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i2c1 bug and bus scan fixed

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This commit is contained in:
marco
2014-02-02 20:36:11 +01:00
parent 0089db7ef3
commit 816229652f
1 changed files with 29 additions and 33 deletions
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src/drivers/mkblctrl/mkblctrl.cpp
+29 -33
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@@ -65,7 +65,6 @@
#include <drivers/device/device.h>
#include <drivers/drv_pwm_output.h>
//#include <drivers/drv_gpio.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_rc_input.h>
@@ -99,13 +98,6 @@
class MK : public device::I2C
{
public:
enum Mode {
MODE_NONE,
MODE_2PWM,
MODE_4PWM,
MODE_6PWM,
};
enum MappingMode {
MAPPING_MK = 0,
MAPPING_PX4,
@@ -1207,11 +1199,11 @@ mk_check_for_i2c_esc_bus(char *device_path, int motors)
{
int ret;
g_mk = new MK(1, device_path);
// try bus 3 first
warnx("scanning i2c3...");
g_mk = new MK(3, device_path);
if (g_mk == nullptr) {
return -1;
} else if (OK != g_mk) {
if (g_mk != nullptr && OK != g_mk->init(motors)) {
delete g_mk;
g_mk = nullptr;
} else {
@@ -1223,10 +1215,13 @@ mk_check_for_i2c_esc_bus(char *device_path, int motors)
}
}
// fallback to bus 1
warnx("scanning i2c1...");
g_mk = new MK(1, device_path);
if (g_mk == nullptr) {
return -1;
if (g_mk != nullptr && OK != g_mk->init(motors)) {
delete g_mk;
g_mk = nullptr;
} else {
ret = g_mk->mk_check_for_blctrl(8, false, true);
delete g_mk;
@@ -1240,7 +1235,6 @@ mk_check_for_i2c_esc_bus(char *device_path, int motors)
}
} // namespace
extern "C" __EXPORT int mkblctrl_main(int argc, char *argv[]);
@@ -1348,31 +1342,33 @@ mkblctrl_main(int argc, char *argv[])
if (!motortest) {
if (g_mk == nullptr) {
if (bus == -1) {
bus = mk_check_for_i2c_esc_bus(devicepath, motorcount);
}
if (g_mk == nullptr) {
if (bus == -1) {
bus = mk_check_for_i2c_esc_bus(devicepath, motorcount);
if (bus != -1) {
}
if (bus != -1) {
if (mk_start(bus, motorcount, devicepath) != OK) {
errx(1, "failed to start the MK-BLCtrl driver");
}
} else {
errx(1, "failed to start the MK-BLCtrl driver (cannot find i2c esc's)");
}
} else {
errx(1, "failed to start the MK-BLCtrl driver (cannot find i2c esc's)");
}
/* parameter set ? */
if (newMode) {
/* switch parameter */
return mk_new_mode(pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks);
}
/* parameter set ? */
if (newMode) {
/* switch parameter */
return mk_new_mode(pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks);
}
exit(0);
} else {
errx(1, "MK-BLCtrl driver already running");
}
exit(0);
} else {
errx(1, "MK-BLCtrl driver already running");
}
} else {
} else {
if (g_mk == nullptr) {
errx(1, "MK-BLCtrl driver not running. You have to start it first.");