mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-24 14:00:35 +08:00
pwm info provides more information, some fixes for setting rate/min/max/disarmed
This commit is contained in:
Julian Oes
+279
-242
@@ -77,21 +77,23 @@ usage(const char *reason)
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" arm Arm output\n"
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" disarm Disarm output\n"
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"\n"
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" rate Configure PWM rates\n"
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" [-c <channel group>] Channel group that should update at the alternate rate\n"
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" rate Configure PWM rates\n"
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" [-g <channel group>] Channel group that should update at the alternate rate\n"
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" [-m <chanmask> ] Directly supply channel mask\n"
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" [-a] Configure all outputs\n"
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" -r <alt_rate> PWM rate (50 to 400 Hz)\n"
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"\n"
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" min ... Configure minimum PWM values\n"
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" max ... Configure maximum PWM values\n"
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" disarmed ... Configure disarmed PWM values\n"
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" [-m <chanmask> ] Directly supply channel mask\n"
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" min ... Configure minimum PWM values\n"
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" max ... Configure maximum PWM values\n"
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" disarmed ... Configure disarmed PWM values\n"
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" [-c <channels>] Supply channels (e.g. 1234)\n"
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" [-m <chanmask> ] Directly supply channel mask (e.g. 0xF)\n"
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" [-a] Configure all outputs\n"
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" -p <pwm value> PWM value\n"
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"\n"
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" test ... Directly set PWM values\n"
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" [-m <chanmask> ] Directly supply channel mask\n"
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" [-c <channels>] Supply channels (e.g. 1234)\n"
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" [-m <chanmask> ] Directly supply channel mask (e.g. 0xF)\n"
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" [-a] Configure all outputs\n"
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" -p <pwm value> PWM value\n"
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"\n"
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@@ -123,7 +125,7 @@ pwm_main(int argc, char *argv[])
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if (argc < 1)
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usage(NULL);
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while ((ch = getopt(argc-1, &argv[1], "d:vc:m:ap:r:")) != EOF) {
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while ((ch = getopt(argc-1, &argv[1], "d:vc:g:m:ap:r:")) != EOF) {
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switch (ch) {
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case 'd':
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@@ -140,7 +142,7 @@ pwm_main(int argc, char *argv[])
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case 'c':
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/* Read in channels supplied as one int and convert to mask: 1234 -> 0xF */
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channels = strtol(optarg, &ep, 0);
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channels = strtoul(optarg, &ep, 0);
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while ((single_ch = channels % 10)) {
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@@ -155,11 +157,12 @@ pwm_main(int argc, char *argv[])
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usage("bad channel_group value");
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alt_channel_groups |= (1 << group);
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alt_channels_set = true;
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warnx("alt channels set, group: %d", group);
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break;
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case 'm':
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/* Read in mask directly */
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set_mask = strtol(optarg, &ep, 0);
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set_mask = strtoul(optarg, &ep, 0);
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if (*ep != '\0')
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usage("bad set_mask value");
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break;
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@@ -170,12 +173,12 @@ pwm_main(int argc, char *argv[])
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}
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break;
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case 'p':
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pwm_value = strtol(optarg, &ep, 0);
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pwm_value = strtoul(optarg, &ep, 0);
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if (*ep != '\0')
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usage("bad PWM value provided");
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break;
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case 'r':
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alt_rate = strtol(optarg, &ep, 0);
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alt_rate = strtoul(optarg, &ep, 0);
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if (*ep != '\0')
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usage("bad alternative rate provided");
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break;
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@@ -205,241 +208,275 @@ pwm_main(int argc, char *argv[])
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if (ret != OK)
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err(1, "PWM_SERVO_GET_COUNT");
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int argi = 1; /* leave away cmd name */
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if (!strcmp(argv[1], "arm")) {
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/* tell IO that its ok to disable its safety with the switch */
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ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
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if (ret != OK)
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err(1, "PWM_SERVO_SET_ARM_OK");
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/* tell IO that the system is armed (it will output values if safety is off) */
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ret = ioctl(fd, PWM_SERVO_ARM, 0);
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if (ret != OK)
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err(1, "PWM_SERVO_ARM");
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while(argi<argc) {
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if (print_verbose)
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warnx("Outputs armed");
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exit(0);
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if (!strcmp(argv[argi], "arm")) {
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/* tell IO that its ok to disable its safety with the switch */
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ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
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} else if (!strcmp(argv[1], "disarm")) {
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/* disarm, but do not revoke the SET_ARM_OK flag */
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ret = ioctl(fd, PWM_SERVO_DISARM, 0);
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if (ret != OK)
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err(1, "PWM_SERVO_DISARM");
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if (print_verbose)
