mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
actuator: factor out settings updates from main loop
This commit is contained in:
Stacey Sheldon
parent
63c167c183
commit
29ab1d8cf3
@ -65,24 +65,25 @@ static xQueueHandle queue;
|
||||
static xTaskHandle taskHandle;
|
||||
|
||||
static float lastResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
|
||||
static float lastFilteredResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
|
||||
static float filterAccumulator[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
|
||||
// used to inform the actuator thread that actuator update rate is changed
|
||||
static uint8_t updateRateChanged = 0;
|
||||
static volatile bool actuator_settings_updated;
|
||||
// used to inform the actuator thread that mixer settings are changed
|
||||
static volatile bool mixer_settings_updated;
|
||||
|
||||
// Private functions
|
||||
static void actuatorTask(void* parameters);
|
||||
static void actuator_update_rate(UAVObjEvent *);
|
||||
static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral);
|
||||
static void setFailsafe();
|
||||
static void setFailsafe(const ActuatorSettingsData * actuatorSettings, const MixerSettingsData * mixerSettings);
|
||||
static float MixerCurve(const float throttle, const float* curve, uint8_t elements);
|
||||
static bool set_channel(uint8_t mixer_channel, uint16_t value);
|
||||
static void change_update_rate();
|
||||
static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSettingsData * actuatorSettings);
|
||||
static void actuator_update_rate_if_changed(const ActuatorSettingsData * actuatorSettings, bool force_update);
|
||||
static void MixerSettingsUpdatedCb(UAVObjEvent * ev);
|
||||
static void ActuatorSettingsUpdatedCb(UAVObjEvent * ev);
|
||||
float ProcessMixer(const int index, const float curve1, const float curve2,
|
||||
MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
|
||||
const MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
|
||||
const float period);
|
||||
|
||||
static uint16_t lastChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM] = {0,0,0,0};
|
||||
//this structure is equivalent to the UAVObjects for one mixer.
|
||||
typedef struct {
|
||||
uint8_t type;
|
||||
@ -109,22 +110,26 @@ int32_t ActuatorStart()
|
||||
*/
|
||||
int32_t ActuatorInitialize()
|
||||
{
|
||||
// Create object queue
|
||||
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
|
||||
|
||||
// Register for notification of changes to ActuatorSettings
|
||||
ActuatorSettingsInitialize();
|
||||
ActuatorDesiredInitialize();
|
||||
MixerSettingsInitialize();
|
||||
ActuatorCommandInitialize();
|
||||
#if defined(DIAGNOSTICS)
|
||||
MixerStatusInitialize();
|
||||
#endif
|
||||
ActuatorSettingsConnectCallback(ActuatorSettingsUpdatedCb);
|
||||
|
||||
// Listen for ExampleObject1 updates
|
||||
// Register for notification of changes to MixerSettings
|
||||
MixerSettingsInitialize();
|
||||
MixerSettingsConnectCallback(MixerSettingsUpdatedCb);
|
||||
|
||||
// Listen for ActuatorDesired updates (Primary input to this module)
|
||||
ActuatorDesiredInitialize();
|
||||
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
|
||||
ActuatorDesiredConnectQueue(queue);
|
||||
|
||||
// If settings change, update the output rate
|
||||
ActuatorSettingsConnectCallback(actuator_update_rate);
|
||||
// Primary output of this module
|
||||
ActuatorCommandInitialize();
|
||||
|
||||
#if defined(DIAGNOSTICS)
|
||||
// UAVO only used for inspecting the internal status of the mixer during debug
|
||||
MixerStatusInitialize();
|
||||
#endif
