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fmu: some cleanup

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g_port_mode was never changed.
This commit is contained in:
Beat Küng 2017-04-27 17:12:02 +02:00
parent 16740dd5cd
commit 2da0ae45e5
1 changed files with 22 additions and 29 deletions
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51
src/drivers/px4fmu/fmu.cpp
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@ -112,6 +112,25 @@
#define LED_PATTERN_FMU_ARMED 0x5500 /**< long off, then quad blink */
#define LED_PATTERN_IO_FMU_ARMED 0xffff /**< constantly on */
/** Mode given via CLI */
enum PortMode {
PORT_MODE_UNSET = 0,
PORT_FULL_GPIO,
PORT_FULL_SERIAL,
PORT_FULL_PWM,
PORT_GPIO_AND_SERIAL,
PORT_PWM_AND_SERIAL,
PORT_PWM_AND_GPIO,
PORT_PWM4,
PORT_PWM3,
PORT_PWM2,
PORT_PWM1,
PORT_PWM3CAP1,
PORT_PWM2CAP2,
PORT_CAPTURE,
};
#if !defined(BOARD_HAS_PWM)
# error "board_config.h needs to define BOARD_HAS_PWM"
#endif
@ -293,9 +312,9 @@ private:
int capture_ioctl(file *filp, int cmd, unsigned long arg);
/* do not allow to copy due to ptr data members */
PX4FMU(const PX4FMU &);
PX4FMU operator=(const PX4FMU &);
PX4FMU(const PX4FMU &) = delete;
PX4FMU operator=(const PX4FMU &) = delete;
void fill_rc_in(uint16_t raw_rc_count_local,
uint16_t raw_rc_values_local[input_rc_s::RC_INPUT_MAX_CHANNELS],
hrt_abstime now, bool frame_drop, bool failsafe,
@ -393,7 +412,6 @@ PX4FMU::PX4FMU(bool run_as_task) :
_armed.in_esc_calibration_mode = false;
// rc input, published to ORB
memset(&_rc_in, 0, sizeof(_rc_in));
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
// initialize raw_rc values and count
@ -2932,26 +2950,6 @@ bind_spektrum()
close(fd);
}
enum PortMode {
PORT_MODE_UNSET = 0,
PORT_FULL_GPIO,
PORT_FULL_SERIAL,
PORT_FULL_PWM,
PORT_GPIO_AND_SERIAL,
PORT_PWM_AND_SERIAL,
PORT_PWM_AND_GPIO,
PORT_PWM4,
PORT_PWM3,
PORT_PWM2,
PORT_PWM1,
PORT_PWM3CAP1,
PORT_PWM2CAP2,
PORT_CAPTURE,
};
PortMode g_port_mode;
int
fmu_new_mode(PortMode new_mode)
{
@ -3475,11 +3473,6 @@ fmu_main(int argc, char *argv[])
/* 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 */
int ret = fmu_new_mode(new_mode);
exit(ret == OK ? 0 : 1);