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px4-firmware
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px4io test and fmu test now work over USB as well

This commit is contained in:
Julian Oes 2013-09-22 17:23:43 +02:00
parent 07f82efe9b
commit 166dba09de
2 changed files with 17 additions and 13 deletions
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17
src/drivers/px4fmu/fmu.cpp
View File

@ -1096,10 +1096,11 @@ fmu_start(void)
void
test(void)
{
int fd;
int fd;
unsigned servo_count = 0;
unsigned pwm_value = 1000;
int direction = 1;
int ret;
fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
@ -1114,9 +1115,9 @@ test(void)
warnx("Testing %u servos", (unsigned)servo_count);
int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
if (!console)
err(1, "failed opening console");
struct pollfd fds;
fds.fd = 0; /* stdin */
fds.events = POLLIN;
warnx("Press CTRL-C or 'c' to abort.");
@ -1166,15 +1167,17 @@ test(void)
/* Check if user wants to quit */
char c;
if (read(console, &c, 1) == 1) {
if (c == 0x03 || c == 0x63) {
ret = poll(&fds, 1, 0);
if (ret > 0) {
read(0, &c, 1);
if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("User abort\n");
break;
}
}
}
close(console);
close(fd);
exit(0);

13
src/drivers/px4io/px4io.cpp
View File

@ -2131,10 +2131,9 @@ test(void)
if (ioctl(fd, PWM_SERVO_ARM, 0))
err(1, "failed to arm servos");
/* Open console directly to grab CTRL-C signal */
int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
if (!console)
err(1, "failed opening console");
struct pollfd fds;
fds.fd = 0; /* stdin */
fds.events = POLLIN;
warnx("Press CTRL-C or 'c' to abort.");
@ -2175,10 +2174,12 @@ test(void)
/* Check if user wants to quit */
char c;
if (read(console, &c, 1) == 1) {
ret = poll(&fds, 1, 0);
if (ret > 0) {
read(0, &c, 1);
if (c == 0x03 || c == 0x63 || c == 'q') {
warnx("User abort\n");
close(console);
exit(0);
}
}