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navio_sysfs_pwm_out: command line argument for mixerfile

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This commit is contained in:
mantelt
2016-11-03 09:38:38 +01:00
parent 32403ddb90
commit 10491884ca
1 changed files with 18 additions and 12 deletions
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src/drivers/navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp
+18 -12
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@@ -58,11 +58,11 @@ volatile bool _task_should_exit = false;
static bool _is_running = false;
static const int NUM_PWM = 4;
static char _device[32] = "/sys/class/pwm/pwmchip0";
static char _device[64] = "/sys/class/pwm/pwmchip0";
static int _pwm_fd[NUM_PWM];
static const int FREQUENCY_PWM = 400;
static const char *MIXER_FILENAME = "ROMFS/px4fmu_common/mixers/AERT.main.mix";
static char _mixer_filename[64] = "ROMFS/px4fmu_common/mixers/AERT.main.mix";
// subscriptions
int _controls_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
@@ -140,19 +140,19 @@ int initialize_mixer(const char *mixer_filename)
_mixer_group = new MixerGroup(mixer_control_callback, (uintptr_t) &_controls);
PX4_INFO("Trying to initialize mixer from config file %s", mixer_filename);
// PX4_INFO("Trying to initialize mixer from config file %s", mixer_filename);
if (load_mixer_file(mixer_filename, buf, buflen) == 0) {
if (_mixer_group->load_from_buf(buf, buflen) == 0) {
PX4_INFO("Successfully initialized mixer from config file");
PX4_INFO("Successfully initialized mixer from config file %s", mixer_filename);
return 0;
} else {
PX4_ERR("Unable to parse from mixer config file");
PX4_ERR("Unable to parse from mixer config file %s", mixer_filename);
}
} else {
PX4_ERR("Unable to load config file.");
PX4_ERR("Unable to load config file %s", mixer_filename);
}
if (_mixer_group->count() <= 0) {
@@ -286,7 +286,7 @@ void task_main(int argc, char *argv[])
}
// Set up mixer
if (initialize_mixer(MIXER_FILENAME) < 0) {
if (initialize_mixer(_mixer_filename) < 0) {
PX4_ERR("Mixer initialization failed.");
return;
}
@@ -448,7 +448,11 @@ void stop()
void usage()
{
PX4_INFO("usage: pwm_out start -d /sys/class/pwm/pwmchip0");
PX4_INFO("usage: pwm_out start [-d pwmdevice] -m mixerfile");
PX4_INFO(" -d pwmdevice : sysfs device for pwm generation");
PX4_INFO(" (default /sys/class/pwm/pwmchip0)");
PX4_INFO(" -m mixerfile : path to mixerfile");
PX4_INFO(" (default ROMFS/px4fmu_common/mixers/AERT.main.mix)");
PX4_INFO(" pwm_out stop");
PX4_INFO(" pwm_out status");
}
@@ -460,7 +464,6 @@ extern "C" __EXPORT int navio_sysfs_pwm_out_main(int argc, char *argv[]);
int navio_sysfs_pwm_out_main(int argc, char *argv[])
{
const char *device = nullptr;
int ch;
int myoptind = 1;
const char *myoptarg = nullptr;
@@ -474,11 +477,14 @@ int navio_sysfs_pwm_out_main(int argc, char *argv[])
return 1;
}
while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "d:m:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'd':
device = myoptarg;
strncpy(navio_sysfs_pwm_out::_device, device, sizeof(navio_sysfs_pwm_out::_device));
strncpy(navio_sysfs_pwm_out::_device, myoptarg, sizeof(navio_sysfs_pwm_out::_device));
break;
case 'm':
strncpy(navio_sysfs_pwm_out::_mixer_filename, myoptarg, sizeof(navio_sysfs_pwm_out::_mixer_filename));
break;
}
}