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Lorenz Meier
2013-06-06 07:57:31 +02:00
parent 971e810301 68931f38d5
commit 8ad3aa315f
13 changed files with 526 additions and 160 deletions
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src/systemcmds/pwm/pwm.c
+6
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@@ -185,12 +185,18 @@ pwm_main(int argc, char *argv[])
const char *arg = argv[0];
argv++;
if (!strcmp(arg, "arm")) {
/* tell IO that its ok to disable its safety with the switch */
ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
if (ret != OK)
err(1, "PWM_SERVO_SET_ARM_OK");
/* tell IO that the system is armed (it will output values if safety is off) */
ret = ioctl(fd, PWM_SERVO_ARM, 0);
if (ret != OK)
err(1, "PWM_SERVO_ARM");
continue;
}
if (!strcmp(arg, "disarm")) {
/* disarm, but do not revoke the SET_ARM_OK flag */
ret = ioctl(fd, PWM_SERVO_DISARM, 0);
if (ret != OK)
err(1, "PWM_SERVO_DISARM");