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Checkpoint: more work in progress on mixer load/save

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This commit is contained in:
px4dev
2012-08-05 14:13:33 -07:00
parent 145a6c4c49
commit 9804776a0c
8 changed files with 161 additions and 151 deletions
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apps/px4/fmu/fmu.cpp
+18 -9
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@@ -110,13 +110,14 @@ FMUServo::FMUServo(Mode mode) :
_task_should_exit(false),
_armed(false)
{
for (unsigned i = 0; i < 4; i++)
for (unsigned i = 0; i < _max_actuators; i++)
_mixer[i] = nullptr;
}
FMUServo::~FMUServo()
{
if (_task != -1) {
/* task should wake up every 100ms or so at least */
_task_should_exit = true;
@@ -168,8 +169,6 @@ FMUServo::task_main_trampoline(int argc, char *argv[])
void
FMUServo::task_main()
{
log("ready");
/* configure for PWM output */
switch (_mode) {
case MODE_2PWM:
@@ -217,7 +216,7 @@ FMUServo::task_main()
/* do we have a control update? */
if (fds[0].revents & POLLIN) {
struct actuator_controls ac;
struct actuator_controls_s ac;
/* get controls */
orb_copy(ORB_ID(actuator_controls), _t_actuators, &ac);
@@ -239,7 +238,7 @@ FMUServo::task_main()
/* how about an arming update? */
if (fds[1].revents & POLLIN) {
struct actuator_armed aa;
struct actuator_armed_s aa;
/* get new value */
orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
@@ -329,6 +328,12 @@ FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg)
case MIXERIOCGETMIXER(0):
channel = cmd - MIXERIOCGETMIXER(0);
/* if no mixer is assigned, we return ENOENT */
if (_mixer[channel] == nullptr) {
ret = -ENOENT;
break;
}
/* caller's MixInfo */
mi = (struct MixInfo *)arg;
@@ -350,10 +355,14 @@ FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg)
/* FALLTHROUGH */
case MIXERIOCSETMIXER(1):
case MIXERIOCSETMIXER(0):
channel = cmd - MIXERIOCGETMIXER(0);
channel = cmd - MIXERIOCSETMIXER(0);
/* caller- supplied mixer */
/* get the caller-supplied mixer and check */
mm = (struct MixMixer *)arg;
if (mixer_check(mm, NUM_ACTUATOR_CONTROLS)) {
ret = -EINVAL;
break;
}
/* allocate local storage and copy from the caller*/
if (mm != nullptr) {
@@ -382,13 +391,13 @@ FMUServo::ioctl(struct file *filp, int cmd, unsigned long arg)
namespace {
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_MODE_UNSET
};
PortMode g_port_mode;
@@ -476,7 +485,7 @@ fmu_new_mode(PortMode new_mode)
} // namespace
extern "C" int fmu_main(int argc, char *argv[]);
extern "C" __EXPORT int fmu_main(int argc, char *argv[]);
int
fmu_main(int argc, char *argv[])