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mixer_module: add support for test_motor (motor_test CLI command)

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This commit is contained in:
Beat Küng
2019-10-21 09:42:08 +02:00
parent 349469cf75
commit 0871802568
9 changed files with 170 additions and 45 deletions
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src/systemcmds/motor_test/motor_test.cpp
+35 -18
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@@ -48,20 +48,27 @@
extern "C" __EXPORT int motor_test_main(int argc, char *argv[]);
static void motor_test(unsigned channel, float value);
static void motor_test(unsigned channel, float value, uint8_t driver_instance);
static void usage(const char *reason);
void motor_test(unsigned channel, float value)
void motor_test(unsigned channel, float value, uint8_t driver_instance)
{
test_motor_s test_motor{};
test_motor.timestamp = hrt_absolute_time();
test_motor.motor_number = channel;
test_motor.value = value;
test_motor.action = value >= 0.f ? test_motor_s::ACTION_RUN : test_motor_s::ACTION_STOP;
test_motor.driver_instance = driver_instance;
uORB::PublicationQueued<test_motor_s> test_motor_pub{ORB_ID(test_motor)};
test_motor_pub.publish(test_motor);
PX4_INFO("motor %d set to %.2f", channel, (double)value);
if (test_motor.action == test_motor_s::ACTION_STOP) {
PX4_INFO("motors stop command sent");
} else {
PX4_INFO("motor %d set to %.2f", channel, (double)value);
}
}
static void usage(const char *reason)
@@ -70,15 +77,20 @@ static void usage(const char *reason)
PX4_WARN("%s", reason);
}
PRINT_MODULE_DESCRIPTION("Utility to test motors.\n"
"\n"
"Note: this can only be used for drivers which support the motor_test uorb topic (currently uavcan and tap_esc)\n"
);
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
Utility to test motors.
WARNING: remove all props before using this command.
Note: this can only be used for drivers which support the motor_test uorb topic (not px4io).
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("motor_test", "command");
PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Set motor(s) to a specific output value");
PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 7, "Motor to test (0...7, all if not specified)", true);
PRINT_MODULE_USAGE_PARAM_INT('p', 0, 0, 100, "Power (0...100)", true);
PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 4, "driver instance", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop all motors");
PRINT_MODULE_USAGE_COMMAND_DESCR("iterate", "Iterate all motors starting and stopping one after the other");
@@ -89,14 +101,19 @@ int motor_test_main(int argc, char *argv[])
int channel = -1; //default to all channels
unsigned long lval;
float value = 0.0f;
uint8_t driver_instance = 0;
int ch;
int myoptind = 1;
const char *myoptarg = NULL;
while ((ch = px4_getopt(argc, argv, "m:p:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "i:m:p:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'i':
driver_instance = (uint8_t)strtol(myoptarg, NULL, 0);
break;
case 'm':
/* Read in motor number */
channel = (int)strtol(myoptarg, NULL, 0);
@@ -124,17 +141,17 @@ int motor_test_main(int argc, char *argv[])
if (myoptind >= 0 && myoptind < argc) {
if (strcmp("stop", argv[myoptind]) == 0) {
channel = -1;
value = 0.f;
channel = 0;
value = -1.f;
} else if (strcmp("iterate", argv[myoptind]) == 0) {
value = 0.3f;
value = 0.15f;
for (int i = 0; i < 8; ++i) {
motor_test(i, value);
usleep(500000);
motor_test(i, 0.f);
usleep(10000);
motor_test(i, value, driver_instance);
px4_usleep(500000);
motor_test(i, -1.f, driver_instance);
px4_usleep(10000);
}
run_test = false;
@@ -154,12 +171,12 @@ int motor_test_main(int argc, char *argv[])
if (run_test) {
if (channel < 0) {
for (int i = 0; i < 8; ++i) {
motor_test(i, value);
usleep(10000);
motor_test(i, value, driver_instance);
px4_usleep(10000);
}
} else {
motor_test(channel, value);
motor_test(channel, value, driver_instance);
}
}