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -151,22 +156,25 @@ static void actuatorTask(void* parameters)
|
||||
float dT = 0.0f;
|
||||
|
||||
ActuatorCommandData command;
|
||||
MixerSettingsData mixerSettings;
|
||||
ActuatorDesiredData desired;
|
||||
MixerStatusData mixerStatus;
|
||||
FlightStatusData flightStatus;
|
||||
|
||||
uint8_t MotorsSpinWhileArmed;
|
||||
int16_t ChannelMax[ACTUATORCOMMAND_CHANNEL_NUMELEM];
|
||||
int16_t ChannelMin[ACTUATORCOMMAND_CHANNEL_NUMELEM];
|
||||
int16_t ChannelNeutral[ACTUATORCOMMAND_CHANNEL_NUMELEM];
|
||||
/* Read initial values of ActuatorSettings */
|
||||
ActuatorSettingsData actuatorSettings;
|
||||
actuator_settings_updated = false;
|
||||
ActuatorSettingsGet(&actuatorSettings);
|
||||
|
||||
change_update_rate();
|
||||
|
||||
float * status = (float *)&mixerStatus; //access status objects as an array of floats
|
||||
/* Read initial values of MixerSettings */
|
||||
MixerSettingsData mixerSettings;
|
||||
mixer_settings_updated = false;
|
||||
MixerSettingsGet(&mixerSettings);
|
||||
|
||||
/* Force an initial configuration of the actuator update rates */
|
||||
actuator_update_rate_if_changed(&actuatorSettings, true);
|
||||
|
||||
// Go to the neutral (failsafe) values until an ActuatorDesired update is received
|
||||
setFailsafe();
|
||||
setFailsafe(&actuatorSettings, &mixerSettings);
|
||||
|
||||
// Main task loop
|
||||
lastSysTime = xTaskGetTickCount();
|
||||
@ -174,19 +182,26 @@ static void actuatorTask(void* parameters)
|
||||
{
|
||||
PIOS_WDG_UpdateFlag(PIOS_WDG_ACTUATOR);
|
||||
|
||||
// Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe
|
||||
if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
|
||||
{
|
||||
setFailsafe();
|
||||
// Wait until the ActuatorDesired object is updated
|
||||
uint8_t rc = xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS);
|
||||
|
||||
/* Process settings updated events even in timeout case so we always act on the latest settings */
|
||||
if (actuator_settings_updated) {
|
||||
actuator_settings_updated = false;
|
||||
ActuatorSettingsGet (&actuatorSettings);
|
||||
actuator_update_rate_if_changed (&actuatorSettings, false);
|
||||
}
|
||||
if (mixer_settings_updated) {
|
||||
mixer_settings_updated = false;
|
||||
MixerSettingsGet (&mixerSettings);
|
||||
}
|
||||
|
||||
if (rc != pdTRUE) {
|
||||
/* Update of ActuatorDesired timed out. Go to failsafe */
|
||||
setFailsafe(&actuatorSettings, &mixerSettings);
|
||||
continue;
|
||||
}
|
||||
|
||||
if(updateRateChanged!=0)
|
||||
{
|
||||
change_update_rate();
|
||||
updateRateChanged=0;
|
||||
}
|
||||
|
||||
// Check how long since last update
|
||||
thisSysTime = xTaskGetTickCount();
|
||||
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
|
||||
@ -194,18 +209,12 @@ static void actuatorTask(void* parameters)
|
||||
lastSysTime = thisSysTime;
|
||||
|
||||
FlightStatusGet(&flightStatus);
|
||||
MixerSettingsGet (&mixerSettings);
|
||||
ActuatorDesiredGet(&desired);
|
||||
ActuatorCommandGet(&command);
|
||||
|
||||
#if defined(DIAGNOSTICS)
|
||||
MixerStatusGet(&mixerStatus);
|
||||
#endif
|
||||
ActuatorSettingsMotorsSpinWhileArmedGet(&MotorsSpinWhileArmed);
|
||||
ActuatorSettingsChannelMaxGet(ChannelMax);
|
||||
ActuatorSettingsChannelMinGet(ChannelMin);
|
||||
ActuatorSettingsChannelNeutralGet(ChannelNeutral);
|
||||
|
||||
int nMixers = 0;
|
||||
Mixer_t * mixers = (Mixer_t *)&mixerSettings.Mixer1Type;
|
||||
for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
|
||||
@ -217,7 +226,7 @@ static void actuatorTask(void* parameters)
|
||||
}
|
||||
if((nMixers < 2) && !ActuatorCommandReadOnly()) //Nothing can fly with less than two mixers.
