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author | marco <marco@Marcos-MacBook-Pro.local> | 2013-04-29 19:56:50 +0200 |
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committer | marco <marco@Marcos-MacBook-Pro.local> | 2013-04-29 19:56:50 +0200 |
commit | 130c7a353055da628518f6de1bbd58c855fad5bd (patch) | |
tree | d51277ebbe1c9ebad72c42fae8c4bf4f7a74de93 /apps/drivers/mkblctrl/mkblctrl.cpp | |
parent | ca5dcc11a7754d38e3b5f63bcb708e106fb2a3cd (diff) | |
download | px4-firmware-130c7a353055da628518f6de1bbd58c855fad5bd.tar.gz px4-firmware-130c7a353055da628518f6de1bbd58c855fad5bd.tar.bz2 px4-firmware-130c7a353055da628518f6de1bbd58c855fad5bd.zip |
BLCtrl 2.0 testing - currently only 8 Bit resolution - motor detection and px4 mode as default - with safety shutdown
Diffstat (limited to 'apps/drivers/mkblctrl/mkblctrl.cpp')
-rw-r--r-- | apps/drivers/mkblctrl/mkblctrl.cpp | 42 |
1 files changed, 6 insertions, 36 deletions
diff --git a/apps/drivers/mkblctrl/mkblctrl.cpp b/apps/drivers/mkblctrl/mkblctrl.cpp index bcdb80b5d..057ee2128 100644 --- a/apps/drivers/mkblctrl/mkblctrl.cpp +++ b/apps/drivers/mkblctrl/mkblctrl.cpp @@ -311,9 +311,6 @@ MK::init(unsigned motors) /* reset GPIOs */ gpio_reset(); - /* check for connected blctrls */ - //mk_check_for_blctrl(_num_outputs); - /* start the IO interface task */ _task = task_spawn("mkblctrl", SCHED_DEFAULT, @@ -717,16 +714,13 @@ MK::mk_check_for_blctrl(unsigned int count, unsigned int showOutput) 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); } + + if(foundMotorCount == 0) { + _task_should_exit = true; + } } 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 { if(g_mk->mk_check_for_blctrl(8, 0) != 0) { - shouldStop = 3; + shouldStop = 4; } else { shouldStop++; } sleep(1); - } while ( shouldStop != 3); + } while ( shouldStop < 3); 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? */ 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 */ if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) { if (argc > i + 1) { |