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Port PX4 to BeagleBone Blue Board using library librobotcontrol instead of a submodule

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This commit is contained in:
Bob-F
2018-08-06 13:32:36 +02:00
committed by Beat Küng
parent e989c80205
commit 2ece14bad1
30 changed files with 1184 additions and 15 deletions
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src/drivers/linux_pwm_out/linux_pwm_out.cpp
+8 -1
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@@ -58,6 +58,7 @@
#include "navio_sysfs.h"
#include "PCA9685.h"
#include "ocpoc_mmap.h"
#include "bbblue_pwm_rc.h"
namespace linux_pwm_out
{
@@ -233,6 +234,12 @@ void task_main(int argc, char *argv[])
PX4_INFO("Starting PWM output in ocpoc_mmap mode");
pwm_out = new OcpocMmapPWMOut(_max_num_outputs);
#ifdef __DF_BBBLUE
} else if (strcmp(_protocol, "bbblue_rc") == 0) {
PX4_INFO("Starting PWM output in bbblue_rc mode");
pwm_out = new BBBlueRcPWMOut(_max_num_outputs);
#endif
} else { /* navio */
PX4_INFO("Starting PWM output in Navio mode");
pwm_out = new NavioSysfsPWMOut(_device, _max_num_outputs);
@@ -493,7 +500,7 @@ void usage()
PX4_INFO(" (default /sys/class/pwm/pwmchip0)");
PX4_INFO(" -m mixerfile : path to mixerfile");
PX4_INFO(" (default ROMFS/px4fmu_common/mixers/quad_x.main.mix)");
PX4_INFO(" -p protocol : driver output protocol (navio|pca9685|ocpoc_mmap)");
PX4_INFO(" -p protocol : driver output protocol (navio|pca9685|ocpoc_mmap|bbblue_rc)");
PX4_INFO(" (default is navio)");
PX4_INFO(" -n num_outputs : maximum number of outputs the driver should use");
PX4_INFO(" (default is 8)");