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pwm systemcmd can now set the failsafe values, fmu uses failsafe values as well now, fix to only send the appropriate number of pwm values to IO at once

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This commit is contained in:
Julian Oes
2013-10-19 10:43:41 +02:00
parent 5d36971689
commit 1d3f25ee6c
5 changed files with 233 additions and 174 deletions
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src/systemcmds/pwm/pwm.c
+41 -5
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@@ -72,20 +72,21 @@ usage(const char *reason)
warnx("%s", reason);
errx(1,
"usage:\n"
"pwm arm|disarm|rate|min|max|disarmed|test|info ...\n"
"pwm arm|disarm|rate|failsafe|disarmed|min|max|test|info ...\n"
"\n"
" arm Arm output\n"
" disarm Disarm output\n"
"\n"
" rate Configure PWM rates\n"
" rate ... Configure PWM rates\n"
" [-g <channel group>] Channel group that should update at the alternate rate\n"
" [-m <chanmask> ] Directly supply channel mask\n"
" [-a] Configure all outputs\n"
" -r <alt_rate> PWM rate (50 to 400 Hz)\n"
"\n"
" failsafe ... Configure failsafe PWM values\n"
" disarmed ... Configure disarmed PWM values\n"
" min ... Configure minimum PWM values\n"
" max ... Configure maximum PWM values\n"
" disarmed ... Configure disarmed PWM values\n"
" [-c <channels>] Supply channels (e.g. 1234)\n"
" [-m <chanmask> ] Directly supply channel mask (e.g. 0xF)\n"
" [-a] Configure all outputs\n"
@@ -357,6 +358,35 @@ pwm_main(int argc, char *argv[])
}
exit(0);
} else if (!strcmp(argv[1], "failsafe")) {
if (set_mask == 0) {
usage("no channels set");
}
if (pwm_value == 0)
usage("no PWM value provided");
struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0};
for (unsigned i = 0; i < servo_count; i++) {
if (set_mask & 1<<i) {
pwm_values.values[i] = pwm_value;
if (print_verbose)
warnx("Channel %d: failsafe PWM: %d", i+1, pwm_value);
}
pwm_values.channel_count++;
}
if (pwm_values.channel_count == 0) {
usage("no PWM values added");
} else {
ret = ioctl(fd, PWM_SERVO_SET_FAILSAFE_PWM, (long unsigned int)&pwm_values);
if (ret != OK)
errx(ret, "failed setting failsafe values");
}
exit(0);
} else if (!strcmp(argv[1], "test")) {
if (set_mask == 0) {
@@ -421,10 +451,15 @@ pwm_main(int argc, char *argv[])
err(1, "PWM_SERVO_GET_SELECT_UPDATE_RATE");
}
struct pwm_output_values failsafe_pwm;
struct pwm_output_values disarmed_pwm;
struct pwm_output_values min_pwm;
struct pwm_output_values max_pwm;
ret = ioctl(fd, PWM_SERVO_GET_FAILSAFE_PWM, (unsigned long)&failsafe_pwm);
if (ret != OK) {
err(1, "PWM_SERVO_GET_FAILSAFE_PWM");
}
ret = ioctl(fd, PWM_SERVO_GET_DISARMED_PWM, (unsigned long)&disarmed_pwm);
if (ret != OK) {
err(1, "PWM_SERVO_GET_DISARMED_PWM");
@@ -452,7 +487,8 @@ pwm_main(int argc, char *argv[])
printf(" (default rate: %d Hz", info_default_rate);
printf(" disarmed; %d us, min: %d us, max: %d us)", disarmed_pwm.values[i], min_pwm.values[i], max_pwm.values[i]);
printf(" failsafe: %d, disarmed: %d us, min: %d us, max: %d us)",
failsafe_pwm.values[i], disarmed_pwm.values[i], min_pwm.values[i], max_pwm.values[i]);
printf("\n");
} else {
printf("%u: ERROR\n", i);
@@ -476,7 +512,7 @@ pwm_main(int argc, char *argv[])
exit(0);
}
usage("specify arm|disarm|rate|min|max|disarmed|test|info");
usage("specify arm|disarm|rate|failsafe|disarmed|min|max|test|info");
return 0;
}