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Port PWM command to POSIX

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This commit is contained in:
Lorenz Meier
2017-02-25 11:07:25 +01:00
parent 8fd27fddcd
commit e18fe0a8a8
1 changed files with 160 additions and 113 deletions
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src/systemcmds/pwm/pwm.c
+160 -113
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@@ -38,6 +38,8 @@
*/
#include <px4_config.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <stdio.h>
#include <stdlib.h>
@@ -49,7 +51,9 @@
#include <sys/ioctl.h>
#include <sys/stat.h>
#ifdef __PX4_NUTTX
#include <nuttx/fs/ioctl.h>
#endif
#include <arch/board/board.h>
@@ -69,44 +73,44 @@ usage(const char *reason)
warnx("%s", reason);
}
errx(1,
"usage:\n"
"pwm arm|disarm|rate|failsafe|disarmed|min|max|test|steps|info ...\n"
"\n"
"arm\t\t\t\tArm output\n"
"disarm\t\t\t\tDisarm output\n"
"\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 ...\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"
PX4_INFO(
"usage:\n"
"pwm arm|disarm|rate|failsafe|disarmed|min|max|test|steps|info ...\n"
"\n"
"arm\t\t\t\tArm output\n"
"disarm\t\t\t\tDisarm output\n"
"\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 ...\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"
// "trim ...\t\t\tTrim PWM\n"
"\t[-e]\t\t\trobust error handling\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 ...\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"
"steps ...\t\t\tRun 5 steps\n"
"\t[-c <channels>]\t\t(e.g. 1234)\n"
"\n"
"info\t\t\t\tPrint information\n"
"\n"
"\t-v\t\t\tVerbose\n"
"\t-d <dev>\t\t(default " PWM_OUTPUT0_DEVICE_PATH ")\n"
);
"\t[-e]\t\t\trobust error handling\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 ...\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"
"steps ...\t\t\tRun 5 steps\n"
"\t[-c <channels>]\t\t(e.g. 1234)\n"
"\n"
"info\t\t\t\tPrint information\n"
"\n"
"\t-v\t\t\tVerbose\n"
"\t-d <dev>\t\t(default " PWM_OUTPUT0_DEVICE_PATH ")\n"
);
}
@@ -131,11 +135,13 @@ get_parameter_value(const char *option, const char *paramDescription)
result_value = pwm_parm;
} else {
errx(gret, "PARAM '%s' LOAD FAIL", paramDescription);
PX4_ERR("PARAM '%s' LOAD FAIL", paramDescription);
return gret;
}
} else {
errx(1, "PARAM '%s' NAME NOT FOUND", paramName);
PX4_ERR("PARAM '%s' NAME NOT FOUND", paramName);
return 1;
}
} else {
@@ -143,7 +149,8 @@ get_parameter_value(const char *option, const char *paramDescription)
result_value = strtoul(option, &ep, 0);
if (*ep != '\0') {
errx(1, "BAD '%s'", paramDescription);
PX4_ERR("BAD '%s'", paramDescription);
return 1;
}
}
@@ -170,6 +177,7 @@ pwm_main(int argc, char *argv[])
if (argc < 2) {
usage(NULL);
return 1;
}
while ((ch = getopt(argc - 1, &argv[1], "d:vec:g:m:ap:r:")) != EOF) {
@@ -179,6 +187,7 @@ pwm_main(int argc, char *argv[])
if (NULL == strstr(optarg, "/dev/")) {
warnx("device %s not valid", optarg);
usage(NULL);
return 1;
}
dev = optarg;
@@ -209,6 +218,7 @@ pwm_main(int argc, char *argv[])
if ((*ep != '\0') || (group >= 32)) {
usage("bad channel_group value");
return 1;
}
alt_channel_groups |= (1 << group);
@@ -222,6 +232,7 @@ pwm_main(int argc, char *argv[])
if (*ep != '\0') {
usage("BAD set_mask VAL");
return 1;
}
break;
@@ -261,15 +272,16 @@ pwm_main(int argc, char *argv[])