|
||||
{
|
||||
setFailsafe(); // So that channels like PWM buzzer keep working
|
||||
setFailsafe(&actuatorSettings, &mixerSettings); // So that channels like PWM buzzer keep working
|
||||
continue;
|
||||
}
|
||||
|
||||
@ -225,7 +234,7 @@ static void actuatorTask(void* parameters)
|
||||
|
||||
bool armed = flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED;
|
||||
bool positiveThrottle = desired.Throttle >= 0.00f;
|
||||
bool spinWhileArmed = MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE;
|
||||
bool spinWhileArmed = actuatorSettings.MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE;
|
||||
|
||||
float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1,MIXERSETTINGS_THROTTLECURVE1_NUMELEM);
|
||||
|
||||
@ -264,6 +273,8 @@ static void actuatorTask(void* parameters)
|
||||
break;
|
||||
}
|
||||
|
||||
float * status = (float *)&mixerStatus; //access status objects as an array of floats
|
||||
|
||||
for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
|
||||
{
|
||||
if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_DISABLED) {
|
||||
@ -337,9 +348,9 @@ static void actuatorTask(void* parameters)
|
||||
|
||||
for(int i = 0; i < MAX_MIX_ACTUATORS; i++)
|
||||
command.Channel[i] = scaleChannel(status[i],
|
||||
ChannelMax[i],
|
||||
ChannelMin[i],
|
||||
ChannelNeutral[i]);
|
||||
actuatorSettings.ChannelMax[i],
|
||||
actuatorSettings.ChannelMin[i],
|
||||
actuatorSettings.ChannelNeutral[i]);
|
||||
|
||||
// Store update time
|
||||
command.UpdateTime = 1000.0f*dT;
|
||||
@ -361,7 +372,7 @@ static void actuatorTask(void* parameters)
|
||||
|
||||
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
|
||||
{
|
||||
success &= set_channel(n, command.Channel[n]);
|
||||
success &= set_channel(n, command.Channel[n], &actuatorSettings);
|
||||
}
|
||||
|
||||
if(!success) {
|
||||
@ -379,15 +390,18 @@ static void actuatorTask(void* parameters)
|
||||
*Process mixing for one actuator
|
||||
*/
|
||||
float ProcessMixer(const int index, const float curve1, const float curve2,
|
||||
MixerSettingsData* mixerSettings, ActuatorDesiredData* desired, const float period)
|
||||
const MixerSettingsData* mixerSettings, ActuatorDesiredData* desired, const float period)
|
||||
{
|
||||
Mixer_t * mixers = (Mixer_t *)&mixerSettings->Mixer1Type; //pointer to array of mixers in UAVObjects
|
||||
Mixer_t * mixer = &mixers[index];
|
||||
static float lastFilteredResult[MAX_MIX_ACTUATORS];
|
||||
const Mixer_t * mixers = (Mixer_t *)&mixerSettings->Mixer1Type; //pointer to array of mixers in UAVObjects
|
||||
const Mixer_t * mixer = &mixers[index];
|
||||
|
||||
float result = (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE1] / 128.0f) * curve1) +
|
||||
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE2] / 128.0f) * curve2) +
|
||||
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_ROLL] / 128.0f) * desired->Roll) +
|
||||
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_PITCH] / 128.0f) * desired->Pitch) +
|
||||
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_YAW] / 128.0f) * desired->Yaw);
|
||||
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE2] / 128.0f) * curve2) +
|
||||
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_ROLL] / 128.0f) * desired->Roll) +
|
||||
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_PITCH] / 128.0f) * desired->Pitch) +
|
||||
(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_YAW] / 128.0f) * desired->Yaw);
|
||||
|
||||
if(mixer->type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
|
||||
{
|
||||
if(result < 0.0f) //idle throttle
|
||||
@ -501,19 +515,13 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
|
||||
/**
|
||||
* Set actuator output to the neutral values (failsafe)
|
||||
*/
|
||||
static void setFailsafe()
|
||||
static void setFailsafe(const ActuatorSettingsData * actuatorSettings, const MixerSettingsData * mixerSettings)
|
||||
{
|
||||
/* grab only the modules parts that we are going to use */
|
||||
int16_t ChannelMin[ACTUATORCOMMAND_CHANNEL_NUMELEM];
|
||||
ActuatorSettingsChannelMinGet(ChannelMin);
|
||||
