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pwm_input: remove 'test' command and use 'status' instead

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This commit is contained in:
Beat Küng 2021-09-08 12:14:45 +02:00 committed by Daniel Agar
parent f1aafe83b3
commit ae8733c2d4
2 changed files with 6 additions and 20 deletions
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24
src/drivers/pwm_input/pwm_input.cpp
View File

@ -179,13 +179,14 @@ PWMIN::publish(uint16_t status, uint32_t period, uint32_t pulse_width)
_pulses_captured++;
}
void
PWMIN::print_info(void)
int
PWMIN::print_status()
{
PX4_INFO("count=%u period=%u width=%u\n",
PX4_INFO("count=%u period=%u width=%u",
static_cast<unsigned>(_pulses_captured),
static_cast<unsigned>(_last_period),
static_cast<unsigned>(_last_width));
return 0;
}
int
@ -204,7 +205,6 @@ Measures the PWM input on AUX5 (or MAIN5) via a timer capture ISR and publishes
PRINT_MODULE_USAGE_NAME("pwm_input", "system");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_COMMAND_DESCR("test", "prints PWM capture info.");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return PX4_OK;
@ -213,21 +213,7 @@ Measures the PWM input on AUX5 (or MAIN5) via a timer capture ISR and publishes
int
PWMIN::custom_command(int argc, char *argv[])
{
const char *input = argv[0];
auto *obj = get_instance();
if (!is_running() || !obj) {
PX4_ERR("not running");
return PX4_ERROR;
}
if (!strcmp(input, "test")) {
obj->print_info();
return PX4_OK;
}
print_usage();
return PX4_ERROR;
return print_usage();
}
extern "C" __EXPORT int pwm_input_main(int argc, char *argv[])

2
src/drivers/pwm_input/pwm_input.h
View File

@ -125,7 +125,7 @@ class PWMIN : public ModuleBase<PWMIN>
public:
void start();
void publish(uint16_t status, uint32_t period, uint32_t pulse_width);
void print_info(void);
int print_status() override;
static int pwmin_tim_isr(int irq, void *context, void *arg);