fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-29 16:10:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

mkblctrl: Repalce old tune interface with the new one

Browse Source 
untested on real hardware
This commit is contained in:
Simone Guscetti
2017-05-30 17:04:27 +02:00
committed by Daniel Agar
parent 117966d2a1
commit a4659b1228
1 changed files with 10 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/mkblctrl/mkblctrl.cpp
+10 -3
View File
@@ -79,6 +79,7 @@
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/tune_control.h>
#include <systemlib/err.h>
@@ -161,6 +162,7 @@ private:
char _device[20];
orb_advert_t _t_outputs;
orb_advert_t _t_esc_status;
orb_advert_t _tune_control_sub;
unsigned int _num_outputs;
bool _primary_pwm_device;
bool _motortest;
@@ -447,14 +449,14 @@ MK::scaling(float val, float inMin, float inMax, float outMin, float outMax)
void
MK::play_beep(int count)
{
int buzzer = ::open(TONEALARM0_DEVICE_PATH, O_WRONLY);
tune_control_s tune = {};
tune.tune_id = tune_control_s::TUNE_ID_SINGLE_BEEP;
for (int i = 0; i < count; i++) {
::ioctl(buzzer, TONE_SET_ALARM, TONE_SINGLE_BEEP_TUNE);
orb_publish(ORB_ID(tune_control), _tune_control_sub, &tune);
usleep(300000);
}
::close(buzzer);
}
void
@@ -490,6 +492,11 @@ MK::task_main()
memset(&esc, 0, sizeof(esc));
_t_esc_status = orb_advertise(ORB_ID(esc_status), &esc);
/*
* advertise the tune_control.
*/
tune_control_s tune = {};
_tune_control_sub = orb_advertise(ORB_ID(tune_control), &tune);
pollfd fds[2];
fds[0].fd = _t_actuators;