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pwm use px4_getops

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This commit is contained in:
David Sidrane
2017-03-02 03:31:57 -10:00
committed by Lorenz Meier
parent 8b6b4ccee9
commit d92cb75b26
1 changed files with 38 additions and 24 deletions
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src/systemcmds/pwm/pwm.c
+38 -24
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014, 2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -40,6 +40,9 @@
#include <px4_config.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <px4_getopt.h>
#include <px4_defines.h>
#include <px4_log.h>
#include <stdio.h>
#include <stdlib.h>
@@ -181,17 +184,20 @@ pwm_main(int argc, char *argv[])
return 1;
}
while ((ch = getopt(argc - 1, &argv[1], "d:vec:g:m:ap:r:")) != EOF) {
int myoptind = 1;
const char *myoptarg = NULL;
while ((ch = px4_getopt(argc, argv, "d:vec:g:m:ap:r:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'd':
if (NULL == strstr(optarg, "/dev/")) {
warnx("device %s not valid", optarg);
if (NULL == strstr(myoptarg, "/dev/")) {
warnx("device %s not valid", myoptarg);
usage(NULL);
return 1;
}
dev = optarg;
dev = myoptarg;
break;
case 'v':
@@ -204,7 +210,7 @@ pwm_main(int argc, char *argv[])
case 'c':
/* Read in channels supplied as one int and convert to mask: 1234 -> 0xF */
channels = strtoul(optarg, &ep, 0);
channels = strtoul(myoptarg, &ep, 0);
while ((single_ch = channels % 10)) {
@@ -215,7 +221,7 @@ pwm_main(int argc, char *argv[])
break;
case 'g':
group = strtoul(optarg, &ep, 0);
group = strtoul(myoptarg, &ep, 0);
if ((*ep != '\0') || (group >= 32)) {
usage("bad channel_group value");
@@ -229,7 +235,7 @@ pwm_main(int argc, char *argv[])
case 'm':
/* Read in mask directly */
set_mask = strtoul(optarg, &ep, 0);
set_mask = strtoul(myoptarg, &ep, 0);
if (*ep != '\0') {
usage("BAD set_mask VAL");
@@ -246,19 +252,27 @@ pwm_main(int argc, char *argv[])
break;
case 'p':
pwm_value = get_parameter_value(optarg, "PWM Value");
pwm_value = get_parameter_value(myoptarg, "PWM Value");
break;
case 'r':
alt_rate = get_parameter_value(optarg, "PWM Rate");
alt_rate = get_parameter_value(myoptarg, "PWM Rate");
break;
default:
break;
usage(NULL);
return 1;
}
}
if (myoptind >= argc) {
usage(NULL);
return 1;
}
const char *command = argv[myoptind];
if (print_verbose && set_mask > 0) {
warnx("Channels: ");
printf(" ");
@@ -289,7 +303,7 @@ pwm_main(int argc, char *argv[])
return error_on_warn;
}
if (!strcmp(argv[1], "arm")) {
if (!strcmp(command, "arm")) {
/* tell safety that its ok to disable it with the switch */
ret = px4_ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
@@ -310,7 +324,7 @@ pwm_main(int argc, char *argv[])
return 0;
} else if (!strcmp(argv[1], "disarm")) {
} else if (!strcmp(command, "disarm")) {
/* disarm, but do not revoke the SET_ARM_OK flag */
ret = px4_ioctl(fd, PWM_SERVO_DISARM, 0);
@@ -324,11 +338,11 @@ pwm_main(int argc, char *argv[])
return 0;
} else if (!strcmp(argv[1], "rate")) {
} else if (!strcmp(command, "rate")) {
/* change alternate PWM rate */
// if (alt_rate > 0) {
ret = px4_ioctl(fd, PWM_SERVO_SET_UPDATE_RATE, alt_rate);
ret = px4_ioctl(fd, PWM_SERVO_SET_UPDATE_RATE, alt_rate);
if (ret != OK) {
PX4_ERR("PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)");
@@ -376,7 +390,7 @@ pwm_main(int argc, char *argv[])
return 0;
} else if (!strcmp(argv[1], "min")) {
} else if (!strcmp(command, "min")) {
if (set_mask == 0) {
usage("min: no channels set");
@@ -428,7 +442,7 @@ pwm_main(int argc, char *argv[])
return 0;
} else if (!strcmp(argv[1], "max")) {
} else if (!strcmp(command, "max")) {
if (set_mask == 0) {
usage("no channels set");
@@ -480,7 +494,7 @@ pwm_main(int argc, char *argv[])
return 0;
} else if (!strcmp(argv[1], "disarmed")) {
} else if (!strcmp(command, "disarmed")) {
if (set_mask == 0) {
usage("no channels set");
@@ -531,7 +545,7 @@ pwm_main(int argc, char *argv[])
return 0;
} else if (!strcmp(argv[1], "failsafe")) {
} else if (!strcmp(command, "failsafe")) {
if (set_mask == 0) {
usage("no channels set");
@@ -583,7 +597,7 @@ pwm_main(int argc, char *argv[])
return 0;
} else if (!strcmp(argv[1], "test")) {
} else if (!strcmp(command, "test")) {
if (set_mask == 0) {
usage("no channels set");
@@ -663,7 +677,7 @@ pwm_main(int argc, char *argv[])
return 0;
} else if (!strcmp(argv[1], "steps")) {
} else if (!strcmp(command, "steps")) {
if (set_mask == 0) {
usage("no channels set");
@@ -785,7 +799,7 @@ pwm_main(int argc, char *argv[])
return 0;
} else if (!strcmp(argv[1], "info")) {
} else if (!strcmp(command, "info")) {
printf("device: %s\n", dev);
@@ -910,7 +924,7 @@ pwm_main(int argc, char *argv[])
return 0;
} else if (!strcmp(argv[1], "forcefail")) {
} else if (!strcmp(command, "forcefail")) {
if (argc < 3) {
PX4_ERR("arg missing [on|off]");
@@ -934,7 +948,7 @@ pwm_main(int argc, char *argv[])
return 0;
} else if (!strcmp(argv[1], "terminatefail")) {
} else if (!strcmp(command, "terminatefail")) {
if (argc < 3) {
PX4_ERR("arg missing [on|off]");