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VRBRAIN: deleted unnecessary customizations

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LukeMike 2014-06-27 16:27:31 +02:00 committed by Emile Castelnuovo
parent 0dc0d2f6c0
commit fa4fffc878
2 changed files with 1 additions and 24 deletions
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23
libraries/AP_BoardConfig/AP_BoardConfig.cpp
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@ -37,13 +37,7 @@
#define BOARD_SER1_RTSCTS_DEFAULT 2 #define BOARD_SER1_RTSCTS_DEFAULT 2
#endif #endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_pwm_output.h>
#define BOARD_PWM_COUNT_DEFAULT 8
#endif #endif
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -75,11 +69,6 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] PROGMEM = {
// @Values: 0:Disabled,1:Enabled // @Values: 0:Disabled,1:Enabled
AP_GROUPINFO("SAFETYENABLE", 3, AP_BoardConfig, _safety_enable, 1), AP_GROUPINFO("SAFETYENABLE", 3, AP_BoardConfig, _safety_enable, 1),
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// @Param: PWM_COUNT
// @DisplayName: PWM Count
// @Description: Number of auxillary PWMs to enable
// @Values: 0:No PWMs,2:Two PWMs,4:Four PWMs,6:Six PWMs,8:Six PWMs
AP_GROUPINFO("PWM_COUNT", 0, AP_BoardConfig, _pwm_count, BOARD_PWM_COUNT_DEFAULT),
#endif #endif
AP_GROUPEND AP_GROUPEND
@ -117,17 +106,5 @@ void AP_BoardConfig::init()
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
/* configure the VRBRAIN driver for the right number of PWMs */ /* configure the VRBRAIN driver for the right number of PWMs */
// ensure only valid values are set, rounding up
if (_pwm_count > 8) _pwm_count.set(8);
if (_pwm_count < 0) _pwm_count.set(0);
int fd = open("/dev/vroutput", 0);
if (fd == -1) {
hal.scheduler->panic("Unable to open /dev/vroutput");
}
if (ioctl(fd, PWM_SERVO_SET_COUNT, _pwm_count.get()) != 0) {
hal.console->printf("RCOutput: Unable to setup alt PWM to %u channels\n", _pwm_count.get());
}
close(fd);
#endif #endif
} }

2
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -28,7 +28,7 @@ private:
AP_Int8 _safety_enable; AP_Int8 _safety_enable;
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
AP_Int8 _pwm_count;
#endif #endif
}; };