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Merged debuglevel command from Tridge

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This commit is contained in:
Andrew Tridgell
2013-02-17 13:03:36 +01:00
committed by Lorenz Meier
parent a33f314a25
commit 04bea8678e
5 changed files with 37 additions and 1 deletions
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apps/drivers/drv_pwm_output.h
+3
View File
@@ -106,6 +106,9 @@ ORB_DECLARE(output_pwm);
/** get the number of servos in *(unsigned *)arg */
#define PWM_SERVO_GET_COUNT _IOC(_PWM_SERVO_BASE, 3)
/** set debug level for servo IO */
#define PWM_SERVO_SET_DEBUG _IOC(_PWM_SERVO_BASE, 4)
/** set a single servo to a specific value */
#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo)
apps/drivers/px4io/px4io.cpp
+27 -1
View File
@@ -1019,6 +1019,11 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
*(unsigned *)arg = _max_actuators;
break;
case PWM_SERVO_SET_DEBUG:
/* set the debug level */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG, arg);
break;
case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS): {
unsigned channel = cmd - PWM_SERVO_SET(0);
@@ -1287,6 +1292,27 @@ px4io_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "debug")) {
if (argc <= 2) {
printf("usage: px4io debug LEVEL\n");
exit(1);
}
if (g_dev == nullptr) {
printf("px4io is not started\n");
exit(1);
}
uint8_t level = atoi(argv[2]);
// we can cheat and call the driver directly, as it
// doesn't reference filp in ioctl()
int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_DEBUG, level);
if (ret != 0) {
printf("SET_DEBUG failed - %d\n", ret);
exit(1);
}
printf("SET_DEBUG %u OK\n", (unsigned)level);
exit(0);
}
/* note, stop not currently implemented */
if (!strcmp(argv[1], "update")) {
@@ -1353,5 +1379,5 @@ px4io_main(int argc, char *argv[])
monitor();
out:
errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor' or 'update'");
errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug' or 'update'");
}