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When radiotest driver is included spin motors #1400

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merged 2 commits into from
Aug 12, 2024
Merged

When radiotest driver is included spin motors #1400

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63494a7
When radiotest driver is included spin motors
ToveRumar Aug 12, 2024
373df84
Add define to configure motor spin
ToveRumar Aug 12, 2024
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27 changes: 26 additions & 1 deletion src/deck/drivers/src/test/radiotest.c
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,17 @@
#include "deck.h"
#include "syslink.h"
#include "param.h"
#include "platform_defaults.h"


#define SHOULD_SPIN_MOTORS 0

#ifdef CONFIG_MOTORS_DEFAULT_IDLE_THRUST
#define MOTOR_SPEED CONFIG_MOTORS_DEFAULT_IDLE_THRUST
#else
#define MOTOR_SPEED 7000
#endif


//Hardware configuration
static bool isInit;
Expand All @@ -47,6 +58,18 @@ static uint8_t old_channel;
static int8_t old_power;
static uint8_t old_contwave;

static void spinMotorsTask(void *param)
{
vTaskDelay(M2T(4000)); // Wait for the ESCs to be ready to recieve signals

paramVarId_t motorPowerSetEnableParam = paramGetVarId("motorPowerSet", "enable");
paramVarId_t motorParams = paramGetVarId("motorPowerSet", "m1");
paramSetInt(motorPowerSetEnableParam, 2);
paramSetInt(motorParams, MOTOR_SPEED);

vTaskDelete(NULL);
}

static void radiotestTask(void *param)
{

Expand Down Expand Up @@ -93,7 +116,9 @@ static void radiotestInit(DeckInfo *info)
return;

xTaskCreate(radiotestTask, "RADIOTEST", configMINIMAL_STACK_SIZE, NULL, 1, NULL);

if (SHOULD_SPIN_MOTORS) {
xTaskCreate(spinMotorsTask, "spinMotors", configMINIMAL_STACK_SIZE, NULL, 1, NULL);
}
isInit = true;
}

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