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Fix PWM command

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This commit is contained in:
Lorenz Meier 2014-11-16 23:24:52 +01:00
parent f533c36251
commit 52d5a7c00a
1 changed files with 34 additions and 34 deletions
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68
src/systemcmds/pwm/pwm.c
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@ -74,34 +74,34 @@ usage(const char *reason)
"usage:\n"
"pwm arm|disarm|rate|failsafe|disarmed|min|max|test|info ...\n"
"\n"
" arm Arm output\n"
" disarm Disarm output\n"
"arm\t\t\t\tArm output\n"
"disarm\t\t\t\tDisarm output\n"
"\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"
"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"
"\t[-a]\t\t\tConfigure all outputs\n"
"\t-r <alt_rate>\t\tPWM 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"
" [-c <channels>] Supply channels (e.g. 1234)\n"
" [-m <chanmask> ] Directly supply channel mask (e.g. 0xF)\n"
" [-a] Configure all outputs\n"
" -p <pwm value> PWM value\n"
"failsafe ...\t\t\tFailsafe PWM\n"
"disarmed ...\t\t\tDisarmed PWM\n"
"min ...\t\t\t\tMinimum PWM\n"
"max ...\t\t\t\tMaximum PWM\n"
"\t[-c <channels>]\t\t(e.g. 1234)\n"
"\t[-m <channel mask> ]\t(e.g. 0xF)\n"
"\t[-a]\t\t\tConfigure all outputs\n"
"\t-p <pwm value>\t\tPWM value\n"
"\n"
" test ... Directly set 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"
" -p <pwm value> PWM value\n"
"test ...\t\t\tDirectly set PWM\n"
"\t[-c <channels>]\t\t(e.g. 1234)\n"
"\t[-m <channel mask> ]\t(e.g. 0xF)\n"
"\t[-a]\t\t\tConfigure all outputs\n"
"\t-p <pwm value>\t\tPWM value\n"
"\n"
" info Print information about the PWM device\n"
"info\t\t\t\tPrint information\n"
"\n"
" -v Print verbose information\n"
" -d <device> PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n"
"\t-v\t\t\tVerbose\n"
"\t-d <dev>\t\t(default " PWM_OUTPUT_DEVICE_PATH ")\n"
);
}
@ -123,7 +123,7 @@ pwm_main(int argc, char *argv[])
unsigned single_ch = 0;
unsigned pwm_value = 0;
if (argc < 1)
if (argc < 2)
usage(NULL);
while ((ch = getopt(argc-1, &argv[1], "d:vc:g:m:ap:r:")) != EOF) {
@ -165,7 +165,7 @@ pwm_main(int argc, char *argv[])
/* Read in mask directly */
set_mask = strtoul(optarg, &ep, 0);
if (*ep != '\0')
usage("bad set_mask value");
usage("BAD set_mask VAL");
break;
case 'a':
@ -176,12 +176,12 @@ pwm_main(int argc, char *argv[])
case 'p':
pwm_value = strtoul(optarg, &ep, 0);
if (*ep != '\0')
usage("bad PWM value provided");
usage("BAD PWM VAL");
break;
case 'r':
alt_rate = strtoul(optarg, &ep, 0);
if (*ep != '\0')
usage("bad alternative rate provided");
usage("BAD rate VAL");
break;
default:
break;
@ -189,7 +189,7 @@ pwm_main(int argc, char *argv[])
}
if (print_verbose && set_mask > 0) {
warnx("Chose channels: ");
warnx("Channels: ");
printf(" ");
for (unsigned i = 0; i<PWM_OUTPUT_MAX_CHANNELS; i++) {
if (set_mask & 1<<i)
@ -364,7 +364,7 @@ pwm_main(int argc, char *argv[])
usage("no channels set");
}
if (pwm_value == 0)
usage("no PWM value provided");
usage("no PWM provided");
struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0};
@ -383,7 +383,7 @@ pwm_main(int argc, char *argv[])
ret = ioctl(fd, PWM_SERVO_SET_FAILSAFE_PWM, (long unsigned int)&pwm_values);
if (ret != OK)
errx(ret, "failed setting failsafe values");
errx(ret, "BAD input VAL");
}
exit(0);
@ -393,7 +393,7 @@ pwm_main(int argc, char *argv[])
usage("no channels set");
}
if (pwm_value == 0)
usage("no PWM value provided");
usage("no PWM provided");
/* get current servo values */
struct pwm_output_values last_spos;
@ -487,7 +487,7 @@ pwm_main(int argc, char *argv[])
steps_timing_index < sizeof(steps_timings_us) / sizeof(steps_timings_us[0]);
steps_timing_index++ ) {
warnx("Sending step input with 0 to 100%% over a %u microseconds ramp", steps_timings_us[steps_timing_index]);
warnx("Step input (0 to 100%%) over %u us ramp", steps_timings_us[steps_timing_index]);
while (1) {
for (unsigned i = 0; i < servo_count; i++) {
@ -526,7 +526,7 @@ pwm_main(int argc, char *argv[])
err(1, "PWM_SERVO_SET(%d)", i);
}
}
warnx("Key pressed, user abort\n");
warnx("User abort\n");
exit(0);
}
}
@ -675,7 +675,7 @@ pwm_main(int argc, char *argv[])
exit(0);
}
usage("specify arm|disarm|rate|failsafe\n\t\tdisarmed|min|max|test|info|forcefail|terminatefail");
usage(NULL);
return 0;
}