}
/* open for ioctl only */
int fd = open(dev, 0);
int fd = px4_open(dev, 0);
if (fd < 0) {
err(1, "can't open %s", dev);
PX4_ERR("can't open %s", dev);
return 1;
}
/* get the number of servo channels */
unsigned servo_count;
ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
ret = px4_ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
if (ret != OK) {
PX4_ERR("PWM_SERVO_GET_COUNT");
@@ -278,14 +290,14 @@ pwm_main(int argc, char *argv[])
if (!strcmp(argv[1], "arm")) {
/* tell safety that its ok to disable it with the switch */
ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
ret = px4_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);
ret = px4_ioctl(fd, PWM_SERVO_ARM, 0);
if (ret != OK) {
err(1, "PWM_SERVO_ARM");
@@ -295,11 +307,11 @@ pwm_main(int argc, char *argv[])
warnx("Outputs armed");
}
exit(0);
return 0;
} else if (!strcmp(argv[1], "disarm")) {
/* disarm, but do not revoke the SET_ARM_OK flag */
ret = ioctl(fd, PWM_SERVO_DISARM, 0);
ret = px4_ioctl(fd, PWM_SERVO_DISARM, 0);
if (ret != OK) {
err(1, "PWM_SERVO_DISARM");
@@ -309,13 +321,13 @@ pwm_main(int argc, char *argv[])
warnx("Outputs disarmed");
}
exit(0);
return 0;
} else if (!strcmp(argv[1], "rate")) {
/* change alternate PWM rate */
if (alt_rate > 0) {
ret = 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)");
@@ -325,7 +337,7 @@ pwm_main(int argc, char *argv[])
/* directly supplied channel mask */
if (set_mask > 0) {
ret = ioctl(fd, PWM_SERVO_SET_SELECT_UPDATE_RATE, set_mask);
ret = px4_ioctl(fd, PWM_SERVO_SET_SELECT_UPDATE_RATE, set_mask);
if (ret != OK) {
PX4_ERR("PWM_SERVO_SET_SELECT_UPDATE_RATE");
@@ -341,7 +353,7 @@ pwm_main(int argc, char *argv[])
if ((1 << group) & alt_channel_groups) {
uint32_t group_mask;
ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(group), (unsigned long)&group_mask);
ret = px4_ioctl(fd, PWM_SERVO_GET_RATEGROUP(group), (unsigned long)&group_mask);
if (ret != OK) {
PX4_ERR("PWM_SERVO_GET_RATEGROUP(%u)", group);
@@ -352,7 +364,7 @@ pwm_main(int argc, char *argv[])
}
}
ret = ioctl(fd, PWM_SERVO_SET_SELECT_UPDATE_RATE, mask);
ret = px4_ioctl(fd, PWM_SERVO_SET_SELECT_UPDATE_RATE, mask);
if (ret != OK) {
PX4_ERR("PWM_SERVO_SET_SELECT_UPDATE_RATE");
@@ -360,16 +372,18 @@ pwm_main(int argc, char *argv[])
}
}
exit(0);
return 0;
} else if (!strcmp(argv[1], "min")) {
if (set_mask == 0) {
usage("min: no channels set");
return 1;
}
if (pwm_value == 0) {
usage("min: no PWM value provided");
return 1;
}
struct pwm_output_values pwm_values;
@@ -379,10 +393,11 @@ pwm_main(int argc, char *argv[])
pwm_values.channel_count = servo_count;
/* first get current state before modifying it */
ret = ioctl(fd, PWM_SERVO_GET_MIN_PWM, (long unsigned int)&pwm_values);
ret = px4_ioctl(fd, PWM_SERVO_GET_MIN_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
errx(ret, "failed get min values");
PX4_ERR("failed get min values");
return 1;
}
for (unsigned i = 0; i < servo_count; i++) {
@@ -397,10 +412,11 @@ pwm_main(int argc, char *argv[])
if (pwm_values.channel_count == 0) {
usage("min: no channels provided");
return 1;
} else {
ret = ioctl(fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
ret = px4_ioctl(fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
PX4_ERR("failed setting min values (%d)", ret);