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warnx("Outputs disarmed");
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exit(0);
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} else if (!strcmp(argv[1], "rate")) {
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/* change alternate PWM rate */
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if (alt_rate > 0) {
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ret = ioctl(fd, PWM_SERVO_SET_UPDATE_RATE, alt_rate);
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if (ret != OK)
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err(1, "PWM_SERVO_SET_ARM_OK");
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/* tell IO that the system is armed (it will output values if safety is off) */
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ret = ioctl(fd, PWM_SERVO_ARM, 0);
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if (ret != OK)
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err(1, "PWM_SERVO_ARM");
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if (print_verbose)
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warnx("Outputs armed");
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exit(0);
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} else if (!strcmp(argv[argi], "disarm")) {
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/* disarm, but do not revoke the SET_ARM_OK flag */
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ret = ioctl(fd, PWM_SERVO_DISARM, 0);
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if (ret != OK)
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err(1, "PWM_SERVO_DISARM");
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if (print_verbose)
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warnx("Outputs disarmed");
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exit(0);
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}else if (!strcmp(argv[argi], "rate")) {
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/* change alternate PWM rate */
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if (alt_rate > 0) {
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ret = ioctl(fd, PWM_SERVO_SET_UPDATE_RATE, alt_rate);
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if (ret != OK)
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err(1, "PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)");
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} else {
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usage("no alternative rate provided");
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}
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/* directly supplied channel mask */
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if (set_mask > 0) {
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ret = ioctl(fd, PWM_SERVO_SELECT_UPDATE_RATE, set_mask);
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if (ret != OK)
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err(1, "PWM_SERVO_SELECT_UPDATE_RATE");
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} else {
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usage("no channel/channel groups selected");
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}
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/* assign alternate rate to channel groups */
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if (alt_channels_set) {
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uint32_t mask = 0;
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for (group = 0; group < 32; group++) {
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if ((1 << group) & alt_channel_groups) {
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uint32_t group_mask;
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ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(group), (unsigned long)&group_mask);
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if (ret != OK)
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err(1, "PWM_SERVO_GET_RATEGROUP(%u)", group);
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mask |= group_mask;
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}
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}
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ret = ioctl(fd, PWM_SERVO_SELECT_UPDATE_RATE, mask);
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if (ret != OK)
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err(1, "PWM_SERVO_SELECT_UPDATE_RATE");
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}
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exit(0);
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} else if (!strcmp(argv[argi], "min")) {
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if (set_mask == 0) {
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usage("no channels set");
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}
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if (pwm_value == 0)
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usage("no PWM value provided");
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struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0};
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for (unsigned i = 0; i < servo_count; i++) {
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if (set_mask & 1<<i) {
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pwm_values.values[i] = pwm_value;
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if (print_verbose)
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warnx("Channel %d: min PWM: %d", i+1, pwm_value);
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pwm_values.channel_count++;
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}
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}
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if (pwm_values.channel_count == 0) {
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usage("no PWM values added");
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} else {
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ret = ioctl(fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
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if (ret != OK)
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errx(ret, "failed setting idle values");
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}
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exit(0);
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} else if (!strcmp(argv[argi], "max")) {
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if (set_mask == 0) {
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usage("no channels set");
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}
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if (pwm_value == 0)
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usage("no PWM value provided");
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struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0};
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for (unsigned i = 0; i < servo_count; i++) {
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if (set_mask & 1<<i) {
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pwm_values.values[i] = pwm_value;
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if (print_verbose)
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warnx("Channel %d: max PWM: %d", i+1, pwm_value);
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pwm_values.channel_count++;
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}
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}
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if (pwm_values.channel_count == 0) {
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usage("no PWM values added");
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} else {
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ret = ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
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if (ret != OK)
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errx(ret, "failed setting idle values");
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}
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exit(0);
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} else if (!strcmp(argv[argi], "disarmed")) {
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if (set_mask == 0) {
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usage("no channels set");
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}
