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FMU driver: Allow i2c config without FMU instance

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This commit is contained in:
Lorenz Meier
2016-03-13 17:59:19 +01:00
parent 5acad450f8
commit 2184dc16d4
1 changed files with 20 additions and 19 deletions
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src/drivers/px4fmu/fmu.cpp
+20 -19
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@@ -139,7 +139,7 @@ public:
int set_pwm_alt_rate(unsigned rate);
int set_pwm_alt_channels(uint32_t channels);
int set_i2c_bus_clock(unsigned bus, unsigned clock_hz);
static int set_i2c_bus_clock(unsigned bus, unsigned clock_hz);
static void capture_trampoline(void *context, uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state,
@@ -2665,7 +2665,7 @@ fmu_new_mode(PortMode new_mode)
int fmu_new_i2c_speed(unsigned bus, unsigned clock_hz)
{
return g_fmu->set_i2c_bus_clock(bus, clock_hz);
return PX4FMU::set_i2c_bus_clock(bus, clock_hz);
}
int
@@ -2968,6 +2968,24 @@ fmu_main(int argc, char *argv[])
PortMode new_mode = PORT_MODE_UNSET;
const char *verb = argv[1];
/* does not operate on a FMU instance */
if (!strcmp(verb, "i2c")) {
if (argc > 3) {
int bus = strtol(argv[2], 0, 0);
int clock_hz = strtol(argv[3], 0, 0);
int ret = fmu_new_i2c_speed(bus, clock_hz);
if (ret) {
errx(ret, "setting I2C clock failed");
}
exit(0);
} else {
warnx("i2c cmd args: <bus id> <clock Hz>");
}
}
if (!strcmp(verb, "stop")) {
fmu_stop();
errx(0, "FMU driver stopped");
@@ -3082,23 +3100,6 @@ fmu_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(verb, "i2c")) {
if (argc > 3) {
int bus = strtol(argv[2], 0, 0);
int clock_hz = strtol(argv[3], 0, 0);
int ret = fmu_new_i2c_speed(bus, clock_hz);
if (ret) {
errx(ret, "setting I2C clock failed");
}
exit(0);
} else {
warnx("i2c cmd args: <bus id> <clock Hz>");
}
}
fprintf(stderr, "FMU: unrecognised command %s, try:\n", verb);
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
fprintf(stderr,