Voxl2_io driver expand to 8 channel pwm output #52
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Signed-off-by: dirksavage88 <[email protected]>
Signed-off-by: dirksavage88 <[email protected]>
Signed-off-by: dirksavage88 <[email protected]>
| cmd.len = voxl2_io_create_pwm_packet4_fb(max_pwm[0], max_pwm[1], max_pwm[2], max_pwm[3], | ||
| led_cmd[0], led_cmd[1], led_cmd[2], led_cmd[3], | ||
| int16_t max_pwm[8]{VOXL2_IO_MIXER_MAX, VOXL2_IO_MIXER_MAX, VOXL2_IO_MIXER_MAX, VOXL2_IO_MIXER_MAX, VOXL2_IO_MIXER_MAX, VOXL2_IO_MIXER_MAX, VOXL2_IO_MIXER_MAX, VOXL2_IO_MIXER_MAX}; | ||
| // if (_debug) PX4_INFO("%i %i %i %i %i %i %i %i", max_pwm[0], max_pwm[1], max_pwm[2], max_pwm[3], max_pwm[4], max_pwm[5], max_pwm[6], max_pwm[7]); |
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This debug statement had to be commented out due to compiler warning for formatting (too many format prints?)
| cmd.len = voxl2_io_create_pwm_packet4_fb(min_pwm[0], min_pwm[1], min_pwm[2], min_pwm[3], | ||
| led_cmd[0], led_cmd[1], led_cmd[2], led_cmd[3], | ||
| int16_t min_pwm[8]{VOXL2_IO_MIXER_MIN, VOXL2_IO_MIXER_MIN, VOXL2_IO_MIXER_MIN, VOXL2_IO_MIXER_MIN, VOXL2_IO_MIXER_MIN, VOXL2_IO_MIXER_MIN, VOXL2_IO_MIXER_MIN, VOXL2_IO_MIXER_MIN}; | ||
| // if (_debug) PX4_INFO("%i %i %i %i %i %i %i %i", min_pwm[0], min_pwm[1], min_pwm[2], min_pwm[3], min_pwm[4], min_pwm[4], min_pwm[5], min_pwm[6], min_pwm[7]); |
Signed-off-by: dirksavage88 <[email protected]>
Signed-off-by: dirksavage88 <[email protected]>
|
Hi, thanks for doing this! Have you been able to do any testing to validate the changes? |
We have done some preliminary testing to show that the original 4 pwm channels work alongside the expanded channels. The channel expansion in this PR did not include changes to the LED states since I was not sure if these were necessary. Also the inline comments show that some debug statements did not take in all the formatting options with the expansion. Much more testing is required but we were informed that there could be a refactor to this code in the near future, so if not merged it could be referenced. |
VOXL2_IO currently supports up to 4 actuator channels in the IO driver code
The 4 actuator channel limit is based on the serial packet structure. This PR modifies the packet structure to allow 8 channels instead of 4.