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if (pwm_value == 0)
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usage("no PWM value provided");
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struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0};
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for (unsigned i = 0; i < servo_count; i++) {
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if (set_mask & 1<<i) {
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pwm_values.values[i] = pwm_value;
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if (print_verbose)
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warnx("Channel %d: disarmed PWM: %d", i+1, pwm_value);
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pwm_values.channel_count++;
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}
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}
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if (pwm_values.channel_count == 0) {
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usage("no PWM values added");
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} else {
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ret = ioctl(fd, PWM_SERVO_SET_DISARMED_PWM, (long unsigned int)&pwm_values);
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if (ret != OK)
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errx(ret, "failed setting idle values");
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}
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exit(0);
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} else if (!strcmp(argv[argi], "test")) {
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if (set_mask == 0) {
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usage("no channels set");
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}
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if (pwm_value == 0)
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usage("no PWM value provided");
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/* perform PWM output */
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/* Open console directly to grab CTRL-C signal */
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struct pollfd fds;
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fds.fd = 0; /* stdin */
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fds.events = POLLIN;
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warnx("Press CTRL-C or 'c' to abort.");
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while (1) {
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for (unsigned i = 0; i < servo_count; i++) {
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if (set_mask & 1<<i) {
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ret = ioctl(fd, PWM_SERVO_SET(i), pwm_value);
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if (ret != OK)
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err(1, "PWM_SERVO_SET(%d)", i);
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}
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}
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/* abort on user request */
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char c;
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ret = poll(&fds, 1, 0);
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if (ret > 0) {
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read(0, &c, 1);
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if (c == 0x03 || c == 0x63 || c == 'q') {
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warnx("User abort\n");
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exit(0);
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}
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}
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}
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exit(0);
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} else if (!strcmp(argv[argi], "info")) {
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/* print current servo values */
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for (unsigned i = 0; i < servo_count; i++) {
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servo_position_t spos;
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ret = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&spos);
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if (ret == OK) {
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printf("channel %u: %uus\n", i, spos);
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} else {
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printf("%u: ERROR\n", i);
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}
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}
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/* print rate groups */
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for (unsigned i = 0; i < servo_count; i++) {
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uint32_t group_mask;
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ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(i), (unsigned long)&group_mask);
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if (ret != OK)
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break;
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if (group_mask != 0) {
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printf("channel group %u: channels", i);
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for (unsigned j = 0; j < 32; j++)
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if (group_mask & (1 << j))
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printf(" %u", j);
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printf("\n");
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}
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}
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exit(0);
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err(1, "PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)");
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}
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argi++;
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/* directly supplied channel mask */
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if (set_mask > 0) {
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ret = ioctl(fd, PWM_SERVO_SET_SELECT_UPDATE_RATE, set_mask);
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if (ret != OK)
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err(1, "PWM_SERVO_SET_SELECT_UPDATE_RATE");
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}
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/* assign alternate rate to channel groups */
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if (alt_channels_set) {
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uint32_t mask = 0;
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for (group = 0; group < 32; group++) {
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if ((1 << group) & alt_channel_groups) {
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uint32_t group_mask;
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ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(group), (unsigned long)&group_mask);
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if (ret != OK)
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err(1, "PWM_SERVO_GET_RATEGROUP(%u)", group);
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mask |= group_mask;
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}
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}
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ret = ioctl(fd, PWM_SERVO_SET_SELECT_UPDATE_RATE, mask);
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if (ret != OK)
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err(1, "PWM_SERVO_SET_SELECT_UPDATE_RATE");
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}
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exit(0);
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} else if (!strcmp(argv[1], "min")) {
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if (set_mask == 0) {
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usage("no channels set");
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}
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if (pwm_value == 0)
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usage("no PWM value provided");
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struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0};
