@ private:
const uint8_t TAP_ESC::crcTable[256] = TAP_ESC_CRC;
const uint8_t TAP_ESC::device_mux_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_POS;
const uint8_t TAP_ESC::device_dir_map[TAP_ESC_MAX_MOTOR_NUM] = ESC_DIR;
actuator_armed_s TAP_ESC::_armed = {};
@ -245,7 +247,9 @@ TAP_ESC::init()
for (uint8_t phy_chan_index = 0; phy_chan_index < _channels_count; phy_chan_index++) {
config.channelMapTable[phy_chan_index] = device_mux_map[phy_chan_index] &
ESC_CHANNEL_MAP_CHANNEL; // Use ESC_CHANNEL_MAP_RUNNING_DIRECTION;
ESC_CHANNEL_MAP_CHANNEL;
config.channelMapTable[phy_chan_index] |= (device_dir_map[phy_chan_index] << 4) &
ESC_CHANNEL_MAP_RUNNING_DIRECTION;
}
config.maxChannelValue = RPMMAX;