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Move PWM rate configuration, etc. into a separate utility and out of the individual drivers.

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This commit is contained in:
px4dev
2013-03-12 22:22:50 -07:00
parent 57429fd12c
commit 7011fe563b
6 changed files with 289 additions and 92 deletions
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apps/drivers/hil/hil.cpp
+3 -22
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@@ -655,7 +655,7 @@ enum PortMode {
PortMode g_port_mode;
int
hil_new_mode(PortMode new_mode, int update_rate)
hil_new_mode(PortMode new_mode)
{
// uint32_t gpio_bits;
@@ -713,8 +713,6 @@ hil_new_mode(PortMode new_mode, int update_rate)
/* (re)set the PWM output mode */
g_hil->set_mode(servo_mode);
if ((servo_mode != HIL::MODE_NONE) && (update_rate != 0))
g_hil->set_pwm_rate(update_rate);
return OK;
}
@@ -800,7 +798,6 @@ int
hil_main(int argc, char *argv[])
{
PortMode new_mode = PORT_MODE_UNDEFINED;
unsigned pwm_rate = 0;
const char *verb = argv[1];
if (hil_start() != OK)
@@ -812,22 +809,6 @@ hil_main(int argc, char *argv[])
// this was all cut-and-pasted from the FMU driver; it's junk
if (!strcmp(verb, "mode_pwm")) {
int ch;
while ((ch = getopt(argc - 1, argv + 1, "u:")) != EOF) {
switch (ch) {
case 'u':
pwm_rate = strtol(optarg, nullptr, 0);
break;
case ':':
errx(1, "missing parameter");
default:
errx(1, "unrecognised option");
}
}
new_mode = PORT1_FULL_PWM;
} else if (!strcmp(verb, "mode_pwm_serial")) {
@@ -854,7 +835,7 @@ hil_main(int argc, char *argv[])
return OK;
/* switch modes */
return hil_new_mode(new_mode, pwm_rate);
return hil_new_mode(new_mode);
}
if (!strcmp(verb, "test"))
@@ -865,6 +846,6 @@ hil_main(int argc, char *argv[])
fprintf(stderr, "HIL: unrecognized command, try:\n");
fprintf(stderr, " mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, mode_port2_pwm8, mode_port2_pwm12, mode_port2_pwm16\n");
fprintf(stderr, " mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, mode_port2_pwm8, mode_port2_pwm12, mode_port2_pwm16\n");
return -EINVAL;
}