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Changes to pwm systemcmd, basic functionality there, needs polishing

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This commit is contained in:
Julian Oes
2013-10-04 13:00:12 +02:00
parent 9493c7a45c
commit baa4908054
2 changed files with 286 additions and 247 deletions
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src/drivers/px4io/px4io.cpp
+1 -103
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@@ -1748,6 +1748,7 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
case PWM_SERVO_SET_MIN_PWM: {
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
warnx("Set min values");
set_min_values(pwm->values, pwm->channel_count);
}
break;
@@ -2381,110 +2382,7 @@ px4io_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "min")) {
if (argc < 3) {
errx(1, "min command needs at least one channel value (PWM)");
}
int iofd = open(PWM_OUTPUT_DEVICE_PATH, 0);
struct pwm_output_values pwm;
if (iofd > 0) {
pwm.channel_count = 0;
for (unsigned i = 0; i < sizeof(pwm.values) / sizeof(pwm.values[0]); i++)
{
/* set channel to commanline argument or to 900 for non-provided channels */
if (argc > i + 2) {
pwm.values[i] = atoi(argv[i+2]);
if (pwm.values[i] < 900 || pwm.values[i] > 1200) {
errx(1, "value out of range of 900 < value < 1200. Aborting.");
}
pwm.channel_count++;
}
}
int ret = ioctl(iofd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm);
if (ret != OK)
errx(ret, "failed setting min values");
} else {
errx(1, "not loaded");
}
exit(0);
}
if (!strcmp(argv[1], "max")) {
if (argc < 3) {
errx(1, "max command needs at least one channel value (PWM)");
}
int iofd = open(PWM_OUTPUT_DEVICE_PATH, 0);
struct pwm_output_values pwm;
if (iofd > 0) {
pwm.channel_count = 0;
for (int i = 0; i < sizeof(pwm.values) / sizeof(pwm.values[0]); i++)
{
/* set channel to commanline argument or to 2100 for non-provided channels */
if (argc > i + 2) {
pwm.values[i] = atoi(argv[i+2]);
if (pwm.values[i] < 1800 || pwm.values[i] > 2100) {
errx(1, "value out of range of 1800 < value < 2100. Aborting.");
}
pwm.channel_count++;
}
}
int ret = ioctl(iofd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm);
if (ret != OK)
errx(ret, "failed setting max values");
} else {
errx(1, "not loaded");
}
exit(0);
}
if (!strcmp(argv[1], "idle") || !strcmp(argv[1], "disarmed")) {
if (argc < 3) {
errx(1, "max command needs at least one channel value (PWM)");
}
int iofd = open(PWM_OUTPUT_DEVICE_PATH, 0);
struct pwm_output_values pwm;
if (iofd > 0) {
pwm.channel_count = 0;
for (unsigned i = 0; i < sizeof(pwm.values) / sizeof(pwm.values[0]); i++)
{
/* set channel to commanline argument or to 0 for non-provided channels */
if (argc > i + 2) {
pwm.values[i] = atoi(argv[i+2]);
if (pwm.values[i] < 900 || pwm.values[i] > 2100) {
errx(1, "value out of range of 900 < value < 2100. Aborting.");
}
pwm.channel_count++;
}
}
int ret = ioctl(iofd, PWM_SERVO_SET_DISARMED_PWM, (long unsigned int)&pwm);
if (ret != OK)
errx(ret, "failed setting idle values");
} else {
errx(1, "not loaded");
}
exit(0);
}
if (!strcmp(argv[1], "recovery")) {