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Support onshot command

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This commit is contained in:
David Sidrane
2017-03-23 08:28:15 +01:00
committed by Lorenz Meier
parent 6bc0420137
commit 0ce854ad55
1 changed files with 26 additions and 11 deletions
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src/systemcmds/pwm/pwm.c
+26 -11
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@@ -83,6 +83,12 @@ usage(const char *reason)
"arm\t\t\t\tArm output\n"
"disarm\t\t\t\tDisarm output\n"
"\n"
"oneshot ...\t\t\tConfigure Onshot\n"
"\t[-g <channel group>]\t(e.g. 0,1,2)\n"
"\t[-m <channel mask> ]\t(e.g. 0xF)\n"
"\t[-a]\t\t\tConfigure all outputs\n"
"\t-t <pulse>\t\tOneshot duration (1 to 65535 125nS)\n"
"\n"
"rate ...\t\t\tConfigure PWM rates\n"
"\t[-g <channel group>]\t(e.g. 0,1,2)\n"
"\t[-m <channel mask> ]\t(e.g. 0xF)\n"
@@ -169,6 +175,7 @@ pwm_main(int argc, char *argv[])
bool alt_channels_set = false;
bool print_verbose = false;
bool error_on_warn = false;
bool oneshot = false;
int ch;
int ret;
char *ep;
@@ -302,6 +309,8 @@ pwm_main(int argc, char *argv[])
return error_on_warn;
}
oneshot = !strcmp(command, "oneshot");
if (!strcmp(command, "arm")) {
/* tell safety that its ok to disable it with the switch */
ret = px4_ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
@@ -337,19 +346,18 @@ pwm_main(int argc, char *argv[])
return 0;
} else if (!strcmp(command, "rate")) {
} else if (oneshot || !strcmp(command, "rate")) {
/* change alternate PWM rate */
// if (alt_rate > 0) {
ret = px4_ioctl(fd, PWM_SERVO_SET_UPDATE_RATE, alt_rate);
/* change alternate PWM rate or set oneshot */
if (oneshot || alt_rate > 0) {
ret = px4_ioctl(fd, PWM_SERVO_SET_UPDATE_RATE, alt_rate);
if (ret != OK) {
PX4_ERR("PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)");
return error_on_warn;
if (ret != OK) {
PX4_ERR("PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)");
return error_on_warn;
}
}
// }
/* directly supplied channel mask */
if (set_mask > 0) {
ret = px4_ioctl(fd, PWM_SERVO_SET_SELECT_UPDATE_RATE, set_mask);
@@ -632,7 +640,6 @@ pwm_main(int argc, char *argv[])
PX4_INFO("Press CTRL-C or 'c' to abort.");
while (1) {
for (unsigned i = 0; i < servo_count; i++) {
if (set_mask & 1 << i) {
ret = px4_ioctl(fd, PWM_SERVO_SET(i), pwm_value);
@@ -670,7 +677,15 @@ pwm_main(int argc, char *argv[])
}
}
usleep(2500);
/* Delay longer than the max Oneshot duration */
usleep(2542);
/* Trigger all timer's channels in Oneshot mode to fire
* the oneshots with updated values.
*/
up_pwm_update();
}
return 0;