mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-04 12:20:35 +08:00
Lorenz Meier
121 lines
3.4 KiB
C
121 lines
3.4 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file test_servo.c
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* Tests the servo outputs
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*
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*/
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#include <px4_config.h>
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#include <sys/types.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <time.h>
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#include <arch/board/board.h>
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#include <drivers/drv_pwm_output.h>
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#include <systemlib/err.h>
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#include "tests_main.h"
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int test_servo(int argc, char *argv[])
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{
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int fd, result;
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servo_position_t data[PWM_OUTPUT_MAX_CHANNELS];
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servo_position_t pos;
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fd = open(PWM_OUTPUT0_DEVICE_PATH, O_RDWR);
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if (fd < 0) {
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printf("failed opening /dev/pwm_servo\n");
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goto out;
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}
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result = read(fd, &data, sizeof(data));
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if (result != sizeof(data)) {
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printf("failed bulk-reading channel values\n");
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goto out;
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}
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printf("Servo readback, pairs of values should match defaults\n");
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unsigned servo_count;
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result = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
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if (result != OK) {
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warnx("PWM_SERVO_GET_COUNT");
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return ERROR;
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}
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for (unsigned i = 0; i < servo_count; i++) {
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result = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&pos);
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if (result < 0) {
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printf("failed reading channel %u\n", i);
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goto out;
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}
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printf("%u: %u %u\n", i, pos, data[i]);
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}
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/* tell safety that its ok to disable it with the switch */
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result = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
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if (result != OK) {
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warnx("FAIL: PWM_SERVO_SET_ARM_OK");
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}
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/* tell output device that the system is armed (it will output values if safety is off) */
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result = ioctl(fd, PWM_SERVO_ARM, 0);
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if (result != OK) {
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warnx("FAIL: PWM_SERVO_ARM");
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}
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usleep(5000000);
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printf("Advancing channel 0 to 1500\n");
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result = ioctl(fd, PWM_SERVO_SET(0), 1500);
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printf("Advancing channel 1 to 1800\n");
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result = ioctl(fd, PWM_SERVO_SET(1), 1800);
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out:
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return 0;
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}
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