@@ -408,16 +424,18 @@ pwm_main(int argc, char *argv[])
}
}
exit(0);
return 0;
} else if (!strcmp(argv[1], "max")) {
if (set_mask == 0) {
usage("no channels set");
return 1;
}
if (pwm_value == 0) {
usage("no PWM value provided");
return 1;
}
struct pwm_output_values pwm_values;
@@ -427,10 +445,11 @@ pwm_main(int argc, char *argv[])
pwm_values.channel_count = servo_count;
/* first get current state before modifying it */
ret = ioctl(fd, PWM_SERVO_GET_MAX_PWM, (long unsigned int)&pwm_values);
ret = px4_ioctl(fd, PWM_SERVO_GET_MAX_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
errx(ret, "failed get max values");
PX4_ERR("failed get max values");
return 1;
}
for (unsigned i = 0; i < servo_count; i++) {
@@ -445,10 +464,11 @@ pwm_main(int argc, char *argv[])
if (pwm_values.channel_count == 0) {
usage("max: no PWM channels");
return 1;
} else {
ret = ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
ret = px4_ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
PX4_ERR("failed setting max values (%d)", ret);
@@ -456,12 +476,13 @@ pwm_main(int argc, char *argv[])
}
}
exit(0);
return 0;
} else if (!strcmp(argv[1], "disarmed")) {
if (set_mask == 0) {
usage("no channels set");
return 1;
}
if (pwm_value == 0) {
@@ -475,10 +496,11 @@ pwm_main(int argc, char *argv[])
pwm_values.channel_count = servo_count;
/* first get current state before modifying it */
ret = ioctl(fd, PWM_SERVO_GET_DISARMED_PWM, (long unsigned int)&pwm_values);
ret = px4_ioctl(fd, PWM_SERVO_GET_DISARMED_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
errx(ret, "failed get disarmed values");
PX4_ERR("failed get disarmed values");
return ret;
}
for (unsigned i = 0; i < servo_count; i++) {
@@ -493,10 +515,11 @@ pwm_main(int argc, char *argv[])
if (pwm_values.channel_count == 0) {
usage("disarmed: no PWM channels");
return 1;
} else {
ret = ioctl(fd, PWM_SERVO_SET_DISARMED_PWM, (long unsigned int)&pwm_values);
ret = px4_ioctl(fd, PWM_SERVO_SET_DISARMED_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
PX4_ERR("failed setting disarmed values (%d)", ret);
@@ -504,16 +527,18 @@ pwm_main(int argc, char *argv[])
}
}
exit(0);
return 0;
} else if (!strcmp(argv[1], "failsafe")) {
if (set_mask == 0) {
usage("no channels set");
return 1;
}
if (pwm_value == 0) {
usage("failsafe: no PWM provided");
return 1;
}
struct pwm_output_values pwm_values;
@@ -523,10 +548,11 @@ pwm_main(int argc, char *argv[])
pwm_values.channel_count = servo_count;
/* first get current state before modifying it */
ret = ioctl(fd, PWM_SERVO_GET_FAILSAFE_PWM, (long unsigned int)&pwm_values);
ret = px4_ioctl(fd, PWM_SERVO_GET_FAILSAFE_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
errx(ret, "failed get failsafe values");
PX4_ERR("failed get failsafe values");
return 1;
}
for (unsigned i = 0; i < servo_count; i++) {
@@ -541,26 +567,30 @@ pwm_main(int argc, char *argv[])
if (pwm_values.channel_count == 0) {
usage("failsafe: no PWM channels");
return 1;
} else {
ret = ioctl(fd, PWM_SERVO_SET_FAILSAFE_PWM, (long unsigned int)&pwm_values);
ret = px4_ioctl(fd, PWM_SERVO_SET_FAILSAFE_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
errx(ret, "BAD input VAL");
PX4_ERR("BAD input VAL");
return 1;
}
}
exit(0);
return 0;
} else if (!strcmp(argv[1], "test")) {
if (set_mask == 0) {
usage("no channels set");
return 1;
}
if (pwm_value == 0) {
