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linux_pwm_out: add ocpoc_mmap mode

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This commit is contained in:
Beat Küng
2017-07-13 16:53:28 +02:00
parent 8527c8276f
commit d17a7b46e8
4 changed files with 193 additions and 4 deletions
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src/drivers/linux_pwm_out/linux_pwm_out.cpp
+9 -4
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@@ -54,6 +54,7 @@
#include "common.h"
#include "navio_sysfs.h"
#include "PCA9685.h"
#include "ocpoc_mmap.h"
namespace linux_pwm_out
{
@@ -63,7 +64,7 @@ static bool _is_running = false;
static char _device[64] = "/sys/class/pwm/pwmchip0";
static char _protocol[64] = "navio";
static int _max_mum_outputs = 8; ///< maximum number of outputs the driver should use
static int _max_num_outputs = 8; ///< maximum number of outputs the driver should use
static char _mixer_filename[64] = "ROMFS/px4fmu_common/mixers/quad_x.main.mix";
// subscriptions
@@ -206,9 +207,13 @@ void task_main(int argc, char *argv[])
PX4_INFO("Starting PWM output in PCA9685 mode");
pwm_out = new PCA9685();
} else if (strcmp(_protocol, "ocpoc_mmap") == 0) {
PX4_INFO("Starting PWM output in ocpoc_mmap mode");
pwm_out = new OcpocMmapPWMOut(_max_num_outputs);
} else { // navio
PX4_INFO("Starting PWM output in Navio mode");
pwm_out = new NavioSysfsPWMOut(_device, _max_mum_outputs);
pwm_out = new NavioSysfsPWMOut(_device, _max_num_outputs);
}
if (pwm_out->init() != 0) {
@@ -380,7 +385,7 @@ 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)");
PX4_INFO(" -p protocol : driver output protocol (navio|pca9685|ocpoc_mmap)");
PX4_INFO(" (default is navio)");
PX4_INFO(" -n num_outputs : maximum number of outputs the driver should use");
PX4_INFO(" (default is 8)");
@@ -433,7 +438,7 @@ int linux_pwm_out_main(int argc, char *argv[])
max_num = actuator_outputs_s::NUM_ACTUATOR_OUTPUTS;
}
linux_pwm_out::_max_mum_outputs = max_num;
linux_pwm_out::_max_num_outputs = max_num;
}
break;
}