int16_t ChannelNeutral[ACTUATORCOMMAND_CHANNEL_NUMELEM];
|
||||
ActuatorSettingsChannelNeutralGet(ChannelNeutral);
|
||||
/* grab only the parts that we are going to use */
|
||||
int16_t Channel[ACTUATORCOMMAND_CHANNEL_NUMELEM];
|
||||
ActuatorCommandChannelGet(Channel);
|
||||
|
||||
MixerSettingsData mixerSettings;
|
||||
MixerSettingsGet (&mixerSettings);
|
||||
Mixer_t * mixers = (Mixer_t *)&mixerSettings.Mixer1Type; //pointer to array of mixers in UAVObjects
|
||||
const Mixer_t * mixers = (Mixer_t *)&mixerSettings->Mixer1Type; //pointer to array of mixers in UAVObjects
|
||||
|
||||
// Reset ActuatorCommand to safe values
|
||||
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
|
||||
@ -521,11 +529,11 @@ static void setFailsafe()
|
||||
|
||||
if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
|
||||
{
|
||||
Channel[n] = ChannelMin[n];
|
||||
Channel[n] = actuatorSettings->ChannelMin[n];
|
||||
}
|
||||
else if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_SERVO)
|
||||
{
|
||||
Channel[n] = ChannelNeutral[n];
|
||||
Channel[n] = actuatorSettings->ChannelNeutral[n];
|
||||
}
|
||||
else
|
||||
{
|
||||
@ -541,54 +549,22 @@ static void setFailsafe()
|
||||
// Update servo outputs
|
||||
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
|
||||
{
|
||||
set_channel(n, Channel[n]);
|
||||
set_channel(n, Channel[n], actuatorSettings);
|
||||
}
|
||||
|
||||
// Update output object's parts that we changed
|
||||
ActuatorCommandChannelSet(Channel);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Update the servo update rate
|
||||
*/
|
||||
static void actuator_update_rate(UAVObjEvent * ev)
|
||||
{
|
||||
uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
|
||||
// ActuatoSettings are not changed
|
||||
if ( ev->obj != ActuatorSettingsHandle() )
|
||||
return;
|
||||
|
||||
ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
|
||||
// check if the any rate setting is changed
|
||||
if (lastChannelUpdateFreq[0]!=0 && memcmp(&lastChannelUpdateFreq[0], &ChannelUpdateFreq[0], sizeof(int16_t) * ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM) ==0)
|
||||
return;
|
||||
// signal to the actuator task that ChannelUpdateFreq are changed
|
||||
updateRateChanged = 1;
|
||||
}
|
||||
/**
|
||||
* @brief Change the update rates according to the ActuatorSettingsChannelUpdateFreq.
|
||||
*/
|
||||
static void change_update_rate()
|
||||
{
|
||||
uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
|
||||
// save the new rates
|
||||
ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
|
||||
memcpy(lastChannelUpdateFreq, ChannelUpdateFreq, sizeof(int16_t) * ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
|
||||
PIOS_Servo_SetHz(&ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
|
||||
}
|
||||
|
||||
#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
|
||||
static bool set_channel(uint8_t mixer_channel, uint16_t value) {
|
||||
static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSettingsData * actuatorSettings)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
#else
|
||||
static bool set_channel(uint8_t mixer_channel, uint16_t value) {
|
||||
|
||||
ActuatorSettingsData settings;
|
||||
ActuatorSettingsGet(&settings);
|
||||
|
||||
switch(settings.ChannelType[mixer_channel]) {
|
||||
static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSettingsData * actuatorSettings)
|
||||
{
|
||||
switch(actuatorSettings->ChannelType[mixer_channel]) {
|
||||
case ACTUATORSETTINGS_CHANNELTYPE_PWMALARMBUZZER: {
|
||||
// This is for buzzers that take a PWM input
|
||||
|
||||
@ -631,18 +607,18 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value) {
|
||||
lastSysTime = thisSysTime;
|
||||
}
|
||||
}
|
||||
PIOS_Servo_Set( settings.ChannelAddr[mixer_channel],
|
||||
buzzOn?settings.ChannelMax[mixer_channel]:settings.ChannelMin[mixer_channel]);
|
||||
PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel],
|
||||
buzzOn?actuatorSettings->ChannelMax[mixer_channel]:actuatorSettings->ChannelMin[mixer_channel]);
|
||||
return true;
|
||||
}
|
||||
case ACTUATORSETTINGS_CHANNELTYPE_PWM:
|
||||