usage("no PWM provided");
return 1;
}
/* get current servo values */
@@ -569,10 +599,11 @@ pwm_main(int argc, char *argv[])
for (unsigned i = 0; i < servo_count; i++) {
ret = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&last_spos.values[i]);
ret = px4_ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&last_spos.values[i]);
if (ret != OK) {
err(1, "PWM_SERVO_GET(%d)", i);
PX4_ERR("PWM_SERVO_GET(%d)", i);
return 1;
}
}
@@ -588,10 +619,11 @@ pwm_main(int argc, char *argv[])
while (1) {
for (unsigned i = 0; i < servo_count; i++) {
if (set_mask & 1 << i) {
ret = ioctl(fd, PWM_SERVO_SET(i), pwm_value);
ret = px4_ioctl(fd, PWM_SERVO_SET(i), pwm_value);
if (ret != OK) {
err(1, "PWM_SERVO_SET(%d)", i);
PX4_ERR("PWM_SERVO_SET(%d)", i);
return 1;
}
}
}
@@ -608,29 +640,31 @@ pwm_main(int argc, char *argv[])
/* reset output to the last value */
for (unsigned i = 0; i < servo_count; i++) {
if (set_mask & 1 << i) {
ret = ioctl(fd, PWM_SERVO_SET(i), last_spos.values[i]);
ret = px4_ioctl(fd, PWM_SERVO_SET(i), last_spos.values[i]);
if (ret != OK) {
err(1, "PWM_SERVO_SET(%d)", i);
PX4_ERR("PWM_SERVO_SET(%d)", i);
return 1;
}
}
}
warnx("User abort\n");
exit(0);
return 0;
}
}
usleep(2000);
}
exit(0);
return 0;
} else if (!strcmp(argv[1], "steps")) {
if (set_mask == 0) {
usage("no channels set");
return 1;
}
/* get current servo values */
@@ -638,10 +672,11 @@ pwm_main(int argc, char *argv[])
for (unsigned i = 0; i < servo_count; i++) {
ret = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&last_spos.values[i]);
ret = px4_ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&last_spos.values[i]);
if (ret != OK) {
err(1, "PWM_SERVO_GET(%d)", i);
PX4_ERR("PWM_SERVO_GET(%d)", i);
return 1;
}
}
@@ -687,10 +722,11 @@ pwm_main(int argc, char *argv[])
val = off;
}
ret = ioctl(fd, PWM_SERVO_SET(i), val);
ret = px4_ioctl(fd, PWM_SERVO_SET(i), val);
if (ret != OK) {
err(1, "PWM_SERVO_SET(%d)", i);
PX4_ERR("PWM_SERVO_SET(%d)", i);
return 1;
}
}
}
@@ -707,16 +743,17 @@ pwm_main(int argc, char *argv[])
/* reset output to the last value */
for (unsigned i = 0; i < servo_count; i++) {
if (set_mask & 1 << i) {
ret = ioctl(fd, PWM_SERVO_SET(i), last_spos.values[i]);
ret = px4_ioctl(fd, PWM_SERVO_SET(i), last_spos.values[i]);
if (ret != OK) {
err(1, "PWM_SERVO_SET(%d)", i);
PX4_ERR("PWM_SERVO_SET(%d)", i);
return 1;
}
}
}
warnx("User abort\n");
exit(0);
return 0;
}
}
@@ -742,7 +779,7 @@ pwm_main(int argc, char *argv[])
}
}
exit(0);
return 0;
} else if (!strcmp(argv[1], "info")) {
@@ -753,22 +790,25 @@ pwm_main(int argc, char *argv[])
uint32_t info_alt_rate;
uint32_t info_alt_rate_mask;
ret = ioctl(fd, PWM_SERVO_GET_DEFAULT_UPDATE_RATE, (unsigned long)&info_default_rate);
ret = px4_ioctl(fd, PWM_SERVO_GET_DEFAULT_UPDATE_RATE, (unsigned long)&info_default_rate);
if (ret != OK) {
err(1, "PWM_SERVO_GET_DEFAULT_UPDATE_RATE");
PX4_ERR("PWM_SERVO_GET_DEFAULT_UPDATE_RATE");
return 1;
}
ret = ioctl(fd, PWM_SERVO_GET_UPDATE_RATE, (unsigned long)&info_alt_rate);
ret = px4_ioctl(fd, PWM_SERVO_GET_UPDATE_RATE, (unsigned long)&info_alt_rate);
if (ret != OK) {
err(1, "PWM_SERVO_GET_UPDATE_RATE");
PX4_ERR("PWM_SERVO_GET_UPDATE_RATE");
return 1;
}
ret = ioctl(fd, PWM_SERVO_GET_SELECT_UPDATE_RATE, (unsigned long)&info_alt_rate_mask);
