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Add reading motor speed data (untested)

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This commit is contained in:
Michal Moskal 2017-08-08 11:41:47 +02:00
parent b0145cf378
commit d42117a2a5
1 changed files with 34 additions and 6 deletions
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40
libs/core/output.ts
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@ -29,7 +29,7 @@ namespace output {
pwmMM = control.mmap("/dev/lms_pwm", 0, 0) pwmMM = control.mmap("/dev/lms_pwm", 0, 0)
if (!pwmMM) control.fail("no PWM file") if (!pwmMM) control.fail("no PWM file")
motorMM = control.mmap("/dev/lms_motor", MotorDataOff.Size * DAL.NUM_OUTPUTS, 0) motorMM = control.mmap("/dev/lms_motor", MotorDataOff.Size * DAL.NUM_OUTPUTS, 0)
stop(Output.ALL) stop(Output.ALL)
let buf = output.createBuffer(1) let buf = output.createBuffer(1)
@ -101,11 +101,39 @@ namespace output {
writePWM(b) writePWM(b)
} }
/*export function getSpeed(out: Output): number { export function clearCount(out: Output) {
let b = mkCmd(out, DAL.opOutputSpeed, 0) let b = mkCmd(out, DAL.opOutputClearCount, 0)
readPWM(b) writePWM(b)
return b.getNumber(NumberFormat.Int16LE, 1) for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
}*/ if (out & (1 << i)) {
motorMM.setNumber(NumberFormat.Int32LE, i * MotorDataOff.Size + MotorDataOff.TachoSensor, 0)
}
}
}
function outOffset(out: Output) {
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
if (out & (1 << i))
return i * MotorDataOff.Size
}
return 0
}
export interface MotorData {
actualSpeed: number; // -100..+100
tachoCount: number;
count: number;
}
// only a single output at a time
export function getMotorData(out: Output): MotorData {
let buf = motorMM.slice(outOffset(out), MotorDataOff.Size)
return {
actualSpeed: buf.getNumber(NumberFormat.Int8LE, MotorDataOff.Speed),
tachoCount: buf.getNumber(NumberFormat.Int32LE, MotorDataOff.TachoCounts),
count: buf.getNumber(NumberFormat.Int32LE, MotorDataOff.TachoSensor),
}
}
/** /**
* Set motor speed. * Set motor speed.