/**
* Get the PWM value directly from the hardware.
*
* Read a raw value from a PWM channel.
*
* @return Raw PWM control value.
*/
unsigned short PWM::GetRaw() const {
if (StatusIsFatal()) return 0;
int32_t status = 0;
unsigned short value = getPWM(m_pwm_ports[m_channel], &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return value;
}
int writeDatalink(float frequency){
if (time - lastTime > frequency) {
lastTime = time;
struct telem_block* statusData = getDebugTelemetryBlock();//createTelemetryBlock();
if (statusData == 0){
return 0;
}
statusData->lat = getLatitude();
statusData->lon = getLongitude();
statusData->millis = getUTCTime();
statusData->groundSpeed = getSpeed();
statusData->heading = getHeading();
statusData->lastCommandSent = lastCommandSentCode;
statusData->errorCodes = getErrorCodes();
statusData->gpsStatus = (char)(getSatellites() + (isGPSLocked() << 4));
statusData->steeringSetpoint = getPWM(1);
statusData->throttleSetpoint = getPWM(2);
statusData->steeringOutput = sData;
statusData->throttleOutput = tData;
statusData->debugChar = debugChar;
statusData->debugInt = debugInt;
statusData->debugFloat = debugFloat;
if (BLOCKING_MODE) {
sendTelemetryBlock(statusData);
destroyTelemetryBlock(statusData);
} else {
return pushOutboundTelemetryQueue(statusData);
}
}
else if (time < lastTime){
lastTime = time;
return 0;
}
return 0;
}
void Send_MotoPWM(void)
{
u8 _cnt=0;
u8 i;
uint16_t Moto_PWM[6];
u8 sum = 0;
getPWM(Moto_PWM);
for(i=0;i<6;i++)
Moto_PWM[i] -= 1000;
data_to_send[_cnt++]=0xAA;
data_to_send[_cnt++]=0xAA;
data_to_send[_cnt++]=0x06;
data_to_send[_cnt++]=0;
data_to_send[_cnt++]=BYTE1(Moto_PWM[1]);
data_to_send[_cnt++]=BYTE0(Moto_PWM[1]);
data_to_send[_cnt++]=BYTE1(Moto_PWM[3]);
data_to_send[_cnt++]=BYTE0(Moto_PWM[3]);
data_to_send[_cnt++]=BYTE1(Moto_PWM[5]);
data_to_send[_cnt++]=BYTE0(Moto_PWM[5]);
data_to_send[_cnt++]=BYTE1(Moto_PWM[2]);
data_to_send[_cnt++]=BYTE0(Moto_PWM[2]);
data_to_send[_cnt++]=BYTE1(Moto_PWM[0]);
data_to_send[_cnt++]=BYTE0(Moto_PWM[0]);
data_to_send[_cnt++]=BYTE1(Moto_PWM[4]);
data_to_send[_cnt++]=BYTE0(Moto_PWM[4]);
data_to_send[3] = _cnt-4;
for(i=0;i<_cnt;i++)
sum += data_to_send[i];
data_to_send[_cnt++]=sum;
Send_Data(data_to_send, _cnt);
}
char getReg(uint16_t reg, int* val) {
if (reg >= REG_RELAY0 && reg < REG_RELAY0 + REG_RELAY_CNT) {
*val = getOutput(reg - REG_RELAY0) ? 1 : 0;
} else if (reg >= REG_PWM0 && reg < REG_PWM0 + REG_RELAY_CNT) {
*val = getPWM(reg - REG_PWM0);
} else if (reg == REG_TEMP) {
*val = w1_temp(0);
if (*val == TEMPERATURE_INVALID)
return 0;
} else if (reg == REG_ADC_CONF) {
*val = EEPROM_readByte(&eeData.adcconf);
} else if (reg == REG_RESET_BY_WD) {
*val = EEPROM_readByte(&eeData.resetByWd);
} else if (reg == REG_WD_ON_RECEIVE) {
*val = EEPROM_readByte(&eeData.wdOnReceive);
} else if (reg == REG_TIME_CORR_EN) {
*val = EEPROM_readByte(&eeData.timeCorrEn);
} else if (reg == REG_TIME_CORR) {
*val = getCorr1();
} else if (reg == REG_TIME_HI) {
timeBuffer = getTime();
*val = timeBuffer >> 16;
} else if (reg == REG_TIME_LO) {
int8_t DigitalOutput::showWebinterface(WebServer* server,
WebServer::ConnectionType type,
char* url)
{
#ifdef PROVIDE_WEBIF
File templateFile;
TemplateParser* parser;
int16_t matchIdx;
char templateFileName[template_digitaloutput_fnsize];
strcpy_P(templateFileName, template_digitaloutput_fname);
float dC = -1.0;
if (type == WebServer::POST)
{
int8_t repeat;
char name[16], value[16];
do
{
repeat = server->readPOSTparam(name, 16, value, 16);
if (strcmp_P(name,
(PGM_P) pgm_read_word(&(template_digitaloutput_inputs[DO_I_ON])))
== 0)
{
m_OnValue = atoi(value);
m_OffValue = 1 - m_OnValue;
}
else if (strcmp_P(name,
(PGM_P) pgm_read_word(&(template_digitaloutput_inputs[DO_I_PIN])))
== 0)
{
m_Pin = atoi(value);
pinMode(m_Pin, OUTPUT);
}
else if (strcmp_P(name,
(PGM_P) pgm_read_word(&(template_digitaloutput_inputs[DO_I_PWM])))
== 0)
{
dC = atof(value);
if (dC < 0.0)
dC = 0;
else if (dC > 100.0)
dC = 100.0;
dC /= 100;
}
} while (repeat);
if (dC >= 0)
setPWM(dC);
server->httpSeeOther(this->m_URL);
}
else
{
server->httpSuccess();
parser = __aquaduino->getTemplateParser();
templateFile = SD.open(templateFileName, FILE_READ);
while ((matchIdx =
parser->processTemplateUntilNextMatch(&templateFile,
template_digitaloutput,
template_digitaloutput_elements,
server))
>= 0)
{
switch (matchIdx)
{
case DO_ANAME:
server->print(getName());
break;
case DO_PIN_NAME:
server->print((const __FlashStringHelper *) (pgm_input_pin));
break;
case DO_PIN_VAL:
server->print(m_Pin);
break;
case DO_PIN_SIZE:
server->print(3);
break;
case DO_PIN_MAXLENGTH:
server->print(2);
break;
case DO_PWM_NAME:
server->print((const __FlashStringHelper *) (pgm_input_pwm));
break;
case DO_PWM_VAL:
if (supportsPWM())
{
server->print(getPWM() * 100);
}
else
{
server->print(F("No PWM"));
}
break;
case DO_PWM_SIZE:
server->print(7);
break;
case DO_PWM_MAXLENGTH:
server->print(6);
break;
case DO_ON_NAME:
server->print((const __FlashStringHelper *) (pgm_input_on));
break;
case DO_ON_OPTIONS:
parser->selectListOption("LOW", "0", m_OnValue == 0, server);
parser->selectListOption("HIGH", "1", m_OnValue == 1, server);
break;
}
}
templateFile.close();
}
#endif //PROVIDE_WEBIF
return true;
}