ret = px4_ioctl(fd, PWM_SERVO_GET_SELECT_UPDATE_RATE, (unsigned long)&info_alt_rate_mask);
if (ret != OK) {
err(1, "PWM_SERVO_GET_SELECT_UPDATE_RATE");
PX4_ERR("PWM_SERVO_GET_SELECT_UPDATE_RATE");
return 1;
}
struct pwm_output_values failsafe_pwm;
@@ -781,41 +821,46 @@ pwm_main(int argc, char *argv[])
struct pwm_output_values trim_pwm;
ret = ioctl(fd, PWM_SERVO_GET_FAILSAFE_PWM, (unsigned long)&failsafe_pwm);
ret = px4_ioctl(fd, PWM_SERVO_GET_FAILSAFE_PWM, (unsigned long)&failsafe_pwm);
if (ret != OK) {
err(1, "PWM_SERVO_GET_FAILSAFE_PWM");
PX4_ERR("PWM_SERVO_GET_FAILSAFE_PWM");
return 1;
}
ret = ioctl(fd, PWM_SERVO_GET_DISARMED_PWM, (unsigned long)&disarmed_pwm);
ret = px4_ioctl(fd, PWM_SERVO_GET_DISARMED_PWM, (unsigned long)&disarmed_pwm);
if (ret != OK) {
err(1, "PWM_SERVO_GET_DISARMED_PWM");
PX4_ERR("PWM_SERVO_GET_DISARMED_PWM");
return 1;
}
ret = ioctl(fd, PWM_SERVO_GET_MIN_PWM, (unsigned long)&min_pwm);
ret = px4_ioctl(fd, PWM_SERVO_GET_MIN_PWM, (unsigned long)&min_pwm);
if (ret != OK) {
err(1, "PWM_SERVO_GET_MIN_PWM");
PX4_ERR("PWM_SERVO_GET_MIN_PWM");
return 1;
}
ret = ioctl(fd, PWM_SERVO_GET_MAX_PWM, (unsigned long)&max_pwm);
ret = px4_ioctl(fd, PWM_SERVO_GET_MAX_PWM, (unsigned long)&max_pwm);
if (ret != OK) {
err(1, "PWM_SERVO_GET_MAX_PWM");
PX4_ERR("PWM_SERVO_GET_MAX_PWM");
return 1;
}
ret = ioctl(fd, PWM_SERVO_GET_TRIM_PWM, (unsigned long)&trim_pwm);
ret = px4_ioctl(fd, PWM_SERVO_GET_TRIM_PWM, (unsigned long)&trim_pwm);
if (ret != OK) {
err(1, "PWM_SERVO_GET_TRIM_PWM");
PX4_ERR("PWM_SERVO_GET_TRIM_PWM");
return 1;
}
/* print current servo values */
for (unsigned i = 0; i < servo_count; i++) {
servo_position_t spos;
ret = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&spos);
ret = px4_ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&spos);
if (ret == OK) {
printf("channel %u: %u us", i + 1, spos);
@@ -842,7 +887,7 @@ pwm_main(int argc, char *argv[])
for (unsigned i = 0; i < servo_count; i++) {
uint32_t group_mask;
ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(i), (unsigned long)&group_mask);
ret = px4_ioctl(fd, PWM_SERVO_GET_RATEGROUP(i), (unsigned long)&group_mask);
if (ret != OK) {
break;
@@ -860,22 +905,23 @@ pwm_main(int argc, char *argv[])
}
}
exit(0);
return 0;
} else if (!strcmp(argv[1], "forcefail")) {
if (argc < 3) {
errx(1, "arg missing [on|off]");
PX4_ERR("arg missing [on|off]");
return 1;
} else {
if (!strcmp(argv[2], "on")) {
/* force failsafe */
ret = ioctl(fd, PWM_SERVO_SET_FORCE_FAILSAFE, 1);
ret = px4_ioctl(fd, PWM_SERVO_SET_FORCE_FAILSAFE, 1);
} else {
/* force failsafe */
ret = ioctl(fd, PWM_SERVO_SET_FORCE_FAILSAFE, 0);
ret = px4_ioctl(fd, PWM_SERVO_SET_FORCE_FAILSAFE, 0);
}
if (ret != OK) {
@@ -883,22 +929,23 @@ pwm_main(int argc, char *argv[])
}
}
exit(0);
return 0;
} else if (!strcmp(argv[1], "terminatefail")) {
if (argc < 3) {
errx(1, "arg missing [on|off]");
PX4_ERR("arg missing [on|off]");
return 1;
} else {
if (!strcmp(argv[2], "on")) {
/* force failsafe */
ret = ioctl(fd, PWM_SERVO_SET_TERMINATION_FAILSAFE, 1);
ret = px4_ioctl(fd, PWM_SERVO_SET_TERMINATION_FAILSAFE, 1);
} else {
/* force failsafe */
ret = ioctl(fd, PWM_SERVO_SET_TERMINATION_FAILSAFE, 0);
ret = px4_ioctl(fd, PWM_SERVO_SET_TERMINATION_FAILSAFE, 0);
}
if (ret != OK) {
@@ -906,7 +953,7 @@ pwm_main(int argc, char *argv[])
}
}
exit(0);
return 0;
}
usage(NULL);