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Merge pull request #261 from NosDE/master 

mkblctrl: some small fixes
This commit is contained in:
Lorenz Meier 2013-05-04 12:35:09 -07:00
parent f9c0ff0f20 1c4fc6cfb0
commit 890a6e5b49
1 changed files with 32 additions and 27 deletions
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57
apps/drivers/mkblctrl/mkblctrl.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (C) 2012,2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -219,7 +219,7 @@ struct MotorData_t
// the following bytes must be exactly in that order!
unsigned int Current; // in 0.1 A steps, read back from BL
unsigned int MaxPWM; // read back from BL is less than 255 if BL is in current limit
unsigned int Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in °C
unsigned int Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in
unsigned int RoundCount;
};
@ -1355,28 +1355,26 @@ extern "C" __EXPORT int mkblctrl_main(int argc, char *argv[]);
int
mkblctrl_main(int argc, char *argv[])
{
PortMode new_mode = PORT_MODE_UNSET;
PortMode port_mode = PORT_FULL_PWM;
int pwm_update_rate_in_hz = UPDATE_RATE;
int motorcount = 0;
int motorcount = 8;
int bus = 1;
bool motortest = false;
int px4mode = MAPPING_PX4;
int frametype = FRAME_PLUS; // + plus is default
new_mode = PORT_FULL_PWM;
motorcount = 8;
bool motortest = false;
bool showHelp = false;
bool newMode = false;
/*
* Mode switches.
*
* XXX use getopt?
* optional parameters
*/
for (int i = 1; i < argc; i++) { /* argv[0] is "mk" */
for (int i = 1; i < argc; i++) {
/* look for the optional i2c bus parameter */
if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
if (argc > i + 1) {
bus = atoi(argv[i + 1]);
newMode = true;
} else {
errx(1, "missing argument for i2c bus (-b)");
return 1;
@ -1388,6 +1386,7 @@ mkblctrl_main(int argc, char *argv[])
if (argc > i + 1) {
if(strcmp(argv[i + 1], "+") == 0 || strcmp(argv[i + 1], "x") == 0 || strcmp(argv[i + 1], "X") == 0) {
px4mode = MAPPING_MK;
newMode = true;
if(strcmp(argv[i + 1], "+") == 0) {
frametype = FRAME_PLUS;
} else {
@ -1405,30 +1404,36 @@ mkblctrl_main(int argc, char *argv[])
/* look for the optional test parameter */
if (strcmp(argv[i], "-t") == 0) {
motortest = true;
newMode = true;
}
/* look for the optional -h --help parameter */
if (strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "--help") == 0) {
showHelp == true;
}
}
if(new_mode == PORT_MODE_UNSET) {
fprintf(stderr, "mkblctrl: unrecognised command, try:\n");
fprintf(stderr, " [-mkmode frame{+/x}] [-b i2c_bus_number] [-t motortest]\n");
if(showHelp) {
fprintf(stderr, "mkblctrl: help:\n");
fprintf(stderr, " [-mkmode frame{+/x}] [-b i2c_bus_number] [-t motortest] [-h / --help]\n");
exit(1);
}
if (mk_start(bus, motorcount) != OK)
if (g_mk == nullptr) {
if (mk_start(bus, motorcount) != OK) {
errx(1, "failed to start the MK-BLCtrl driver");
} else {
newMode = true;
}
}
/* was a new mode set? */
if (new_mode != PORT_MODE_UNSET) {
/* yes but it's the same mode */
//if (new_mode == g_port_mode)
//return OK;
/* switch modes */
fprintf(stderr, "[mkblctrl] %iHz Update Rate\n",pwm_update_rate_in_hz);
return mk_new_mode(new_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype);
/* parameter set ? */
if (newMode) {
/* switch parameter */
return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype);
}
/* test, etc. here g*/