PIOS_Servo_Set(settings.ChannelAddr[mixer_channel], value);
|
||||
PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel], value);
|
||||
return true;
|
||||
#if defined(PIOS_INCLUDE_I2C_ESC)
|
||||
case ACTUATORSETTINGS_CHANNELTYPE_MK:
|
||||
return PIOS_SetMKSpeed(settings.ChannelAddr[mixer_channel],value);
|
||||
return PIOS_SetMKSpeed(actuatorSettings->ChannelAddr[mixer_channel],value);
|
||||
case ACTUATORSETTINGS_CHANNELTYPE_ASTEC4:
|
||||
return PIOS_SetAstec4Speed(settings.ChannelAddr[mixer_channel],value);
|
||||
return PIOS_SetAstec4Speed(actuatorSettings->ChannelAddr[mixer_channel],value);
|
||||
break;
|
||||
#endif
|
||||
default:
|
||||
@ -654,6 +630,35 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value) {
|
||||
}
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Update the servo update rate
|
||||
*/
|
||||
static void actuator_update_rate_if_changed(const ActuatorSettingsData * actuatorSettings, bool force_update)
|
||||
{
|
||||
static uint16_t prevChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
|
||||
|
||||
// check if the any rate setting is changed
|
||||
if (force_update ||
|
||||
memcmp (prevChannelUpdateFreq,
|
||||
actuatorSettings->ChannelUpdateFreq,
|
||||
sizeof(prevChannelUpdateFreq)) != 0) {
|
||||
/* Something has changed, apply the settings to HW */
|
||||
memcpy (prevChannelUpdateFreq,
|
||||
actuatorSettings->ChannelUpdateFreq,
|
||||
sizeof(prevChannelUpdateFreq));
|
||||
PIOS_Servo_SetHz(actuatorSettings->ChannelUpdateFreq, ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
|
||||
}
|
||||
}
|
||||
|
||||
static void ActuatorSettingsUpdatedCb(UAVObjEvent * ev)
|
||||
{
|
||||
actuator_settings_updated = true;
|
||||
}
|
||||
|
||||
static void MixerSettingsUpdatedCb(UAVObjEvent * ev)
|
||||
{
|
||||
mixer_settings_updated = true;
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
|
||||
@ -32,7 +32,7 @@
|
||||
|
||||
/* Public Functions */
|
||||
extern void PIOS_Servo_Init(void);
|
||||
extern void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t num_banks);
|
||||
extern void PIOS_Servo_SetHz(const uint16_t * speeds, uint8_t num_banks);
|
||||
extern void PIOS_Servo_Set(uint8_t Servo, uint16_t Position);
|
||||
|
||||
#endif /* PIOS_SERVO_H */
|
||||
|
||||
@ -50,7 +50,7 @@ void PIOS_Servo_Init(void)
|
||||
* \param[in] onetofour Rate for outputs 1 to 4 (Hz)
|
||||
* \param[in] fivetoeight Rate for outputs 5 to 8 (Hz)
|
||||
*/
|
||||
void PIOS_Servo_SetHz(uint16_t * banks, uint8_t num_banks)
|
||||
void PIOS_Servo_SetHz(const uint16_t * banks, uint8_t num_banks)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
@ -50,7 +50,7 @@ void PIOS_Servo_Init(void)
|
||||
* \param[in] onetofour Rate for outputs 1 to 4 (Hz)
|
||||
* \param[in] fivetoeight Rate for outputs 5 to 8 (Hz)
|
||||
*/
|
||||
void PIOS_Servo_SetHz(uint16_t * banks, uint8_t num_banks)
|
||||
void PIOS_Servo_SetHz(const uint16_t * banks, uint8_t num_banks)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
@ -87,7 +87,7 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg * cfg)
|
||||
* \param[in] array of rates in Hz
|
||||
* \param[in] maximum number of banks
|
||||
*/
|
||||
void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks)
|
||||
void PIOS_Servo_SetHz(const uint16_t * speeds, uint8_t banks)
|
||||
{
|
||||
if (!servo_cfg) {
|
||||
return;
|
||||
|
||||
@ -87,7 +87,7 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg * cfg)
|
||||
* \param[in] array of rates in Hz
|
||||
* \param[in] maximum number of banks
|
||||
*/
|
||||
void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks)
|
||||
void PIOS_Servo_SetHz(const uint16_t * speeds, uint8_t banks)
|
||||
{
|
||||
if (!servo_cfg) {
|
||||
return;
|
||||
|
||||
@ -31,7 +31,7 @@
|
||||
#define PIOS_SERVO_H
|
||||
|
||||
/* Public Functions */
|
||||
extern void PIOS_Servo_SetHz(uint16_t * update_rates, uint8_t channels);
|
||||
extern void PIOS_Servo_SetHz(const uint16_t * update_rates, uint8_t banks);
|
||||
extern void PIOS_Servo_Set(uint8_t Servo, uint16_t Position);
|
||||
|
||||
#endif /* PIOS_SERVO_H */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user