revive ld06 pwm control, make output visible to user

mikeferguson · Dec 13, 2023 · e517b18 · e517b18
1 parent 4075a25
commit e517b18
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Showing 2 changed files with 11 additions and 2 deletions.
diff --git a/libraries/libcpp/inc/ld06.hpp b/libraries/libcpp/inc/ld06.hpp
@@ -179,7 +179,6 @@ class LD06
           {
             ++packets_;
             // Disabled because scan is more stable when PWM is open loop
-            /*
             last_speed_ = packet.radar_speed;
             if (last_speed_ < MINIMUM_LASER_SPEED)
             {
@@ -190,7 +189,6 @@ class LD06
               control_pwm_ -= 1;
             }
             TIM12->CCR2 = control_pwm_;
-            */
             return EXPECTED_PACKET_LENGTH;
           }
 
@@ -251,6 +249,11 @@ class LD06
     state_ = BUS_READING_START;
   }
 
+  uint16_t get_control_pwm()
+  {
+    return control_pwm_;
+  }
+
   ld06_packet_t packet;
 
 private:

diff --git a/projects/etherbotix/main.cpp b/projects/etherbotix/main.cpp
@@ -823,6 +823,12 @@ void SysTick_Handler(void)
     }
   }
 
+  // Update laser, if active
+  if (user_io_laser_active_)
+  {
+    registers.tim12_mode = laser.get_control_pwm();
+  }
+
   // Toggle LED
   if (registers.system_time - last_packet < 500)
   {