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for (unsigned i = 0; i < servo_count; i++) {
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if (set_mask & 1<<i) {
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pwm_values.values[i] = pwm_value;
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if (print_verbose)
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warnx("Channel %d: min PWM: %d", i+1, pwm_value);
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}
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pwm_values.channel_count++;
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}
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if (pwm_values.channel_count == 0) {
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usage("no PWM values added");
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} else {
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ret = ioctl(fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
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if (ret != OK)
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errx(ret, "failed setting min values");
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}
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exit(0);
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} else if (!strcmp(argv[1], "max")) {
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if (set_mask == 0) {
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usage("no channels set");
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}
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if (pwm_value == 0)
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usage("no PWM value provided");
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struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0};
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for (unsigned i = 0; i < servo_count; i++) {
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if (set_mask & 1<<i) {
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pwm_values.values[i] = pwm_value;
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if (print_verbose)
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warnx("Channel %d: max PWM: %d", i+1, pwm_value);
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}
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pwm_values.channel_count++;
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}
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if (pwm_values.channel_count == 0) {
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usage("no PWM values added");
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} else {
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ret = ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
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if (ret != OK)
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errx(ret, "failed setting max values");
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}
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exit(0);
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} else if (!strcmp(argv[1], "disarmed")) {
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if (set_mask == 0) {
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usage("no channels set");
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}
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if (pwm_value == 0)
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usage("no PWM value provided");
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struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0};
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for (unsigned i = 0; i < servo_count; i++) {
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if (set_mask & 1<<i) {
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pwm_values.values[i] = pwm_value;
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if (print_verbose)
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warnx("Channel %d: disarmed PWM: %d", i+1, pwm_value);
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}
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pwm_values.channel_count++;
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}
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if (pwm_values.channel_count == 0) {
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usage("no PWM values added");
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} else {
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ret = ioctl(fd, PWM_SERVO_SET_DISARMED_PWM, (long unsigned int)&pwm_values);
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if (ret != OK)
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errx(ret, "failed setting disarmed values");
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}
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exit(0);
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} else if (!strcmp(argv[1], "test")) {
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if (set_mask == 0) {
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usage("no channels set");
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}
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if (pwm_value == 0)
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usage("no PWM value provided");
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/* perform PWM output */
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/* Open console directly to grab CTRL-C signal */
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struct pollfd fds;
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||||
fds.fd = 0; /* stdin */
|
||||
fds.events = POLLIN;
|
||||
|
||||
warnx("Press CTRL-C or 'c' to abort.");
|
||||
|
||||
while (1) {
|
||||
for (unsigned i = 0; i < servo_count; i++) {
|
||||
if (set_mask & 1<<i) {
|
||||
ret = ioctl(fd, PWM_SERVO_SET(i), pwm_value);
|
||||
if (ret != OK)
|
||||
err(1, "PWM_SERVO_SET(%d)", i);
|
||||
}
|
||||
}
|
||||
|
||||
/* abort on user request */
|
||||
char c;
|
||||
ret = poll(&fds, 1, 0);
|
||||
if (ret > 0) {
|
||||
|
||||
read(0, &c, 1);
|
||||
if (c == 0x03 || c == 0x63 || c == 'q') {
|
||||
warnx("User abort\n");
|
||||
exit(0);
|
||||
}
|
||||
}
|
||||
}
|
||||
exit(0);
|
||||
|
||||
|
||||
} else if (!strcmp(argv[1], "info")) {
|
||||
|
||||
printf("device: %s\n", dev);
|
||||
|
||||
uint32_t info_default_rate;
|
||||
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);
|
||||
if (ret != OK) {
|
||||
err(1, "PWM_SERVO_GET_DEFAULT_UPDATE_RATE");
|
||||
}
|
||||
|
||||
ret = ioctl(fd, PWM_SERVO_GET_UPDATE_RATE, (unsigned long)&info_alt_rate);
|
||||
if (ret != OK) {
|
||||
err(1, "PWM_SERVO_GET_UPDATE_RATE");
|
||||
}
|
||||
|
||||
ret = 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");
|
||||
}
|
||||
|
||||
struct pwm_output_values disarmed_pwm;
|
||||
struct pwm_output_values min_pwm;
|
||||
struct pwm_output_values max_pwm;
|
||||
|
||||
ret = ioctl(fd, PWM_SERVO_GET_DISARMED_PWM, (unsigned long)&disarmed_pwm);
|
||||
if (ret != OK) {
|
||||
err(1, "PWM_SERVO_GET_DISARMED_PWM");
|
||||
}
|
||||
ret = ioctl(fd, PWM_SERVO_GET_MIN_PWM, (unsigned long)&min_pwm);
|
||||
if (ret != OK) {
|
||||
err(1, "PWM_SERVO_GET_MIN_PWM");
|
||||
}
|
||||
ret = ioctl(fd, PWM_SERVO_GET_MAX_PWM, (unsigned long)&max_pwm);
|
||||
if (ret != OK) {
|
||||
err(1, "PWM_SERVO_GET_MAX_PWM");
|
||||
}
|
||||
|
||||
/* 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);
|
||||
if (ret == OK) {
|
||||
printf("channel %u: %u us", i+1, spos);
|
||||
|
||||
if (info_alt_rate_mask & (1<<i))
|
||||
printf(" (alternative rate: %d Hz", info_alt_rate);
|
||||
else
|
||||
printf(" (default rate: %d Hz", info_default_rate);
|
||||
|
||||
|
||||
printf(" disarmed; %d us, min: %d us, max: %d us)", disarmed_pwm.values[i], min_pwm.values[i], max_pwm.values[i]);
|
||||
printf("\n");
|
||||
} else {
|
||||
printf("%u: ERROR\n", i);
|
||||
}
|
||||
}
|
||||
/* print rate groups */
|
||||
for (unsigned i = 0; i < servo_count; i++) {
|
||||
uint32_t group_mask;
|
||||
|
||||
ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(i), (unsigned long)&group_mask);
|
||||
if (ret != OK)
|
||||
break;
|
||||
if (group_mask != 0) {
|
||||
printf("channel group %u: channels", i);
|
||||
for (unsigned j = 0; j < 32; j++)
|
||||
if (group_mask & (1 << j))
|
||||
printf(" %u", j+1);
|
||||
printf("\n");
|
||||
}
|
||||
}
|
||||
exit(0);
|
||||
|
||||
}
|
||||
usage("specify arm|disarm|set|config|test");
|
||||
usage("specify arm|disarm|rate|min|max|disarmed|test|info");
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user