fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 07:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fix PWM command

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/systemcmds/pwm/pwm.c
+34 -34
View File
@@ -74,34 +74,34 @@ usage(const char *reason)
"usage:\n" "usage:\n"
"pwm arm|disarm|rate|failsafe|disarmed|min|max|test|info ...\n" "pwm arm|disarm|rate|failsafe|disarmed|min|max|test|info ...\n"
"\n" "\n"
" arm Arm output\n" "arm\t\t\t\tArm output\n"
" disarm Disarm output\n" "disarm\t\t\t\tDisarm output\n"
"\n" "\n"
" rate ... Configure PWM rates\n" "rate ...\t\t\tConfigure PWM rates\n"
" [-g <channel group>] Channel group that should update at the alternate rate\n" "\t[-g <channel group>]\t(e.g. 0,1,2)\n"
" [-m <chanmask> ] Directly supply channel mask\n" "\t[-m <channel mask> ]\t(e.g. 0xF)\n"
" [-a] Configure all outputs\n" "\t[-a]\t\t\tConfigure all outputs\n"
" -r <alt_rate> PWM rate (50 to 400 Hz)\n" "\t-r <alt_rate>\t\tPWM rate (50 to 400 Hz)\n"
"\n" "\n"
" failsafe ... Configure failsafe PWM values\n" "failsafe ...\t\t\tFailsafe PWM\n"
" disarmed ... Configure disarmed PWM values\n" "disarmed ...\t\t\tDisarmed PWM\n"
" min ... Configure minimum PWM values\n" "min ...\t\t\t\tMinimum PWM\n"
" max ... Configure maximum PWM values\n" "max ...\t\t\t\tMaximum PWM\n"
" [-c <channels>] Supply channels (e.g. 1234)\n" "\t[-c <channels>]\t\t(e.g. 1234)\n"
" [-m <chanmask> ] Directly supply channel mask (e.g. 0xF)\n" "\t[-m <channel mask> ]\t(e.g. 0xF)\n"
" [-a] Configure all outputs\n" "\t[-a]\t\t\tConfigure all outputs\n"
" -p <pwm value> PWM value\n" "\t-p <pwm value>\t\tPWM value\n"
"\n" "\n"
" test ... Directly set PWM values\n" "test ...\t\t\tDirectly set PWM\n"
" [-c <channels>] Supply channels (e.g. 1234)\n" "\t[-c <channels>]\t\t(e.g. 1234)\n"
" [-m <chanmask> ] Directly supply channel mask (e.g. 0xF)\n" "\t[-m <channel mask> ]\t(e.g. 0xF)\n"
" [-a] Configure all outputs\n" "\t[-a]\t\t\tConfigure all outputs\n"
" -p <pwm value> PWM value\n" "\t-p <pwm value>\t\tPWM value\n"
"\n" "\n"
" info Print information about the PWM device\n" "info\t\t\t\tPrint information\n"
"\n" "\n"
" -v Print verbose information\n" "\t-v\t\t\tVerbose\n"
" -d <device> PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\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 single_ch = 0;
unsigned pwm_value = 0; unsigned pwm_value = 0;
if (argc < 1) if (argc < 2)
usage(NULL); usage(NULL);
while ((ch = getopt(argc-1, &argv[1], "d:vc:g:m:ap:r:")) != EOF) { 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 */ /* Read in mask directly */
set_mask = strtoul(optarg, &ep, 0); set_mask = strtoul(optarg, &ep, 0);
if (*ep != '\0') if (*ep != '\0')
usage("bad set_mask value"); usage("BAD set_mask VAL");
break; break;
case 'a': case 'a':
@@ -176,12 +176,12 @@ pwm_main(int argc, char *argv[])
case 'p': case 'p':
pwm_value = strtoul(optarg, &ep, 0); pwm_value = strtoul(optarg, &ep, 0);
if (*ep != '\0') if (*ep != '\0')
usage("bad PWM value provided"); usage("BAD PWM VAL");
break; break;
case 'r': case 'r':
alt_rate = strtoul(optarg, &ep, 0); alt_rate = strtoul(optarg, &ep, 0);
if (*ep != '\0') if (*ep != '\0')
usage("bad alternative rate provided"); usage("BAD rate VAL");
break; break;
default: default:
break; break;
@@ -189,7 +189,7 @@ pwm_main(int argc, char *argv[])
} }
if (print_verbose && set_mask > 0) { if (print_verbose && set_mask > 0) {
warnx("Chose channels: "); warnx("Channels: ");
printf(" "); printf(" ");
for (unsigned i = 0; i<PWM_OUTPUT_MAX_CHANNELS; i++) { for (unsigned i = 0; i<PWM_OUTPUT_MAX_CHANNELS; i++) {
if (set_mask & 1<<i) if (set_mask & 1<<i)
@@ -364,7 +364,7 @@ pwm_main(int argc, char *argv[])
usage("no channels set"); usage("no channels set");
} }
if (pwm_value == 0) if (pwm_value == 0)
usage("no PWM value provided"); usage("no PWM provided");
struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0}; 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); ret = ioctl(fd, PWM_SERVO_SET_FAILSAFE_PWM, (long unsigned int)&pwm_values);
if (ret != OK) if (ret != OK)
errx(ret, "failed setting failsafe values"); errx(ret, "BAD input VAL");
} }
exit(0); exit(0);
@@ -393,7 +393,7 @@ pwm_main(int argc, char *argv[])
usage("no channels set"); usage("no channels set");
} }
if (pwm_value == 0) if (pwm_value == 0)
usage("no PWM value provided"); usage("no PWM provided");
/* get current servo values */ /* get current servo values */
struct pwm_output_values last_spos; 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 < sizeof(steps_timings_us) / sizeof(steps_timings_us[0]);
steps_timing_index++ ) { 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) { while (1) {
for (unsigned i = 0; i < servo_count; i++) { 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); err(1, "PWM_SERVO_SET(%d)", i);
} }
} }
warnx("Key pressed, user abort\n"); warnx("User abort\n");
exit(0); exit(0);
} }
} }
@@ -675,7 +675,7 @@ pwm_main(int argc, char *argv[])
exit(0); exit(0);
} }
usage("specify arm|disarm|rate|failsafe\n\t\tdisarmed|min|max|test|info|forcefail|terminatefail"); usage(NULL);
return 0; return 0;
} }