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Merge remote-tracking branch 'upstream/io_fixes' into new_state_machine

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Conflicts:
	src/drivers/px4io/px4io.cpp
	src/modules/commander/commander.c
	src/modules/commander/state_machine_helper.c
	src/modules/commander/state_machine_helper.h
	src/modules/px4iofirmware/mixer.cpp
	src/modules/uORB/topics/actuator_controls.h
	src/modules/uORB/topics/vehicle_status.h
This commit is contained in:
Julian Oes
2013-06-18 15:35:26 +02:00
parent 34c197c7cc c3a8f177b6
commit 202792294a
13 changed files with 343 additions and 87 deletions
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src/systemcmds/pwm/pwm.c
+42 -6
View File
@@ -180,7 +180,8 @@ pwm_main(int argc, char *argv[])
}
/* iterate remaining arguments */
unsigned channel = 0;
unsigned nchannels = 0;
unsigned channel[8] = {0};
while (argc--) {
const char *arg = argv[0];
argv++;
@@ -204,13 +205,15 @@ pwm_main(int argc, char *argv[])
}
unsigned pwm_value = strtol(arg, &ep, 0);
if (*ep == '\0') {
ret = ioctl(fd, PWM_SERVO_SET(channel), pwm_value);
if (ret != OK)
err(1, "PWM_SERVO_SET(%d)", channel);
channel++;
if (nchannels > sizeof(channel) / sizeof(channel[0]))
err(1, "too many pwm values (max %d)", sizeof(channel) / sizeof(channel[0]));
channel[nchannels] = pwm_value;
nchannels++;
continue;
}
usage("unrecognised option");
usage("unrecognized option");
}
/* print verbose info */
@@ -250,5 +253,38 @@ pwm_main(int argc, char *argv[])
}
fflush(stdout);
}
/* perform PWM output */
if (nchannels) {
/* Open console directly to grab CTRL-C signal */
int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
if (!console)
err(1, "failed opening console");
warnx("Press CTRL-C or 'c' to abort.");
while (1) {
for (int i = 0; i < nchannels; i++) {
ret = ioctl(fd, PWM_SERVO_SET(i), channel[i]);
if (ret != OK)
err(1, "PWM_SERVO_SET(%d)", i);
}
/* abort on user request */
char c;
if (read(console, &c, 1) == 1) {
if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("User abort\n");
close(console);
exit(0);
}
}
/* rate limit to ~ 20 Hz */
usleep(50000);
}
}
exit(0);
}