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px4-firmware
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BLCtrl 2.0 testing - currently only 8 Bit resolution - motor detection and px4 mode as default - with safety shutdown

This commit is contained in:
marco 2013-04-29 19:56:50 +02:00
parent ca5dcc11a7
commit 130c7a3530
1 changed files with 6 additions and 36 deletions
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42
apps/drivers/mkblctrl/mkblctrl.cpp
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@ -311,9 +311,6 @@ MK::init(unsigned motors)
/* reset GPIOs */ /* reset GPIOs */
gpio_reset(); gpio_reset();
/* check for connected blctrls */
//mk_check_for_blctrl(_num_outputs);
/* start the IO interface task */ /* start the IO interface task */
_task = task_spawn("mkblctrl", _task = task_spawn("mkblctrl",
SCHED_DEFAULT, SCHED_DEFAULT,
@ -717,16 +714,13 @@ MK::mk_check_for_blctrl(unsigned int count, unsigned int showOutput)
for(unsigned i=0; i< count; i++) { for(unsigned i=0; i< count; i++) {
fprintf(stderr, "[mkblctrl] blctrl[%i] : found=%i\tversion=%i\tcurrent=%i\tmaxpwm=%i\ttemperature=%i\n", i,Motor[i].State, Motor[i].Version, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature); fprintf(stderr, "[mkblctrl] blctrl[%i] : found=%i\tversion=%i\tcurrent=%i\tmaxpwm=%i\ttemperature=%i\n", i,Motor[i].State, Motor[i].Version, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature);
} }
if(foundMotorCount == 0) {
_task_should_exit = true;
}
} }
return foundMotorCount; return foundMotorCount;
/*
if(foundMotorCount == count) {
return true;
} else {
return false;
}
*/
} }
@ -1302,12 +1296,12 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest,
do { do {
if(g_mk->mk_check_for_blctrl(8, 0) != 0) { if(g_mk->mk_check_for_blctrl(8, 0) != 0) {
shouldStop = 3; shouldStop = 4;
} else { } else {
shouldStop++; shouldStop++;
} }
sleep(1); sleep(1);
} while ( shouldStop != 3); } while ( shouldStop < 3);
g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, 1)); g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, 1));
@ -1371,31 +1365,7 @@ mkblctrl_main(int argc, char *argv[])
* XXX use getopt? * XXX use getopt?
*/ */
for (int i = 1; i < argc; i++) { /* argv[0] is "mk" */ for (int i = 1; i < argc; i++) { /* argv[0] is "mk" */
/*
if (!strcmp(argv[i], "mode_quad")) {
new_mode = PORT_FULL_PWM;
motorcount = 4;
} else if (!strcmp(argv[i], "mode_hexa")) {
new_mode = PORT_FULL_PWM;
motorcount = 6;
} else if (!strcmp(argv[i], "mode_octo")) {
new_mode = PORT_FULL_PWM;
motorcount = 8;
}
*/
/* look for the optional update rate for the supported modes */
/*
if (strcmp(argv[i], "-u") == 0 || strcmp(argv[i], "--update-rate") == 0) {
if (argc > i + 1) {
pwm_update_rate_in_hz = atoi(argv[i + 1]);
} else {
errx(1, "missing argument for update rate (-u)");
return 1;
}
}
*/
/* look for the optional i2c bus parameter */ /* look for the optional i2c bus parameter */
if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) { if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
if (argc > i + 1) { if (argc > i + 1) {